Motor torque impact test method, device and equipment and storage medium

Abstract

The invention discloses a motor torque impact test method, device and equipment and a storage medium, and the method comprises the steps: testing the output torque of a rotating shaft of a motor at different electrical angles based on a constrained state of the rotating shaft of the permanent magnet synchronous motor, so as to position the position corresponding to the maximum torque of the motor; and applying gradually increased electric excitation to the motor at the position corresponding to the maximum torque of the motor until the output torque of the motor reaches the target torque, and switching the direction of the current passing through the motor so that the number of alternation times of the motor between the forward torque and the reverse torque reaches the target value, thereby carrying out the torque impact test of the motor. According to the application, the torque impact durability of the new energy drive motor can be comprehensively evaluated, the test accuracy is ensured, the test controllability and the automation level are improved by adopting an electric control mode, the cost is relatively low, and the universality is high.

Description

Technical Field

[0001] This invention relates to the field of motor testing technology, and in particular to a method, apparatus, equipment, and storage medium for testing motor torque impact. Background Technology

[0002] As the core power component of the electric drive system in new energy vehicles, the reliability of the drive motor directly determines the vehicle's power, safety, and durability. During actual vehicle operation, especially under complex conditions such as low-speed starts, rapid acceleration, rapid deceleration, and frequent start-stop cycles, the drive motor experiences rapid and significant torque loading and unloading, resulting in strong torque impacts. These impact loads are transmitted through the motor shaft to the reducer, differential, and other transmission systems, causing cyclic stress on key mechanical structures such as the rotor, stator, bearings, and housing of the motor itself. This is one of the main causes of fatigue damage, abnormal noise, and even failure. Therefore, during the research and development and reliability verification phases of the motor, conducting scientific and efficient torque impact tests on the drive motor and its transmission components to evaluate its durability under alternating torque loads has become an essential and crucial step.

[0003] The main drawbacks of existing technologies are that the test methods mostly use external mechanical force to directly load local parts such as the motor shaft or rotor, which is detached from the real physical process of the electromagnetic torque generated by the motor. This makes it impossible to fully assess the electrical performance and overall structural reliability of the motor under the action of alternating electromagnetic force, and it is difficult to accurately simulate the worst torque output conditions of the motor in actual operation.

[0004] Therefore, how to comprehensively evaluate the torque impact durability performance of new energy drive motors is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, equipment, and storage medium for testing the torque impact of electric motors. This method can comprehensively evaluate the torque impact durability performance of new energy drive motors and ensure the accuracy of the test. At the same time, the use of electronic control improves the controllability and automation level of the test, and the method is low in cost and highly versatile.

[0006] In a first aspect, this application provides a method for testing the torque impact of an electric motor, wherein the method includes the following steps: Based on the constrained state of the permanent magnet synchronous motor shaft, the output torque of the motor shaft at different electrical angles is tested to locate the position corresponding to the maximum torque of the motor. At the position corresponding to the maximum torque of the motor, gradually increasing electrical excitation is applied to the motor until the motor output torque reaches the target torque. The direction of the current passing through the motor is then switched so that the number of times the motor alternates between forward and reverse torque reaches the target value, thus performing a motor torque impact test.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, a preset current is input to the motor, and the motor shaft is rotated by an electrical angle with a set step size to obtain the torque data output by the rotated motor shaft at each circumferential position. Based on the torque data, the position where the motor shaft rotates to the position corresponding to the maximum torque read by the torque sensor is determined.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, the electrical angle of the rotating motor shaft is determined based on the mechanical angle and the number of pole pairs; Determine whether the current electrical angle has reached the set angle; If not, continue rotating the motor shaft until the electrical angle of the motor shaft reaches the set angle.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the torque of the motor, where P is the number of pole pairs. For the rotor magnetic field, For stator current, Stator current vector and relative The spatial phase angle.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, based on the maximum output torque and the target maximum torque, it is determined whether the maximum error between the two is within the preset error range; If so, then do not adjust the set step size; If not, gradually decrease the set step size until the maximum error is within the preset error range.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, the current input to the motor is gradually increased, and the torque value output by the motor is monitored in real time until the target torque is reached; The corresponding current is determined based on the target torque, and the corresponding current is input to the motor. The direction of the current flowing through the motor windings is alternately changed by controlling the commutator, so that the torque direction detected by the torque sensor changes alternately. The number of times the torque direction changes alternately is recorded until the number reaches the preset target number.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, the U-phase winding of the motor is connected to the positive terminal of the constant current source through a commutator, and the V and W-phase windings are connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the V-phase winding can be connected to the positive terminal of the constant current source through a commutator, and the U and W-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the W-phase winding can be connected to the positive terminal of the constant current source via a commutator, and the U and V-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source via a commutator.

