Method and device for testing parameters of stepping motor
By adjusting the winding inductance of the stepper motor and determining whether the real-time parameters meet the target test parameters, it solves the problem that it is difficult to simultaneously test the maximum speed and static torque of the stepper motor in the prior art, and achieves a more efficient and accurate test process.
Patent Information
- Application Number
- CN202411860776.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-04-11
AI Technical Summary
The prior art is difficult to simultaneously test and calibrate the maximum speed and static torque of stepper motors, resulting in ineffective and accurate tests and requires multiple proofing to adjust performance parameters.
By adjusting the winding inductance of the stepper motor, obtain real-time motor parameters, and determine whether the first and second test parameters of the target test parameters are reached, to ensure that the motor reaches the highest static torque at the lowest speed and the minimum dynamic torque at the highest speed.
It improves the effectiveness and accuracy of stepper motor testing, ensures the integrity of motor performance parameters after the test is completed, and reduces test time and cost.
Smart Images
Figure CN119805208A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of automatic testing of stepper motors, and in particular to a parameter testing method and device for stepper motors. Background Art
[0002] As an important driving and executing device, stepper motors are widely used in aerospace, weapons and equipment, industrial and agricultural control, precision machinery and medical equipment. The stepper motor test system is an important test equipment for stepper motor production, quality control, whole machine commissioning and delivery acceptance. The quality of the stepper motor test system will directly affect the performance and accuracy of the stepper motor and mechanical equipment. Among them, the maximum speed, static torque and dynamic torque of the stepper motor are very important performance indicators in the process of using the stepper motor.
[0003] Given that current motors are prone to single function, overload and step loss, high power consumption and heat generation, low degree of automation, and difficulty in achieving high and low speed control during operation, and the motor speed and static torque are inversely proportional, that is, as the torque increases, the maximum speed decreases; as the maximum speed increases, the torque decreases. Therefore, it is difficult for the existing technology to simultaneously test and calibrate the above two performance parameters of the stepper motor. In other words, in the actual motor proofing process, the motor manufacturer needs to proof multiple times and spend more time testing and adjusting the various performance parameters of the stepper motor, and it is still impossible to ensure the effectiveness and accuracy of the stepper motor test. Summary of the invention
[0004] The present invention provides a method and device for testing parameters of a stepper motor, aiming to solve the above-mentioned technical problems and achieve the technical effect of improving the effectiveness and accuracy of stepper motor testing.
[0005] In order to solve the above technical problems, an embodiment of the present invention provides a parameter testing method of a stepper motor, comprising the following steps:
[0006] Obtain target test parameters and real-time motor parameters of the target stepper motor;
[0007] Adjusting the winding inductance of the target stepper motor, and determining whether the real-time motor parameter reaches a first test parameter of the target test parameter;
[0008] When it is determined that the real-time motor parameter reaches the first test parameter, adjusting the winding inductance, and determining whether the real-time motor parameter reaches a second test parameter of the target test parameter;
[0009] When it is determined that the real-time motor parameter reaches the second test parameter, the parameter test result of the target stepper motor is completed and output.
[0010] The stepper motor parameter testing method provided by the present invention first needs to obtain the target test parameters and real-time motor parameters of the stepper motor to be tested, that is, to obtain the target parameters that the stepper motor needs to reach and the current operating parameters of the motor. Then adjust the winding inductance of the motor so that the real-time parameters of the motor change accordingly, and judge whether the real-time motor parameter reaches the first test parameter in the target parameter, that is, judge whether the motor reaches its corresponding first performance parameter, so as to determine whether the stepper motor completes the test of the first performance parameter. When it is judged that the stepper motor has reached its first performance parameter, the winding inductance is adjusted again to judge whether it reaches the second test parameter, that is, judge whether the stepper motor completes the second performance parameter test. When it is determined that the real-time motor parameter of the stepper motor has reached the second test parameter, it can be determined that the stepper motor has completed the test of the second performance parameter on the basis of completing the test of the first performance parameter, ensuring that the performance parameters to be tested of the stepper motor after the test are completed can all achieve the target test parameters, that is, improve the effectiveness and accuracy of the motor performance test, and ensure the integrity of the stepper motor performance after the test is completed.
[0011] As a preferred example, the step of adjusting the winding inductance of the target stepper motor and determining whether the real-time motor parameter reaches a first test parameter of the target test parameter includes:
[0012] Adjusting the winding inductance and acquiring the static torque and motor speed of the target stepper motor in real time;
[0013] comparing the motor speed with a first motor speed of the first test parameter;
[0014] When the comparison result is that the motor speed is less than or equal to the first motor speed, it is determined whether the static torque reaches the target static torque in the first test parameter.
