Electric rotating machine and control system thereof

Abstract

The invention belongs to the technical field of equipment control, and particularly discloses and provides an electric rotating machine and a control system thereof.The electric rotating machine comprises a rotating machine shell and a rotating machine internal structure; the internal structure of the rotating machine comprises a dense ball shaft system outer ring, a motor stator, a PCB control panel, an encoder code disc, a first connecting plate, a second connecting plate, a steel ball, a dense ball shaft system inner ring, a conducting ring moving ring and a conducting ring fixed ring. According to the electric rotating machine, through the synergistic effect of multi-layer connection and the dense ball shaft system, vibration and displacement are reduced, the coaxiality and balance of rotating parts are guaranteed, reliable operation of the motor is facilitated, and the precision in related application scenes is improved. Meanwhile, the encoder code disc can accurately feed back position and rotating speed information based on the dense ball shaft system, the conducting ring moving ring and the conducting ring fixed ring are in stable contact through the dense ball shaft system to guarantee reliable transmission of signals, signal detection and transmission are optimized, and good space utilization and compactness are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment control, and in particular, relates to an electric rotating machine and a control system thereof. Background Art

[0002] With the booming development of the manufacturing industry, the demand for power sources is increasing. Electric rotating machines have become the main power equipment in factory workshops due to their high efficiency and cleanliness. In order to ensure the stability of power supply, its operation needs to be controlled.

[0003] Prior art, such as the control method, control device and rotating motor drive system disclosed in the Chinese invention patent application with application number 201780045061.1, includes: a power module, which outputs three-phase AC power for driving the rotating motor by turning on / off the semiconductor switch element. A drive circuit, which generates a PWM gating pulse for turning on / off the semiconductor switch element. And an operation control device, which generates a gating drive signal using a PWM of a specified carrier frequency, the gating drive signal is used to instruct the drive circuit to generate a PWM gating pulse, the operation control device determines whether the vibration frequency of the natural mode of the rotating motor with a spatial order of 0 overlaps with the frequency of the frequency component that can generate the electromagnetic excitation force of the natural mode. If it is judged to overlap, the value of the carrier frequency is switched from a first value to a second value different from the first value, so that the vibration frequency of the natural mode of the rotating motor with a spatial order of 0 and the frequency of the frequency component that can generate the electromagnetic excitation force of the natural mode can be prevented from overlapping, and thus the vibration of the motor can be reliably suppressed.

[0004] Prior art, such as a permanent magnet electric rotating motor disclosed in Chinese invention patent application with application number 201811216099.3, comprises: a plurality of phase windings arranged in a plurality of slots around the circumference of the motor so that the phase windings in each phase are complementary and do not cancel each other out when excited by a single excitation current; a plurality of permanent magnets; a control system comprising: a power supply for transmitting a controlled amount of current to or from the rotating motor; and a commutation circuit for controlling the timing and duration of the square wave current transmitted to or from each phase winding, wherein the commutation feedback loop comprises a filter for filtering the sensed back EMF, the filter introducing a phase shift to the sensed back EMF to synchronize the current pulse and the angular position signal, and wherein the commutation circuit is operationally independent of the power supply.

[0005] Regarding the above technical solutions, it is obvious that the current control of electric rotating machines mainly involves the control of various links in the process of electric energy conversion, and there are still the following deficiencies: 1. The above solution considers relatively single factors for the control of electric rotating machines, while in the actual operation scenario, it involves not only current but also temperature, rotor position, etc. The actual control effect cannot be guaranteed at present, and there are other interference risks.

[0006] 2. None of the above solutions considers the speed accuracy of the electric rotating machine, nor does it mention how to compensate for speed fluctuations or involve fine control of speed accuracy, thus affecting control accuracy. Summary of the invention

[0007] In view of this, in order to solve the problems raised in the above background technology, an electric rotating machine and a control system thereof are now proposed.

[0008] The purpose of the present invention can be achieved through the following technical solutions: In a first aspect, the present invention provides an electric rotating machine, including a rotating machine housing and a rotating machine internal structure.

[0009] The internal structure of the rotating machine includes a bead-locked shaft system outer ring, a motor stator, a PCB control board, an encoder code disk, a connecting plate 1 and a connecting plate 2, a steel ball, a bead-locked shaft system inner ring, a conductive ring moving ring and a conductive ring fixed ring.

[0010] A connecting plate 1 is arranged at the side end of the motor stator, and a connecting plate 2 is arranged at the lower side end. The lower end of the connecting plate 1 is fixedly connected to the upper end of the inner ring of the beaded shaft system.

[0011] The inner rotation of the motor stator is provided with a bead-locked shaft system outer ring, the upper side end of the bead-locked shaft system outer ring is pasted with an encoder code disk, and the lower side end is installed with a conductive ring moving ring.

[0012] A dense bead shaft system inner ring is rotatably arranged inside the dense bead shaft system outer ring, and a steel ball is arranged between the dense bead shaft system inner ring and the dense bead shaft system outer ring.

[0013] A second aspect of the present invention provides an electric rotating machine control system, the system comprising: an equipment information monitoring module for monitoring the operation data of the electric rotating machine in real time when the electric rotating machine is started, including current, temperature and signal data.

[0014] The rotor information receiving module is used to receive the rotor position information, speed information and contact information of the electric rotating machine fed back by the encoder code disk.

[0015] The motor operation analysis module is used to determine whether the current electric rotating machine has an abnormality based on the operation data of the electric rotating machine and the rotor position information and speed information of the electric rotating machine fed back in real time, and if an abnormality exists, identify the abnormal item and the processing information of the abnormal item.