[0013] Secondly, this application provides a motor torque impact testing device, the device comprising: The test module is used to test the output torque of the permanent magnet synchronous motor shaft at different electrical angles under constrained conditions, so as to locate the position corresponding to the maximum torque of the motor. The processing module applies gradually increasing electrical excitation to the motor at the position corresponding to the maximum torque of the motor until the output torque of the motor reaches the target torque, and switches the direction of the current passing through the motor so that the number of times the motor alternates between positive and negative torque reaches the target value, thereby performing a motor torque impact test.

[0014] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0015] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0016] This application provides a method, apparatus, equipment, and storage medium for testing the torque impact of a motor. The method includes the following steps: Based on a constrained permanent magnet synchronous motor shaft, testing the output torque of the motor shaft at different electrical angles to locate the position corresponding to the maximum torque of the motor; at the position corresponding to the maximum torque, applying a gradually increasing electrical excitation to the motor until the motor output torque reaches the target torque, and switching the direction of the current through the motor so that the number of alternations between forward and reverse torque reaches the target value, thereby performing the motor torque impact test. This application can comprehensively evaluate the torque impact durability performance of new energy drive motors and ensures the accuracy of the test. Simultaneously, the use of electronic control improves the controllability and automation level of the test, resulting in lower cost and stronger versatility.

[0017] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 This is a flowchart of a motor torque impact test method provided in the embodiments of this application; Figure 2This is a schematic diagram of a motor torque impact testing device provided in the embodiments of this application; Figure 3 Here is a flowchart of a motor torque impact test provided in the embodiments of this application: Figure 4 This is a diagram of a motor torque impact test architecture provided in the embodiments of this application; Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 6 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0021] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0023] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a motor torque impact testing method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Based on the constrained state of the permanent magnet synchronous motor shaft, test the output torque of the motor shaft at different electrical angles to locate the position corresponding to the maximum torque of the motor.

[0024] Specifically, before testing the output torque of the permanent magnet synchronous motor shaft at different electrical angles under constrained conditions to locate the position corresponding to the maximum torque of the motor, the following steps are included: The U-phase winding of the motor is connected to the positive terminal of the constant current source through a commutator, and the V and W-phase windings are connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the V-phase winding can be connected to the positive terminal of the constant current source through a commutator, and the U and W-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the W-phase winding can be connected to the positive terminal of the constant current source via a commutator, and the U and V-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source via a commutator.

[0025] Based on the constrained state of the permanent magnet synchronous motor shaft, the output torque of the motor shaft at different electrical angles is tested to locate the position corresponding to the maximum torque of the motor. Specifically, based on the constrained state of the permanent magnet synchronous motor shaft, a preset current is input to the motor, and the electrical angle of the motor shaft is rotated by a set step size to obtain the torque data output by the rotated motor shaft at each circumferential position; based on the torque data, the position corresponding to the maximum torque read by the torque sensor is determined when the motor shaft rotates.

[0026] Before acquiring the torque data output at each circumferential position of the rotated motor shaft, the process includes: determining the electrical angle of the rotating motor shaft based on the mechanical angle and the number of pole pairs; determining whether the current electrical angle has reached the set angle; if not, continuing to rotate the motor shaft until the electrical angle of the motor shaft reaches the set angle. According to the formula: Calculate the torque of the motor, where P is the number of pole pairs. For the rotor magnetic field, For stator current, Stator current vector and relative The spatial phase angle.