[0015] In order to ensure the effectiveness of the performance parameters meeting the standards after the stepper motor parameter adjustment test, when the first test parameter compliance judgment is performed on the real-time motor parameters of the stepper motor, the motor speed of the stepper motor will be judged first, that is, whether the current speed of the stepper motor has reached the minimum speed of the stepper motor. Only after it is determined that the current speed of the stepper motor has reached the minimum speed of the stepper motor can the effectiveness of the static torque judgment of the stepper motor be ensured, thereby improving the effectiveness and accuracy of the static torque judgment of the stepper motor.
[0016] As a preferred example, the parameter testing method further includes:
[0017] When the comparison result is that the motor speed is greater than the first motor speed, the winding inductance is adjusted until the motor speed is less than or equal to the first motor speed.
[0018] If the motor speed obtained in real time does not reach the first motor speed of the stepper motor, that is, it does not reach the minimum speed of the stepper motor, the winding inductance of the stepper motor will continue to be adjusted until it is determined that the real-time motor speed of the motor reaches the first motor speed. Only then can the static torque of the motor be judged.
[0019] As a preferred example, the determining whether the static torque reaches the target static torque in the first test parameter includes:
[0020] Comparing the static torque with the target static torque to obtain a static torque comparison result;
[0021] When the static torque comparison result shows that the static torque is greater than or equal to the target static torque, it is determined that the static torque reaches the target static torque.
[0022] By comparing the static torque obtained in real time with the target torque, it is determined whether the motor can reach the highest static torque under the premise of the lowest motor speed, thereby realizing the adjustment test of the static torque parameters of the stepper motor.
[0023] As a preferred example, the parameter testing method further includes:
[0024] When the static torque comparison result is that the static torque is less than the target static torque and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtain the real-time motor parameters of the target stepper motor.
[0025] If the comparison result shows that the current static torque of the motor does not reach the target static torque in the target test parameters, and the winding inductance of the motor can no longer be adjusted, it is necessary to adjust the rated current of the motor and return to the step of obtaining the real-time motor parameters until it is determined that the motor can reach the highest static torque at the lowest speed, thereby ensuring the accuracy and effectiveness of the motor performance parameters that have completed the parameter adjustment test.
[0026] As a preferred example, the adjusting the winding inductance and determining whether the real-time motor parameter reaches the second test parameter of the target test parameter includes:
[0027] Adjusting the winding inductance and acquiring the dynamic torque and motor speed of the target stepper motor in real time;
[0028] comparing the motor speed with a second motor speed in the second test parameter;
[0029] When the comparison result is that the motor speed is greater than or equal to the second motor speed, it is determined whether the dynamic torque reaches the target dynamic torque in the second test parameter.
[0030] After completing the debugging of the first test parameter of the stepper motor, you can continue to adjust the second test parameter of the stepper motor, that is, continue to adjust the winding inductance of the motor, and synchronously obtain the dynamic torque and motor speed of the motor, and before judging the dynamic torque of the motor, make a judgment on whether the motor speed meets the second motor speed standard, that is, before judging the dynamic torque of the motor, first determine whether the motor speed has reached the second motor speed, that is, whether the motor has reached the maximum speed. Only after determining that the motor has reached the maximum speed can the dynamic torque of the motor be judged, that is, whether the motor has reached the maximum speed is a prerequisite for debugging the dynamic torque parameters of the motor. Judging the motor speed before judging the dynamic torque of the motor improves the rigor, effectiveness and reliability of the motor performance test.
[0031] As a preferred example, the parameter testing method further includes:
[0032] When the comparison result is that the motor speed is less than the second motor speed and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtaining the real-time motor parameters of the target stepper motor.
[0033] If the comparison result shows that the motor speed has not reached the second motor speed and the motor winding inductance cannot be further adjusted, it is necessary to adjust the motor's stable current, and after adjusting the rated current, return to the step of obtaining the motor's real-time motor parameters, and start again from testing whether the motor can reach the first test parameter, that is, retest the motor's performance parameters until the first test parameter debugging of the motor is completed and the maximum speed of the motor is determined, thereby improving the accuracy and effectiveness of the motor performance test results.
[0034] As a preferred example, the determining whether the dynamic torque reaches the target dynamic torque in the second test parameter includes:
[0035] Comparing the dynamic torque with the target dynamic torque to obtain a dynamic torque comparison result;
[0036] When the dynamic torque comparison result shows that the dynamic torque is less than or equal to the target dynamic torque, it is determined that the dynamic torque reaches the target dynamic torque.