[0016] The conductive ring state analysis module is used to determine whether there is an abnormality in the conductive ring state based on the signal data and contact information, and if there is an abnormality, confirm the abnormality processing index of the conductive ring.

[0017] A repository for storing speed control tracking logs of electric rotating machines.

[0018] The equipment integrated control terminal is used to start corresponding components for processing based on the abnormal items and the processing information of the abnormal items and the abnormal processing indicators of the conductive ring.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention reduces vibration and displacement and ensures the coaxiality and balance of rotating parts through the synergistic effect of multi-layer connection and bead-locked shaft system, which is conducive to the reliable operation of the motor and improves the accuracy in related application scenarios. At the same time, the encoder code disk can accurately feedback position and speed information based on the bead-locked shaft system, and the conductive ring and the conductive fixed ring rely on the stable contact of the bead-locked shaft system to ensure reliable signal transmission, optimize signal detection and transmission, and the various components are integrated and cooperate with each other to reduce space waste, meet the use occasions with strict requirements on the equipment volume, and achieve good space utilization and compactness.

[0020] (2) The present invention can more systematically evaluate the operating condition of the electric rotating machine by judging whether the electric rotating machine is abnormal from four aspects, namely, current, temperature, rotor position and rotor speed, thereby solving the problem that only a few factors are considered in the current control of the electric rotating machine. The present invention can more timely and accurately detect various abnormal conditions in the operation of the motor, thus providing a strong guarantee for the subsequent actual control effect and further avoiding other interference risks.

[0021] (3) The present invention can timely discover potential problems of the equipment by identifying abnormal items of the current electric rotating machine and processing information of the abnormal items, and then facilitate timely processing of these abnormalities to avoid sudden failure of the equipment during operation, thereby improving the overall reliability of the equipment.

[0022] (4) When the abnormal item is the rotor position or the rotor speed, the present invention calculates the speed adjustment deviation by statistically analyzing the speed adjustment factor, and then calculates and adjusts the rotor speed, thereby further ensuring the speed accuracy of the electric rotating machine, making up for the current shortcomings of mentioning how to compensate for speed fluctuations and not involving fine control of speed accuracy, thereby ensuring the speed stability of the subsequent electric rotating machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the overall composition of the electric rotating machine of the present invention.

[0025] Figure 2 It is a schematic diagram of the internal structure of the electric rotating machine of the present invention.

[0026] Figure 3 It is a schematic diagram of the connection of the system modules of the present invention.

[0027] Figure 4 It is a schematic diagram of the overall control flow of the present invention.

[0028] Description of the drawings: 1. Outer ring of the bead-type shaft system, 2. Motor stator, 3. PCB control board, 4. Encoder code disk, 5. Connection plate one, 6. Steel ball, 7. Inner ring of the bead-type shaft system, 8. Conductive ring moving ring, 9. Conductive ring fixed ring, 10. Connection plate two. DETAILED DESCRIPTION

[0029] 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.

[0030] See also Figure 1 and Figure 2 As shown, a first aspect of the present invention provides an electric rotating machine, comprising: a rotating machine casing and a rotating machine internal structure.

[0031] The internal structure of the rotating machine includes a bead-locked shaft system outer ring 1, a motor stator 2, a PCB control board 3, an encoder code disk 4, a connecting plate 1 5 and a connecting plate 2 10, a steel ball 6, a bead-locked shaft system inner ring 7, a conductive ring moving ring 8 and a conductive ring fixed ring 9.

[0032] The motor stator 2 is provided with a connecting plate 1 5 at the side end, and a connecting plate 2 10 at the lower side end. The lower end of the connecting plate 1 5 is fixedly connected to the upper end of the inner ring 7 of the beaded shaft system.

[0033] The motor stator 2 is internally rotatably provided with a beadlock shaft outer ring 1, an encoder disc 4 is pasted on the upper side end of the beadlock shaft outer ring 1, and a conductive ring 8 is installed on the lower side end.

[0034] A dense bead shaft system inner ring 7 is rotatably arranged inside the dense bead shaft system outer ring 1, and a steel ball 6 is arranged between the dense bead shaft system inner ring 7 and the dense bead shaft system outer ring 1.

[0035] It should be added that the shaft system adopts a bead-type bearing, which simplifies the original structure of two bearings plus inner and outer shells into a 7-bead-type shaft system inner ring, 6 steel balls, a motor rotor and a bead-type shaft system outer ring, which has a simple and compact structure.

[0036] In a specific embodiment, the outer ring of the bead-like shaft system or the inner ring of the bead-like shaft system can be defined according to different needs, wherein the outer ring of the bead-like shaft system and the inner ring of the bead-like shaft system can be set as either a motor stator or a motor rotor, and the two are organically combined to save a lot of space. In addition, the shaft system of the encoder is also cancelled, and a code disc is pasted on one end face of the motor rotor, and a moving ring of a conductive ring is installed on the other end face, and a corresponding PCB circuit board is installed on the end face of the stator. The corresponding circuit of the encoder and the motor control circuit, the motor drive circuit, and the conductive ring fixed ring are installed on the PCB circuit board, so that it truly becomes a set of rotating components that integrate electrical control, signal transmission, and power transmission.