[0037] After determining that the current speed of the stepper motor has reached the maximum speed, the dynamic torque of the stepper motor is judged, that is, whether the current dynamic torque of the stepper motor reaches the minimum output dynamic torque is determined, thereby realizing the performance parameter test of the minimum output dynamic torque of the stepper motor at the highest speed.
[0038] As a preferred example, the parameter testing method further includes:
[0039] When the dynamic torque comparison result shows that the dynamic torque is greater than the target dynamic torque, the winding inductance is adjusted until the dynamic torque is less than or equal to the target dynamic torque.
[0040] If the comparison result shows that the current dynamic torque of the motor has not reached the minimum dynamic torque, the winding inductance of the motor continues to be adjusted until it reaches the minimum dynamic torque, thereby ensuring the accuracy, effectiveness and practicality of the motor test results.
[0041] Correspondingly, an embodiment of the present invention further provides a parameter testing device for a stepping motor, the parameter testing device comprising a target test parameter acquisition module, a first state parameter judgment module, a second state parameter judgment module and a parameter test result output module; wherein:
[0042] The target test parameter acquisition module is used to acquire the target test parameters and real-time motor parameters of the target stepping motor;
[0043] The first state parameter judgment module is used to adjust the winding inductance of the target stepper motor and judge whether the real-time motor parameter reaches the first test parameter of the target test parameter;
[0044] The second state parameter judgment module is used for adjusting the winding inductance when it is determined that the real-time motor parameter reaches the first test parameter, and judging whether the real-time motor parameter reaches the second test parameter of the target test parameter;
[0045] The parameter test result output module is used to complete and output the parameter test result of the target stepper motor when it is determined that the real-time motor parameter reaches the second test parameter. BRIEF DESCRIPTION OF THE DRAWINGS
[0046] Figure 1 :A flow chart of an embodiment of a parameter testing method for a stepping motor provided by the present invention;
[0047] Figure 2 : A structural diagram of an embodiment of a parameter testing device for a stepping motor provided by the present invention;
[0048] Figure 3 : A structural diagram of an embodiment of the stepper motor parameter adjustment and testing system provided by the present invention. DETAILED DESCRIPTION
[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0050] Embodiment 1
[0051] Please refer to Figure 1 , a flow chart of an embodiment of a parameter testing method of a stepping motor provided by the present invention includes steps 101 to 104, and each step is specifically as follows:
[0052] Step 101: Obtain target test parameters and real-time motor parameters of a target stepper motor.
[0053] The parameter testing method provided in the embodiment of the present invention needs to test the performance parameters of the stepper motor to be tested, that is, to perform performance parameter proofing on the target stepper motor to ensure that the performance parameters of the target stepper motor after the test meet the user's target test requirements, that is, to ensure that the performance parameters of the target stepper motor that passes the parameter test are adjusted to the target performance parameters set by the user. Therefore, before performing a performance parameter test on the target stepper motor, it is first necessary to obtain the target test parameters and real-time motor parameters of the stepper motor, that is, to obtain the current operating data of the target stepper motor whose performance parameters need to be adjusted as the basis for adjustment, and the target test data of the performance parameters that can pass the parameter test as a reference.
[0054] In this embodiment, the real-time motor parameters to be acquired include the motor speed, static torque and dynamic torque of the stepper motor, and the corresponding target test parameters to be tested include the first motor speed, the second motor speed, the target static torque and the target dynamic torque. In this embodiment, the first motor speed Vmin=0.1RPM, the second motor speed Vmax=300RPM, the target static torque Nmax=2N.m, and the target dynamic torque Nmin=0.8Nm are preferably set.
[0055] Step 102: Adjust the winding inductance of the target stepper motor, and determine whether the real-time motor parameter reaches a first test parameter of the target test parameter.
[0056] In this embodiment, by adjusting the winding inductance L of the stepper motor, that is, the coil winding inductance, the stepper motor parameters can be debugged. Since the coil winding inductance L has a great influence on the performance of the stepper motor, the performance parameters affected include the torque and speed of the stepper motor. Therefore, by adjusting the winding inductance L of the motor, the electromagnetic characteristics of the stepper motor can be changed, thereby affecting the torque and speed of the motor.
[0057] Specifically, this embodiment adjusts the winding inductance of the target stepper motor and determines whether the real-time motor parameter reaches the first test parameter of the target test parameter, including:
[0058] Adjusting the winding inductance and acquiring the static torque and motor speed of the target stepper motor in real time;
[0059] comparing the motor speed with a first motor speed of the first test parameter;
[0060] When the comparison result is that the motor speed is less than or equal to the first motor speed, it is determined whether the static torque reaches the target static torque in the first test parameter.