[0037] For example, if the application scenario of the electric rotating machine has strict restrictions on the overall size and the axial length needs to be reduced as much as possible, then the motor stator can be designed as the outer ring of the bead-shaped shaft system. For example, in some small precision instruments and equipment, such as the micro-rotating motor in portable medical equipment, the stator is set as the outer ring and the rotor is set as the inner ring, which can make the overall axial size of the motor more compact. Because this layout allows other components such as encoder discs and conductive rings to surround the rotor more tightly, reducing the axial space occupation and facilitating installation and layout in a limited space. For another example, when the electric rotating machine needs to be installed in some equipment with irregular shapes or special installation direction requirements, the relationship between the stator and rotor and the inner and outer rings of the bead-shaped shaft system is determined according to the installation position and direction. For example, in the electric power steering system of a car, the installation space of the motor may be limited by the chassis structure and other components of the car. If the installation position requires that the output shaft direction of the motor is perpendicular to a specific plane, then according to this installation direction, the part that can better adapt to the installation requirements, that is, the stator or rotor, can be defined as the outer ring or inner ring of the bead-shaped shaft system, so as to facilitate connection and transmission with other mechanical parts.

[0038] It should be added that when current flows through the motor stator 2, a rotating magnetic field is generated, causing the outer ring 1 of the dense bead shaft system to rotate. When the outer ring 1 of the dense bead shaft system rotates, it drives the encoder code disk 4 and the conductive ring moving ring 8 to rotate, so that the PCB control board 3 reads the encoder code disk 4 signal and then controls the rotation position. At the same time, the conductive ring fixed ring 9 and the conductive ring moving ring 8 are connected to obtain continuous signal power transmission, which completes the problem of combining the three shaft systems of the motor, encoder code disk, and conductive ring into one and sharing a set of shaft systems, thereby simplifying the structure, improving the accuracy, and reducing the volume.

[0039] The embodiment of the present invention reduces vibration and displacement and ensures the coaxiality and balance of rotating parts through the synergistic effect of multi-layer connection and bead-threaded shaft system, which is conducive to the reliable operation of the motor and improves the accuracy in related application scenarios. At the same time, the encoder code disk can accurately feedback position and speed information based on the bead-threaded shaft system, and the conductive ring and the conductive fixed ring rely on the stable contact of the bead-threaded shaft system to ensure reliable signal transmission, optimize signal detection and transmission, and the various components are integrated and cooperate with each other, reducing space waste, meeting the use occasions with strict requirements on the equipment volume, and achieving good space utilization and compactness.

[0040] See also Figure 3 and Figure 4 As shown, the second aspect of the present invention provides an electric rotating machine control system, including: an equipment information monitoring module, a rotor information receiving module, a motor operation analysis module, a conductive ring state analysis module, an information library and an equipment integrated control terminal.

[0041] Among them, the motor operation analysis module is respectively connected to the equipment information monitoring module, the rotor information receiving module, the information library and the equipment comprehensive control terminal, and the conductive ring status analysis module is respectively connected to the equipment information monitoring module, the rotor information receiving module and the equipment comprehensive control terminal.

[0042] The equipment information monitoring module is used to monitor the operating data of the electric rotating machine in real time when the electric rotating machine is started, including current, temperature and signal data.

[0043] It is understandable that during the rotation of the electric rotating machine, various signals need to be continuously and stably transmitted between the conductive moving ring 8 and the conductive fixed ring 9, such as motor control signals including speed control signals, torque control signals, etc., and motor status feedback signals such as position signals, speed signals, temperature signals, etc. Specifically, the signal data includes but is not limited to real-time monitoring of signal strength, transmission signal waveform, number of signal interruptions, and interruption duration of each signal interruption.

[0044] The rotor information receiving module is used to receive the rotor position information, speed information and contact information of the electric rotating machine fed back by the encoder code disc 4 .

[0045] Specifically, the contact information includes the real-time contact resistance and real-time contact pressure between the conductive ring moving ring 8 and the conductive ring fixed ring 9, the speed information is the real-time monitoring speed, and the rotor position information is the real-time rotor position in each operation cycle.

[0046] In a specific embodiment, for a synchronous motor, the operating cycle can be calculated based on the synchronous speed and the number of pole pairs of the motor. For an asynchronous motor, although its speed is slightly lower than the synchronous speed, the operating cycle can also be approximately determined based on the rated speed. For example, an asynchronous motor with a rated speed of 1500 rpm has an approximate operating cycle of approximately Seconds, in each determined operation cycle, the rotor position data fed back by the sensor is extracted in chronological order, and these data are the real-time rotor positions in each operation cycle. For example, in a 0.04 second operation cycle, all rotor position data points from 0 seconds to 0.04 seconds are extracted from the sensor data.

[0047] It should be added that when the motor starts, the encoder code disc 4 can determine the starting state of the motor according to the initial position information, providing a basis for subsequent precise control. During the operation of the motor, the position and speed data of the motor can be continuously updated and transmitted to the rotor information receiving module. For example, in the spindle motor control of a CNC machine tool, the high-precision position and speed information provided by the encoder control module can ensure the precise movement of the tool during the processing and achieve high-precision processing effects.

[0048] It should be added that the contact resistance detection method can use a special micro-ohmmeter to measure the contact resistance between the conductive rings. The micro-ohmmeter can provide high-precision low-resistance measurement function, and can usually measure resistance at the micro-ohm level. When measuring, connect the test probe of the micro-ohmmeter to the appropriate position of the conductive ring moving ring 8 and the conductive fixed ring 9 to ensure good contact, and then read the measurement result. This method is relatively simple to operate and is suitable for rapid detection of the contact resistance of the conductive ring in general industrial sites.

[0049] Understandably, by monitoring the contact resistance between the conductive ring moving ring 8 and the conductive fixed ring 9, poor contact of the conductive ring can be discovered in time. For example, when the contact resistance of the conductive ring surface gradually increases due to oxidation, wear or accumulation of pollutants, the monitoring system can issue an alarm to remind maintenance personnel to clean, repair or replace the conductive ring. In this way, measures can be taken before the conductive ring failure affects the normal operation of the motor, ensuring the stability and reliability of electrical signal transmission and improving the overall performance and safety of the electric rotating machine control system.

[0050] It should be added that the real-time rotor position obtains rotor position information through a position sensor installed on the electric rotating machine, such as a photoelectric encoder or a rotary transformer. These sensors can sample the rotor position at a certain frequency, such as thousands of times per second.

[0051] The motor operation analysis module is used to determine whether the current electric rotating machine has an abnormality based on the operation data of the electric rotating machine and the rotor position information and speed information of the electric rotating machine fed back in real time, and if an abnormality exists, identify the abnormal item and the processing information of the abnormal item.

[0052] Specifically, judging whether the current electric rotating machine is abnormal includes: A1, selecting the maximum current from the current of the real-time monitored electric rotating machine, and calculating the standard deviation of the current of the real-time monitored electric rotating machine to obtain the current fluctuation degree.

[0053] A2. Filter out the highest temperature from the real-time monitoring temperature of the electric rotating machine, and construct a temperature change curve with time as the horizontal axis and temperature as the vertical axis, and extract the slope of the temperature change curve as the temperature change rate.

[0054] A3. Extract the real-time rotor position in each operation cycle from the rotor position information and calculate the rotor position consistency .

[0055] A4. Extract real-time monitoring speed from speed information and analyze rotor speed consistency .

[0056] A5. Define the maximum current exceeding the set safety current or the current fluctuation exceeding the set reference current fluctuation as condition 1, define the maximum temperature exceeding the preset safety operating temperature or the temperature change rate exceeding the set reference temperature change rate as condition 2, define the rotor position fit is less than the set reference rotor position fit as condition 3, and define the rotor speed fit is less than the set reference rotor speed fit as condition 4.

[0057] A6. Determine whether any of the conditions 1, 2, 3, and 4 are satisfied. If so, the existence of an abnormality is taken as the judgment result. Otherwise, the absence of an abnormality is taken as the judgment result.

[0058] The embodiment of the present invention can more systematically evaluate the operating condition of the electric rotating machine by judging whether the current electric rotating machine has an abnormality from four aspects, namely, current, temperature, rotor position and rotor speed, thereby solving the problem of relatively single factors being considered when controlling the current electric rotating machine. It can more timely and accurately discover various abnormal conditions in the operation of the motor, thus providing a strong guarantee for the subsequent actual control effect, and further avoiding other interference risks.

[0059] Furthermore, the statistical rotor position consistency in step A3 includes: comparing the real-time rotor position in each operation cycle with the expected position calculated by a preset electric rotating machine operation model; if the deviation angle between the rotor position at a certain time point in a certain operation cycle and the corresponding calculated expected position exceeds a set reference deviation angle, the time point is marked as abnormal.

[0060] The number of abnormal markings in each operation cycle is counted and divided by the total number of time points in each operation cycle. The ratio is recorded as the abnormal marking frequency. The average abnormal marking ratio is calculated by the mean, which is recorded as .

[0061] The rotor position at the same time point in different operation cycles is compared with the expected position calculated at that time point. If the deviation angle between the rotor position at a certain time point and the calculated expected position is lower than the set reference deviation angle, the time point is recorded as a matching time point.

[0062] The number of coincident time points is counted and divided by the total number of time points in the operation cycle to obtain the rotor position coincidence repeatability, which is recorded as .

[0063] Statistical rotor position accuracy , , and They represent the rotor position matching repeatability and abnormal marking ratio of the set reference respectively. is a natural constant.

[0064] In a specific embodiment, the reference rotor position matching repeatability and abnormal marking frequency may be set to 0.8 and 0.6 respectively.

[0065] Furthermore, in step A4, the rotor speed consistency is analyzed, including: comparing the real-time monitored speed with the preset speed, if the difference between the monitored speed and the preset speed at a certain time point exceeds the set speed difference interval, then the time point is recorded as the speed abnormal time point, and the number of speed abnormal time points is counted and recorded as .

[0066] Two adjacent speed abnormal time points are combined into a speed abnormal time period. Each speed abnormal time period is traversed. If the duration corresponding to a speed abnormal time period is within the set reference time window, the speed abnormal time period is recorded as the target time period. The number of target time periods is counted and divided by the total number of speed abnormal time periods. The ratio is recorded as the speed abnormality duration ratio, which is recorded as .

[0067] Calculate the standard deviation of the real-time monitored speed to obtain the speed fluctuation .

[0068] Statistical rotor speed consistency , , , and They represent the weights corresponding to the number of speed abnormality time points, speed abnormality duration ratio and speed fluctuation, respectively. , and They are the number of speed abnormal time points, speed abnormal duration ratio and speed fluctuation of the set reference.

[0069] In a specific embodiment, the number of time points of abnormal rotation speed is set according to the cumulative monitoring time. For example, when the cumulative monitoring time is half an hour, the number of time points of abnormal rotation speed can be set to 3.