[0061] In order to ensure the effectiveness of the performance parameters meeting the standards after the stepper motor parameter adjustment test, when the first test parameter compliance judgment is performed on the real-time motor parameters of the stepper motor, the motor speed of the stepper motor will be judged first, that is, whether the current speed of the stepper motor has reached the minimum speed of the stepper motor. Only after it is determined that the current speed of the stepper motor has reached the minimum speed of the stepper motor can the effectiveness of the static torque judgment of the stepper motor be ensured, thereby improving the effectiveness and accuracy of the static torque judgment of the stepper motor.
[0062] In this embodiment, when adjusting the winding inductance of the stepper motor, the static torque and the motor speed, i.e., the current speed of the motor, are also synchronously obtained, and the current speed of the motor is judged to determine whether the current speed of the motor has reached the prerequisite for judging the static torque of the motor, i.e., whether the current speed of the motor has reached the first motor speed of the motor, i.e., the minimum speed of the motor. The static torque judgment of the motor is only valid when it is determined that the motor has reached the minimum speed. Therefore, the speed of the motor is judged before the static torque of the motor is judged, which improves the effectiveness of the static torque judgment test of the motor.
[0063] In addition, this embodiment also includes:
[0064] When the comparison result is that the motor speed is greater than the first motor speed, the winding inductance is adjusted until the motor speed is less than or equal to the first motor speed.
[0065] If the motor speed obtained in real time does not reach the first motor speed of the stepper motor, that is, it does not reach the minimum speed of the stepper motor, the winding inductance of the stepper motor will continue to be adjusted until it is determined that the real-time motor speed of the motor reaches the first motor speed. Only then can the static torque of the motor be judged.
[0066] In this embodiment, before testing the static torque of the target stepper motor, it is necessary to ensure that the speed of the target stepper motor is in the lowest speed Vmin state, that is, the static torque to be tested in this embodiment is the highest static torque at the lowest speed. Since the prerequisite for determining the highest static torque is the lowest motor speed, if the motor speed obtained from the target stepper motor is not the lowest speed of the motor, it is necessary to debug the winding inductance of the motor until it reaches the lowest speed of the motor.
[0067] Furthermore, in this embodiment, determining whether the static torque reaches the target static torque in the first test parameter includes:
[0068] Comparing the static torque with the target static torque to obtain a static torque comparison result;
[0069] When the static torque comparison result shows that the static torque is greater than or equal to the target static torque, it is determined that the static torque reaches the target static torque.
[0070] By comparing the static torque obtained in real time with the target torque, it is determined whether the motor can reach the highest static torque under the premise of the lowest motor speed, thereby realizing the adjustment test of the static torque parameters of the stepper motor.
[0071] In this embodiment, when it is determined that the current speed of the motor is at Vmin, that is, close to a stopped state, the current static torque of the motor is synchronously measured and obtained, and the motor winding inductance L is increased until the measured static torque reaches Nmax, that is, it is determined that the static torque has reached the target static torque, then it is determined that the motor has completed the debugging of the static torque performance parameter, that is, it is determined that the static torque performance parameter of the motor has been debugged to the target performance parameter set by the user.
[0072] If the winding inductance of the motor is still within the adjustable range at this time, the present embodiment preferably continues to increase the winding inductance L, that is, continues to increase the static torque of the motor, so that the static torque of the motor can reserve 10%-20% on the basis of the target static torque. The step of reserving excess static torque is used for subsequent dynamic torque debugging.
[0073] Furthermore, this embodiment also includes:
[0074] When the static torque comparison result is that the static torque is less than the target static torque and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtain the real-time motor parameters of the target stepper motor.
[0075] If the comparison result shows that the current static torque of the motor does not reach the target static torque in the target test parameters, and the winding inductance of the motor can no longer be adjusted, it is necessary to adjust the rated current of the motor and return to the step of obtaining the real-time motor parameters until it is determined that the motor can reach the highest static torque at the lowest speed, thereby ensuring the accuracy and effectiveness of the motor performance parameters that have completed the parameter adjustment test.
[0076] In this embodiment, when the winding inductance L of the motor is in a state where it cannot be further adjusted, but the static torque obtained by the test is less than the target static torque, that is, the static torque determined by the test does not reach the maximum static torque expected by the user, the rated current Imax of the motor needs to be adjusted. By increasing the rated current Imax of the motor, the winding inductance L of the motor returns to a state where it can be adjusted, and returns to the step of obtaining real-time motor parameters, and restarts the debugging of the first test parameters of the motor.
[0077] In this embodiment, if the rated current of the motor does not need to be adjusted, the rated current of the motor is preferably Imax=2A, and the input motor working voltage, ie, the rated voltage of the motor is preferably Vot=48V.
[0078] Step 103: When it is determined that the real-time motor parameter reaches the first test parameter, the winding inductance is adjusted, and it is determined whether the real-time motor parameter reaches a second test parameter of the target test parameter.
[0079] In this embodiment, when it is determined that the real-time motor parameters of the motor have reached the first test parameters set by the user, that is, when it is determined that the highest static torque of the motor at the lowest speed has met the highest static torque requirement set by the user, the second test parameter test judgment of the motor will continue. Before the second test parameter adjustment of the motor and after the first test parameter adjustment of the motor is completed, that is, there is no need to debug any other parameters of the motor between the above two times, to ensure that when the second test parameter adjustment of the motor is performed, the current operating state of the motor is the same as the state of the motor when the first test parameter adjustment is completed, so as to ensure that the motor can still meet the requirements of the first test parameter after the second test parameter adjustment is completed, thereby improving the accuracy and effectiveness of the motor test results.
[0080] At the same time, by setting the order of the motor's highest static torque parameter before the parameter test order of the lowest dynamic torque, there is no need to zero-adjust the motor when the motor is tested for the lowest dynamic torque parameter, which further improves the effectiveness and reliability of the motor test.
[0081] Specifically, this embodiment adjusts the winding inductance and determines whether the real-time motor parameter reaches the second test parameter of the target test parameter, including:
[0082] Adjusting the winding inductance and acquiring the dynamic torque and motor speed of the target stepper motor in real time;
[0083] comparing the motor speed with a second motor speed in the second test parameter;
[0084] When the comparison result is that the motor speed is greater than or equal to the second motor speed, it is determined whether the dynamic torque reaches the target dynamic torque in the second test parameter.
[0085] After completing the debugging of the first test parameter of the stepper motor, you can continue to adjust the second test parameter of the stepper motor, that is, continue to adjust the winding inductance of the motor, and synchronously obtain the dynamic torque and motor speed of the motor, and before judging the dynamic torque of the motor, make a judgment on whether the motor speed meets the second motor speed standard, that is, before judging the dynamic torque of the motor, first determine whether the motor speed has reached the second motor speed, that is, whether the motor has reached the maximum speed. Only after determining that the motor has reached the maximum speed can the dynamic torque of the motor be judged, that is, whether the motor has reached the maximum speed is a prerequisite for debugging the dynamic torque parameters of the motor. Judging the motor speed before judging the dynamic torque of the motor improves the rigor, effectiveness and reliability of the motor performance test.
[0086] In this embodiment, after the first test parameter adjustment of the motor is completed, the motor speed will gradually accelerate to Vmax, that is, the motor speed will gradually accelerate to the first motor speed, which is equivalent to the motor speed accelerating to the maximum speed in a natural state. However, in order to ensure the accuracy and rigor of the test results, before judging the dynamic torque of the motor, the motor speed will also be judged, that is, to determine whether the motor speed has naturally accelerated to the maximum speed, so as to ensure that when judging the dynamic torque of the motor, the motor is at the highest speed, that is, to ensure that the premise of the subsequent judgment of the minimum dynamic torque of the motor is that the motor is at the highest speed.
[0087] In addition, this embodiment also includes:
[0088] When the comparison result is that the motor speed is less than the second motor speed and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtaining the real-time motor parameters of the target stepper motor.
[0089] If the comparison result shows that the motor speed has not reached the second motor speed and the motor winding inductance cannot be further adjusted, it is necessary to adjust the motor's stable current, and after adjusting the rated current, return to the step of obtaining the motor's real-time motor parameters, and start again from testing whether the motor can reach the first test parameter, that is, retest the motor's performance parameters until the first test parameter debugging of the motor is completed and the maximum speed of the motor is determined, thereby improving the accuracy and effectiveness of the motor performance test results.
[0090] In this embodiment, if the motor speed obtained cannot reach the required maximum speed, and the motor winding inductance cannot be further adjusted, the rated current of the motor needs to be adjusted to readjust the motor winding inductance L. However, in order to ensure the accuracy, effectiveness and reliability of the motor test results, after increasing the rated current of the motor, it is necessary to return to step 101 of this embodiment to restart the parameter test of the motor, that is, retest the first test parameter of the motor, and the test can continue to the next step until the step meets the requirements.
[0091] Furthermore, in this embodiment, determining whether the dynamic torque reaches the target dynamic torque in the second test parameter includes:
[0092] Comparing the dynamic torque with the target dynamic torque to obtain a dynamic torque comparison result;
[0093] When the dynamic torque comparison result shows that the dynamic torque is less than or equal to the target dynamic torque, it is determined that the dynamic torque reaches the target dynamic torque.