[0070] In another specific embodiment, the speed abnormality duration ratio can be set to 0.3, the speed fluctuation can be set to 10 rpm, and the number of abnormal time points intuitively reflects the frequency of the speed not meeting expectations. If there are many abnormal time points, even if each abnormality lasts for a short time, it will have a greater impact on the overall consistency. For example, within a monitoring cycle, if there are many time points with abnormal speed, it indicates that the stability of the motor speed is poor, and this part has a relatively high weight. For example, The value can be 0.45. The abnormal speed duration ratio reflects the proportion of the duration of the abnormal state in the total operating time. A long duration indicates that the motor may have a more serious problem. For example, The value can be 0.35. The speed fluctuation mainly focuses on the speed change range, which can reflect the smoothness of the motor operation. Even if the abnormal time points are few and the duration is short, if the speed fluctuation is too large, it will affect the motor performance. However, compared with the first two factors, its direct impact on the overall operation of the motor may be slightly smaller. For example, The value can be 0.2.

[0071] In yet another specific embodiment, identifying abnormal items and processing information of abnormal items includes: B1. According to various conditions, confirming abnormal items, including input current abnormality, temperature abnormality, rotor position abnormality and rotor speed abnormality.

[0072] Among them, confirming the abnormal items includes: if condition 1 is met, taking the input current abnormality as the abnormal item, if condition 2 is met, taking the temperature abnormality as the abnormal item, if condition 3 is met, taking the rotor position abnormality as the abnormal item, and if condition 4 is met, taking the rotor speed abnormality as the abnormal item.

[0073] B2. If the abnormal item is abnormal input current, the duty cycle of the pre-set PWM signal corresponding to the electronic current limiter in the transmission line is recorded as , based on the maximum current and current fluctuation, set the adjustment factor , calculate and adjust the duty cycle of the PWM signal , , adjusting the PWM signal duty cycle as processing information, To set the reference PWM signal duty cycle.

[0074] B3. If the abnormal item is temperature abnormality, based on the maximum temperature and temperature change rate, The setting method is similar to setting the temperature adjustment factor , the preset cooling frequency is recorded as , calculate and adjust the cooling frequency , , the cooling frequency is adjusted as processing information.

[0075] B4. If the abnormal item is the rotor position or the rotor speed, extract the speed control tracking log of the electric rotating machine from the information database, calculate the speed adjustment deviation, and set the speed adjustment factor .

[0076] B5. Match and compare the speed adjustment deviation with the speed adjustment deviation corresponding to each set speed compensation amount to obtain the matching speed compensation amount. , calculate and adjust the rotor speed , , To set the reference rotor speed, the rotor speed is adjusted as processing information. The current monitoring speed.

[0077] The embodiment of the present invention can timely discover potential problems of the equipment by identifying abnormal items of the current electric rotating machine and processing information of the abnormal items, and then facilitate timely processing of these abnormalities to avoid sudden failure of the equipment during operation, thereby improving the overall reliability of the equipment.

[0078] Understandably, when the input current is abnormal, especially when the current is too large, it may cause damage to the motor. By adjusting the duty cycle of the PWM signal in the electronic current limiter, the input current of the motor can be effectively limited. According to Joule's law, excessive current will cause excessive heat inside the motor, which may cause problems such as damage to the insulation and burning of the motor windings. Reducing the duty cycle of the PWM signal can reduce the input voltage of the motor, thereby limiting the current, preventing the motor from being damaged by overcurrent, and extending the service life of the motor. At the same time, it also protects other electrical equipment connected to the motor, such as drivers and controllers, to prevent them from malfunctioning due to overcurrent, and during the operation of the motor, stable current input helps to maintain a stable electromagnetic torque output. By adjusting the duty cycle of the PWM signal to control the current, the torque of the motor can be made more stable. Among them, the duty cycle of the baseline PWM signal is set to 0.5.

[0079] Understandably, when the motor temperature is abnormal, especially when the maximum temperature is too high or the temperature change rate is too large, the motor temperature can be more effectively controlled by adjusting the heat dissipation frequency. Long-term operation of the motor in a high temperature environment may cause problems such as winding insulation aging and bearing lubrication failure, and by adjusting the heat dissipation frequency, such changes can be more sensitively responded to, keeping the motor temperature within a relatively stable range.

[0080] It is also understandable that by counting the speed adjustment deviation from the speed control tracking log and calculating the rotor speed in combination with the speed adjustment factor, the rotor speed abnormality can be accurately compensated. During the operation of the motor, the rotor speed may deviate from the set value due to factors such as load changes, power supply fluctuations, or changes in the motor's own characteristics. This adjustment method can determine the degree of deviation based on the actual operation history data, and then find the appropriate speed compensation amount so that the rotor speed reaches the expected value more accurately. For example, in precision industrial automation equipment, such as high-speed placement machines, the accuracy of the motor's rotor speed directly affects the accuracy and efficiency of placement. Accurate speed compensation can ensure that every action of the placement machine can be completed accurately. Through this adjustment method based on historical data and matching compensation, these changes can be better adapted, and the rotor position abnormality is often closely related to the rotor speed abnormality. When the rotor speed is accurately adjusted, it helps to improve the rotor position accuracy. Because the position of the rotor is accumulated over time at a certain speed, a stable and accurate speed can make the rotor closer to the expected position at each time point.

[0081] Furthermore, setting the signal adjustment factor in step B2 includes: recording the maximum current, the set safety current, the current fluctuation and the set reference current fluctuation as , as well as and .

[0082] Set the signal adjustment factor , , and are the weights corresponding to the maximum current and current fluctuation respectively.

[0083] In a specific embodiment, and The values ​​can be 0.6 and 0.4 respectively, and the value of the safety current is usually closely related to the rated current of the motor. Generally speaking, the maximum current takes into account the upper limit, and the upper limit of the safety current generally takes into account the overload capacity of the motor. Most motors have a certain overload capacity, and are usually allowed to withstand 120%-150% of the rated current for a short period of time (such as a few minutes). Therefore, the upper limit of the safety current can be set to 120%-150% of the rated current of the motor. For example, for the above-mentioned motor with a rated current of 10A, the upper limit of the safety current can be set to 12-15A, that is, for example, The value can be 15A. In normal and stable operation, the current fluctuation is relatively small. The reference current fluctuation can be set to about 5%-10% of the rated current. For example, for a motor with a rated current of 10A, the allowable current fluctuation range can be ±0.5-±1A. For example, The value can be 1A.

[0084] Furthermore, in step B4, the speed adjustment deviation is calculated, including: extracting the adjusted rotor speed and the monitored rotor speed at each tracking from the speed control tracking log, and subtracting the two to obtain the actual adjusted speed difference.

[0085] Count the number of tracking times when the actual adjustment speed difference is greater than the set reference adjustment speed difference interval, and divide it by the total number of tracking times. The ratio is taken as the speed adjustment deviation ratio, recorded as .

[0086] The actual adjusted speed difference of each tracking when the actual adjusted speed difference is less than 0 is averaged, and the absolute value of the calculation result is taken and recorded as .

[0087] Statistical speed adjustment deviation , , To set the reference adjustment speed difference, and They respectively represent the weight coefficients corresponding to the speed adjustment deviation ratio and the actual adjustment speed difference.

[0088] In a specific embodiment, the speed adjustment deviation ratio is analyzed from an overall dimension, and the actual adjustment speed difference is analyzed from a numerical dimension. For example, and The values ​​can be 0.55 and 0.45 respectively.

[0089] Furthermore, the setting formula of the speed adjustment factor in step B4 is as follows: , and They are the rotor position consistency and rotor speed consistency of the set reference respectively.

[0090] In a specific embodiment, and The value can be 0.3.

[0091] In the embodiment of the present invention, when the abnormal item is the rotor position or the rotor speed is abnormal, the speed adjustment deviation is statistically adjusted and the speed adjustment factor is set, and then the rotor speed is calculated and adjusted, thereby further ensuring the speed accuracy of the electric rotating machine, making up for the current mention of how to compensate for speed fluctuations and not involving the deficiencies of fine control of speed accuracy, thereby ensuring the speed stability of the subsequent electric rotating machine.

[0092] The conductive ring state analysis module is used to determine whether there is an abnormality in the conductive ring state based on the signal data and contact information, and if there is an abnormality, confirm the abnormality processing index of the conductive ring.

[0093] Specifically, judging whether there is an abnormality in the state of the conductive ring includes: E1, extracting the real-time monitoring signal strength from the signal data, comparing the real-time monitoring signal strength with the set normal range of signal strength, and calculating the proportion of time points exceeding the normal range to the total monitoring time points as the abnormal signal strength ratio.

[0094] E2. Extract the transmission signal waveform from the signal data, overlap and compare the transmission signal waveform with a preset reference transmission signal waveform, and calculate the ratio of the overlap waveform length to the transmission signal waveform length, which is recorded as the transmission waveform complete ratio.

[0095] E3. Extract the number of signal interruptions and the duration of each signal interruption from the signal data, and record the number of signal interruptions as At the same time, the interruption duration of each signal interruption is averaged to obtain the average interruption duration, which is recorded as , statistical signal interruption interference degree.

[0096] E4. Extract the real-time contact resistance and real-time contact pressure between the conductive ring moving ring 8 and the conductive ring fixed ring 9 from the contact information, and compare them with their set values ​​respectively, and then define the abnormal contact resistance ratio and abnormal contact pressure ratio in the same way as the definition of the abnormal signal strength ratio.

[0097] E5. If any one of the abnormal signal strength ratio, signal interruption interference, abnormal contact resistance ratio, and abnormal contact pressure ratio is greater than 0 or the transmission waveform integrity ratio is less than the set reference value, it is judged that an abnormality exists. If all four items are 0 and the transmission waveform integrity ratio is greater than or equal to the set reference value, it is judged that no abnormality exists.

[0098] Furthermore, the specific statistical formula for calculating the signal interruption interference degree in step E3 is: , and Respectively represent the number of signal interruptions and interruption duration for setting reference. Indicates the signal interruption interference degree.

[0099] In a specific embodiment, the reference signal interruption times are determined according to the running time and are not more than 2 times per hour. The reference signal interruption duration can be set to 50 milliseconds.

[0100] In yet another specific embodiment, the abnormal processing index of the conductive ring is confirmed, including: taking the abnormal signal strength ratio, signal interruption interference degree, abnormal contact resistance ratio, and abnormal contact pressure ratio as Class I parameters, and recording the abnormal signal strength ratio as Class II parameter.

[0101] If a Class I parameter is greater than 0 or a Class II parameter is less than the set reference value, an abnormal mark is made and the number of abnormal marks is counted and recorded as .

[0102] If a Class I parameter is greater than the set warning value or a Class II parameter is less than the set warning value, the target is marked as abnormal, and the number of target abnormal markings is counted and recorded as .