[0094] After determining that the current speed of the stepper motor has reached the maximum speed, the dynamic torque of the stepper motor is judged, that is, whether the current dynamic torque of the stepper motor reaches the minimum output dynamic torque is determined, thereby realizing the performance parameter test of the minimum output dynamic torque of the stepper motor at the highest speed.
[0095] In this embodiment, after determining that the current speed of the motor has reached the maximum speed required by the user, the dynamic torque of the motor can be measured and determined. Specifically, the dynamic torque is compared with the target dynamic torque set by the user to determine whether the minimum dynamic torque of the motor at the highest speed reaches the required minimum dynamic torque, thereby determining whether the motor has completed the debugging of the second test parameter.
[0096] In addition, this embodiment also includes:
[0097] When the dynamic torque comparison result shows that the dynamic torque is greater than the target dynamic torque, the winding inductance is adjusted until the dynamic torque is less than or equal to the target dynamic torque.
[0098] If the comparison result shows that the current dynamic torque of the motor has not reached the minimum dynamic torque, the winding inductance of the motor continues to be adjusted until it reaches the minimum dynamic torque, thereby ensuring the accuracy, effectiveness and practicality of the motor test results.
[0099] In this embodiment, if the test result of the dynamic torque shows that the current dynamic torque has not yet reached the required target dynamic torque, the winding inductance L of the motor continues to be adjusted until the dynamic torque shown by the test reaches the target dynamic torque.
[0100] Since the present embodiment preferably reserves some redundant static torque outside the target static torque when adjusting the static torque of the motor in step 102, even if the winding inductance L of the motor is reduced at this time, the static torque of the motor at the minimum speed can still reach the target static torque set by the user. Therefore, when the dynamic torque shown in the test results has not reached the target dynamic torque, the winding inductance L of the motor can be adjusted and reduced continuously until the dynamic torque shown in the test results reaches the minimum dynamic output torque set by the user, and it is determined that the motor has completed the testing and adjustment of all performance parameters, that is, it is determined that all parameters of the motor have reached the target values set by the user.
[0101] Step 104: When it is determined that the real-time motor parameter reaches the second test parameter, the parameter test result of the target stepper motor is completed and output.
[0102] After determining that the dynamic torque of the motor has reached the target dynamic torque of the target parameter, this embodiment can determine that the motor has completed the test and adjustment of the second test parameter, that is, the motor has completed the test of all performance parameters, and then output the parameter test results of the target stepper motor, including the debugging results of various performance parameters and their specific debugging process.
[0103] The stepper motor parameter testing method provided by the embodiment of the present invention first needs to obtain the target test parameters and real-time motor parameters of the stepper motor to be tested, that is, to obtain the target parameters that the stepper motor needs to reach and the current operating parameters of the motor. Then adjust the winding inductance of the motor so that the real-time parameters of the motor change accordingly, and judge whether the real-time motor parameter reaches the first test parameter in the target parameter, that is, judge whether the motor reaches its corresponding first performance parameter, so as to determine whether the stepper motor has completed the test of the first performance parameter. When it is judged that the stepper motor has reached its first performance parameter, the winding inductance is adjusted again to judge whether it has reached the second test parameter, that is, judge whether the stepper motor has completed the second performance parameter test. When it is determined that the real-time motor parameter of the stepper motor has reached the second test parameter, it can be determined that the stepper motor has completed the test of the second performance parameter on the basis of completing the test of the first performance parameter, ensuring that the performance parameters to be tested of the stepper motor after the test are completed can all achieve the target test parameters, that is, improve the effectiveness and accuracy of the motor performance test, and ensure the integrity of the stepper motor performance after the test is completed.
[0104] Accordingly, see Figure 3 , Figure 3 This is a structural diagram of an embodiment of the stepper motor parameter adjustment and testing system provided by the present invention. Figure 3 As shown, the parameter testing system includes a stepper motor parameter adjustment device, a stepper motor and a stepper motor torque testing platform. The stepper motor torque testing platform includes a torque sensor, a magnetic powder brake controller and a torque meter.
[0105] in, Figure 3 The stepper motor sensor shown is used to adjust the performance parameters of the stepper motor, including parameters such as the current, voltage and motor speed of the stepper motor.
[0106] Figure 3 The torque sensor is used to sense and detect torque or moment on various rotating or non-rotating mechanical parts, and convert the physical change of torque into an accurate electrical signal. The torque sensor is also called a torque sensor, a torque sensor, a torque sensor, a torque meter, etc., which is divided into two categories of sensors: dynamic torque sensor and static torque sensor.
[0107] Figure 3 The torque meter shown is a precision instrument used to detect, test and calibrate various torques.
[0108] Figure 3 The magnetic powder brake controller shown is a multi-purpose, high-performance automatic control element. It uses magnetic powder as a medium and is a new type of transmission element that forms a magnetic powder chain to transmit torque when powered. It is mainly composed of an inner rotor, an outer rotor, an excitation coil and magnetic powder.
[0109] In order to better illustrate the working principle and step flow of a parameter testing method and device for a stepping motor of the present invention, reference may be made to, but is not limited to, the relevant records above.
[0110] Accordingly, see Figure 2 , Figure 2 This is a structural diagram of an embodiment of a parameter testing device for a stepping motor provided by the present invention. Figure 2 As shown, the parameter testing device includes a target test parameter acquisition module 201, a first state parameter judgment module 202, a second state parameter judgment module 203 and a parameter test result output module 204; wherein:
[0111] The target test parameter acquisition module 201 is used to acquire the target test parameters and real-time motor parameters of the target stepping motor.
[0112] The first state parameter determination module 202 is used to adjust the winding inductance of the target stepper motor and determine whether the real-time motor parameter reaches a first test parameter of the target test parameter.
[0113] The first state parameter judgment module 202 adjusts the winding inductance of the target stepper motor and judges whether the real-time motor parameter reaches the first test parameter of the target test parameter, including:
[0114] Adjusting the winding inductance and acquiring the static torque and motor speed of the target stepper motor in real time;
[0115] comparing the motor speed with a first motor speed of the first test parameter;
[0116] When the comparison result is that the motor speed is less than or equal to the first motor speed, it is determined whether the static torque reaches the target static torque in the first test parameter.
[0117] The first state parameter determination module 202 further includes:
[0118] When the comparison result is that the motor speed is greater than the first motor speed, the winding inductance is adjusted until the motor speed is less than or equal to the first motor speed.
[0119] Furthermore, the first state parameter determination module 202 determines whether the static torque reaches the target static torque in the first test parameter, including:
[0120] Comparing the static torque with the target static torque to obtain a static torque comparison result;
[0121] When the static torque comparison result shows that the static torque is greater than or equal to the target static torque, it is determined that the static torque reaches the target static torque.
[0122] The first state parameter determination module 202 further includes:
[0123] When the static torque comparison result is that the static torque is less than the target static torque and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtain the real-time motor parameters of the target stepper motor.
[0124] The second state parameter judgment module 203 is used to adjust the winding inductance when it is determined that the real-time motor parameter reaches the first test parameter, and to judge whether the real-time motor parameter reaches the second test parameter of the target test parameter.
[0125] Furthermore, the second state parameter judgment module 203 adjusts the winding inductance and judges whether the real-time motor parameter reaches the second test parameter of the target test parameter, including:
[0126] Adjusting the winding inductance and acquiring the dynamic torque and motor speed of the target stepper motor in real time;
[0127] comparing the motor speed with a second motor speed in the second test parameter;
[0128] When the comparison result is that the motor speed is greater than or equal to the second motor speed, it is determined whether the dynamic torque reaches the target dynamic torque in the second test parameter.
[0129] The second state parameter determination module 203 further includes:
[0130] When the comparison result is that the motor speed is less than the second motor speed and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtaining the real-time motor parameters of the target stepper motor.
[0131] Furthermore, the second state parameter determination module 203 determines whether the dynamic torque reaches the target dynamic torque in the second test parameter, including:
[0132] Comparing the dynamic torque with the target dynamic torque to obtain a dynamic torque comparison result;
[0133] When the dynamic torque comparison result shows that the dynamic torque is less than or equal to the target dynamic torque, it is determined that the dynamic torque reaches the target dynamic torque.
[0134] The second state parameter determination module 203 further includes:
[0135] When the dynamic torque comparison result shows that the dynamic torque is greater than the target dynamic torque, the winding inductance is adjusted until the dynamic torque is less than or equal to the target dynamic torque.
[0136] The parameter test result output module 204 is used to complete and output the parameter test result of the target stepper motor when it is determined that the real-time motor parameter reaches the second test parameter.