[0103] The currently set contact pressure is recorded as ,Will As the contact pressure is adjusted, is the set contact pressure compensation adjustment value, and Represent the weights of the anomaly marking times and the target anomaly marking times respectively.

[0104] In a specific embodiment, if the electric rotating machine is small, the contact pressure compensation adjustment value may be set to 0.05N, if it is medium, the contact pressure compensation adjustment value may be set to 0.5N, and if it is large, the contact pressure compensation adjustment value may be set to 2N. and The values ​​can be 0.4 and 0.6 respectively.

[0105] The information base is used to store the speed control tracking log of the electric rotating machine.

[0106] The equipment integrated control terminal is used to start corresponding components for processing based on the abnormal items and processing information of the abnormal items and abnormal processing indicators of the conductive ring.

[0107] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. An electric rotating machine, characterized in that: include: Rotating machine housing and rotating machine internal structure; The internal structure of the rotating machine includes a bead-tight shaft system outer ring, a motor stator, a PCB control board, an encoder code disk, a connecting plate 1 and a connecting plate 2, a steel ball, a bead-tight shaft system inner ring, a conductive ring moving ring and a conductive ring fixed ring; The motor stator side end is provided with a connecting plate 1, and the lower side end is provided with a connecting plate 2, and the lower end of the connecting plate 1 is fixedly connected to the upper end of the inner ring of the beaded shaft system; The inner rotation of the motor stator is provided with a bead-tight shaft system outer ring, the upper side end of the bead-tight shaft system outer ring is pasted with an encoder code disk, and the lower side end is installed with a conductive ring moving ring; A dense bead shaft system inner ring is rotatably arranged inside the dense bead shaft system outer ring, and a steel ball is arranged between the dense bead shaft system inner ring and the dense bead shaft system outer ring.

2. An electric rotating machine control system, characterized in that: The system includes: The equipment information monitoring module is used to monitor the operation data of the electric rotating machine in real time when the electric rotating machine is started, including current, temperature and signal data; A rotor information receiving module, used for receiving rotor position information, speed information and contact information of the electric rotating machine fed back by the encoder code disk; The motor operation analysis module is used to determine whether the current electric rotating machine has an abnormality based on the operation data of the electric rotating machine and the rotor position information and speed information of the electric rotating machine fed back in real time, and if an abnormality exists, identify the abnormal item and the processing information of the abnormal item; A conductive ring state analysis module, used to determine whether there is an abnormality in the conductive ring state based on the signal data and contact information, and if there is an abnormality, confirm an abnormality processing indicator of the conductive ring; An information base for storing a speed control tracking log of an electric rotating machine; The equipment integrated control terminal is used to start corresponding components for processing based on the abnormal items and the processing information of the abnormal items and the abnormal processing indicators of the conductive ring.

3. An electric rotating machine control system according to claim 2, characterized in that: The step of judging whether the electric rotating machine is abnormal comprises: The maximum current is screened out from the current of the electric rotating machine monitored in real time, and the standard deviation of the current of the electric rotating machine monitored in real time is calculated to obtain the current fluctuation degree; The highest temperature is selected from the temperature of the electric rotating machine monitored in real time, and a temperature change curve is constructed with time as the horizontal axis and temperature as the vertical axis, and the slope of the temperature change curve is extracted as the temperature change rate; Extract the real-time rotor position in each operation cycle from the rotor position information and calculate the rotor position consistency ; Extract real-time monitoring speed from speed information and analyze rotor speed consistency ; It is defined that the maximum current exceeds the set safety current or the current fluctuation exceeds the set reference current fluctuation as condition 1, the maximum temperature exceeds the preset safety operating temperature or the temperature change rate exceeds the set reference temperature change rate as condition 2, the rotor position fit is defined as less than the set reference rotor position fit as condition 3, and the rotor speed fit is defined as less than the set reference rotor speed fit as condition 4; It is determined whether any of the conditions 1, 2, 3 and 4 are satisfied. If so, the existence of an abnormality is taken as the judgment result. Otherwise, the absence of an abnormality is taken as the judgment result.

4. An electric rotating machine control system according to claim 3, characterized in that: The statistical rotor position matching degree includes: The real-time rotor position in each operation cycle is compared with the expected position calculated by the preset electric rotating machine operation model. If the deviation angle between the rotor position at a certain time point in a certain operation cycle and the corresponding calculated expected position exceeds the set reference deviation angle, the time point is marked as abnormal; The number of abnormal markings in each operation cycle is counted and divided by the total number of time points in each operation cycle. The ratio is recorded as the abnormal marking frequency. The average abnormal marking ratio is calculated by the mean, which is recorded as ; The rotor position at the same time point in different operation cycles is compared with the expected position calculated at the time point. If the deviation angle between the rotor position at a certain time point and the calculated expected position is lower than the set reference deviation angle, the time point is recorded as a coincidence time point. The number of coincident time points is counted and divided by the total number of time points in the operation cycle to obtain the rotor position coincidence repeatability, which is recorded as ; Statistical rotor position accuracy , , and They represent the rotor position matching repeatability and abnormal marking ratio of the set reference respectively. is a natural constant.

5. The electric rotating machine control system according to claim 3, characterized in that: The analysis of the rotor speed consistency includes: The real-time monitored speed is compared with the preset speed. If the difference between the monitored speed and the preset speed at a certain time point exceeds the set speed difference range, the time point is recorded as the speed abnormal time point, and the number of speed abnormal time points is counted and recorded as ; Two adjacent speed abnormal time points are combined into a speed abnormal time period. Each speed abnormal time period is traversed. If the duration corresponding to a speed abnormal time period is within the set reference time window, the speed abnormal time period is recorded as the target time period. The number of target time periods is counted and divided by the total number of speed abnormal time periods. The ratio is recorded as the speed abnormality duration ratio, which is recorded as ; Calculate the standard deviation of the real-time monitored speed to obtain the speed fluctuation ; Statistical rotor speed consistency , , , and They represent the weights corresponding to the number of speed abnormality time points, speed abnormality duration ratio and speed fluctuation, respectively. , and They are the number of speed abnormal time points, speed abnormal duration ratio and speed fluctuation of the set reference.

6. The electric rotating machine control system according to claim 3, characterized in that: The identification of abnormal items and processing information of abnormal items includes: According to each condition, confirm the abnormal items, including abnormal input current, abnormal temperature, abnormal rotor position and abnormal rotor speed; If the abnormal item is the input current abnormality, the duty cycle of the preset PWM signal corresponding to the electronic current limiter in the transmission line is recorded as , based on the maximum current and current fluctuation, set the adjustment factor , calculate and adjust the PWM signal duty cycle , , adjusting the PWM signal duty cycle as processing information, To set the reference PWM signal duty cycle; If the abnormal item is temperature abnormality, based on the maximum temperature and temperature change rate, The setting method is similar to setting the temperature adjustment factor , the preset cooling frequency is recorded as , calculate and adjust the cooling frequency , , adjusting the heat dissipation frequency as processing information; If the abnormal item is the rotor position or the rotor speed, extract the speed control tracking log of the electric rotating machine from the information database, calculate the speed adjustment deviation, and set the speed adjustment factor ; The speed adjustment deviation is matched and compared with the speed adjustment deviation corresponding to each set speed compensation amount to obtain the matching speed compensation amount. , calculate and adjust the rotor speed , , To set the reference rotor speed, the rotor speed is adjusted as processing information. The current monitoring speed.

7. An electric rotating machine control system according to claim 6, characterized in that: The confirmed abnormal items include: If condition 1 is met, the input current abnormality is taken as the abnormal item, if condition 2 is met, the temperature abnormality is taken as the abnormal item, if condition 3 is met, the rotor position abnormality is taken as the abnormal item, and if condition 4 is met, the rotor speed abnormality is taken as the abnormal item.

8. The electric rotating machine control system according to claim 6, characterized in that: The statistical speed adjustment deviation includes: Extract the adjusted rotor speed and monitored rotor speed at each tracking from the speed control tracking log, and make a difference between the two to obtain the actual adjusted speed difference; Count the number of tracking times when the actual adjustment speed difference is greater than the set reference adjustment speed difference interval, and divide it by the total number of tracking times. The ratio is taken as the speed adjustment deviation ratio, recorded as ; The actual adjusted speed difference of each tracking when the actual adjusted speed difference is less than 0 is averaged, and the absolute value of the calculation result is taken and recorded as ; Statistical speed adjustment deviation , , To set the reference adjustment speed difference, and They respectively represent the weight coefficients corresponding to the speed adjustment deviation ratio and the actual adjustment speed difference.

9. The electric rotating machine control system according to claim 3, characterized in that: The determining whether the conductive ring state is abnormal includes: Extract the real-time monitoring signal strength from the signal data, compare the real-time monitoring signal strength with the set normal range of signal strength, and calculate the proportion of time points exceeding the normal range to the total monitoring time points as the abnormal signal strength ratio; Extracting a transmission signal waveform from the signal data, overlapping and comparing the transmission signal waveform with a preset reference transmission signal waveform, and calculating a ratio of the length of the overlapping waveform to the length of the transmission signal waveform, which is recorded as the transmission waveform completeness ratio; The number of signal interruptions and the duration of each signal interruption are extracted from the signal data, and the number of signal interruptions is recorded as At the same time, the interruption duration of each signal interruption is averaged to obtain the average interruption duration, which is recorded as , calculate the signal interruption interference degree; The real-time contact resistance and the real-time contact pressure between the conductive ring moving ring and the conductive ring fixed ring are extracted from the contact information, and compared with their set values ​​respectively, and then the abnormal contact resistance ratio and the abnormal contact pressure ratio are defined in the same way as the definition of the abnormal signal strength ratio; If any one of the abnormal signal strength ratio, signal interruption interference degree, abnormal contact resistance ratio, and abnormal contact pressure ratio is greater than 0 or the transmission waveform integrity ratio is less than the set reference value, it is judged that an abnormality exists; if all four items are 0 and the transmission waveform integrity ratio is greater than or equal to the set reference value, it is judged that no abnormality exists.

10. The electric rotating machine control system according to claim 8, characterized in that: The abnormal processing index for confirming the conductive ring includes: The abnormal signal intensity ratio, signal interruption interference, abnormal contact resistance ratio, and abnormal contact pressure ratio are taken as Class I parameters, and the abnormal signal intensity ratio is recorded as Class II parameter; If a Class I parameter is greater than 0 or a Class II parameter is less than the set reference value, an abnormal mark is made and the number of abnormal marks is counted and recorded as ; If a Class I parameter is greater than the set warning value or a Class II parameter is less than the set warning value, the target is marked as abnormal, and the number of target abnormal markings is counted and recorded as ; The currently set contact pressure is recorded as ,Will As the contact pressure is adjusted, is the set contact pressure compensation adjustment value, and Represent the weights of the anomaly marking times and the target anomaly marking times respectively.

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