[0137] In summary, the embodiment of the present invention provides a parameter testing method and device for a stepper motor, which obtains the target test parameters and real-time motor parameters of a target stepper motor; adjusts the winding inductance of the motor and determines whether the real-time parameter reaches the first test parameter of the target parameter, and when it is determined that the real-time parameter reaches the first test parameter, continues to adjust the winding inductance and determines whether the real-time parameter reaches the second test parameter of the target parameter; when it is determined that the real-time parameter reaches the second test parameter, completes and outputs the parameter test result of the target stepper motor. By determining that the stepper motor completes the test of the second performance parameter on the basis of completing the performance parameter test corresponding to the first test parameter, it is ensured that the performance parameters to be tested of the stepper motor after the test is completed can all achieve the target test parameters, that is, the effectiveness and accuracy of the motor performance test are improved, and at the same time, the integrity of the stepper motor performance after the test is completed is ensured.
[0138] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.
Claims
1. A parameter testing method for a stepper motor, characterized in that: The following steps are involved: Obtain target test parameters and real-time motor parameters of the target stepper motor; Adjusting the winding inductance of the target stepper motor, and determining whether the real-time motor parameter reaches a first test parameter of the target test parameter; When it is determined that the real-time motor parameter reaches the first test parameter, adjusting the winding inductance, and determining whether the real-time motor parameter reaches a second test parameter of the target test parameter; When it is determined that the real-time motor parameter reaches the second test parameter, the parameter test result of the target stepper motor is completed and output.
2. A stepper motor parameter testing method as claimed in claim 1, characterized in that: The step of adjusting the winding inductance of the target stepper motor and determining whether the real-time motor parameter reaches the first test parameter of the target test parameter includes: Adjusting the winding inductance and acquiring the static torque and motor speed of the target stepper motor in real time; comparing the motor speed with a first motor speed of the first test parameter; When the comparison result is that the motor speed is less than or equal to the first motor speed, it is determined whether the static torque reaches the target static torque in the first test parameter.
3. A stepper motor parameter testing method as claimed in claim 2, characterized in that: Also includes: When the comparison result is that the motor speed is greater than the first motor speed, the winding inductance is adjusted until the motor speed is less than or equal to the first motor speed.
4. A stepper motor parameter testing method as claimed in claim 2, characterized in that: The determining whether the static torque reaches the target static torque in the first test parameter includes: Comparing the static torque with the target static torque to obtain a static torque comparison result; When the static torque comparison result shows that the static torque is greater than or equal to the target static torque, it is determined that the static torque reaches the target static torque.
5. A stepper motor parameter testing method as claimed in claim 4, characterized in that: Also includes: When the static torque comparison result is that the static torque is less than the target static torque and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtain the real-time motor parameters of the target stepper motor.
6. A stepper motor parameter testing method according to any one of claims 1 to 5, characterized in that: The step of adjusting the winding inductance and determining whether the real-time motor parameter reaches the second test parameter of the target test parameter includes: Adjusting the winding inductance and acquiring the dynamic torque and motor speed of the target stepper motor in real time; comparing the motor speed with a second motor speed in the second test parameter; When the comparison result is that the motor speed is greater than or equal to the second motor speed, it is determined whether the dynamic torque reaches the target dynamic torque in the second test parameter.
7. A stepper motor parameter testing method as claimed in claim 6, characterized in that: Also includes: When the comparison result is that the motor speed is less than the second motor speed and the winding inductance cannot be adjusted, the rated current of the target stepper motor is adjusted, and the process returns to obtaining the real-time motor parameters of the target stepper motor.
8. A stepper motor parameter testing method as claimed in claim 6, characterized in that: The determining whether the dynamic torque reaches the target dynamic torque in the second test parameter includes: Comparing the dynamic torque with the target dynamic torque to obtain a dynamic torque comparison result; When the dynamic torque comparison result shows that the dynamic torque is less than or equal to the target dynamic torque, it is determined that the dynamic torque reaches the target dynamic torque.
9. A stepper motor parameter testing method as claimed in claim 8, characterized in that: Also includes: When the dynamic torque comparison result shows that the dynamic torque is greater than the target dynamic torque, the winding inductance is adjusted until the dynamic torque is less than or equal to the target dynamic torque.
10. A parameter testing device for a stepping motor, characterized in that: The parameter testing device comprises a target test parameter acquisition module, a first state parameter judgment module, a second state parameter judgment module and a parameter test result output module; wherein: The target test parameter acquisition module is used to acquire the target test parameters and real-time motor parameters of the target stepping motor; The first state parameter judgment module is used to adjust the winding inductance of the target stepper motor and judge whether the real-time motor parameter reaches the first test parameter of the target test parameter; The second state parameter judgment module is used for adjusting the winding inductance when it is determined that the real-time motor parameter reaches the first test parameter, and judging whether the real-time motor parameter reaches the second test parameter of the target test parameter; The parameter test result output module is used to complete and output the parameter test result of the target stepper motor when it is determined that the real-time motor parameter reaches the second test parameter.