[0027] For ease of understanding, here are some examples: 1) The permanent magnet synchronous motor is mounted on a tooling fixture to fix the motor shaft; The housing of the permanent magnet synchronous motor is fixed to the tooling. The motor shaft of the permanent magnet synchronous motor is fixed on a fixture, which is equipped with a torque sensor to detect the output torque of the motor shaft. The UVW phases of the permanent magnet synchronous motor are connected to a constant current source via a commutator; The positive and negative output terminals of the constant current source are connected to the input terminals of the commutator. In a permanent magnet synchronous motor, the U phase is connected to the positive terminal of a constant current source via a commutator, and the V and W phases are connected in parallel and then connected to the negative terminal of the constant current source via a commutator; or the V phase is connected to the positive terminal of a constant current source via a commutator, and the U and W phases are connected in parallel and then connected to the negative terminal of the constant current source via a commutator; or the W phase is connected to the positive terminal of a constant current source via a commutator, and the U and V phases are connected in parallel and then connected to the negative terminal of the constant current source via a commutator. 2) Set the constant current source to output a small current, read and record the torque from the torque sensor, and then disconnect the constant current source; 3) After rotating the motor shaft by a certain mechanical angle, set the constant current source to output the same small current again, read and record the torque from the torque sensor, and then disconnect the constant current source. Repeat this step; 4) The mechanical angle is rotated in 2° increments; the motor stator is then fixed after rotation. Set the constant current source to output the same current as in 2); Read the torque sensor reading again to measure the torque, then disconnect the constant current source. Repeat step 4). 5) Determine whether the motor shaft has rotated a total of 180° electrical angle; the determination method is: electrical angle = mechanical angle × number of pole pairs, that is, the cumulative mechanical angle rotated is 180° ÷ number of pole pairs; 6) Take the absolute value of the torque recorded at all positions, adjust the motor shaft to the circumferential position corresponding to the maximum recorded torque, and fix the motor shaft.

[0028] In summary, it can be understood that before the experiment, the positive terminal of the constant current source is connected to the U phase of the permanent magnet synchronous drive motor through the commutator, and the negative terminal of the constant current source is connected in parallel with the V and W phases of the permanent magnet synchronous drive motor through the commutator. Then, the motor shaft is fixed, the constant current source is set to a small current, the torque on the torque sensor is read, the constant current source is de-energized, the motor shaft is rotated by 2° electrical angle, the constant current source is set to a small current, the torque on the torque sensor is read, the constant current source is de-energized, and the above steps are repeated until the motor rotates 180° electrical angle. After rotating the motor shaft to the position corresponding to the maximum torque read by the torque sensor, the motor shaft is fixed.

[0029] Step S102: At the position corresponding to the maximum torque of the motor, apply gradually increasing electrical excitation to the motor until the output torque of the motor reaches the target torque, and switch the direction of the current through the motor so that the number of times the motor alternates between positive and negative torque reaches the target value, so as to perform a motor torque impact test.

[0030] Specifically, the current input to the motor is gradually increased, and the torque output of the motor is monitored in real time until the target torque is reached; The corresponding current is determined based on the target torque, and the corresponding current is input to the motor. The direction of the current flowing through the motor windings is alternately changed by controlling the commutator, so that the torque direction detected by the torque sensor changes alternately. The number of times the torque direction changes alternately is recorded until the number reaches the preset target number.

[0031] For easy understanding, after fixing the motor shaft, (1) gradually increase the constant current source current until the torque sensor reaches the test target torque, and record the current value; (2) Set the constant current source current, the current magnitude is the final current value of (1), and change the current direction through the motor by the commutator until the number of alternating positive and negative torque outputs of the motor shaft reaches the test target value, and the test ends.

[0032] Understandably, the motor shaft is rotated to the position corresponding to the maximum torque read by the torque sensor and then fixed. Next, the current is increased through a constant current source until the torque sensor feedback torque reaches the test torque. The constant current source current is then fixed, and the motor's U phase is alternately connected to the positive terminal, and the V and W phases to the negative terminals via a commutator. Alternatively, the U phase can be connected to the negative terminal, and the V and W phases to the positive terminal. This method achieves the alternating positive and negative torque impact test of the motor torque.

[0033] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a motor torque impact testing device provided by the present invention. Figure 2 As shown, the device includes: Test module 201: It is used to test the output torque of the permanent magnet synchronous motor shaft at different electrical angles under constrained conditions, so as to locate the position corresponding to the maximum torque of the motor.

[0034] Processing module 202: It is used to apply gradually increasing electrical excitation to the motor at the position corresponding to the maximum torque of the motor until the output torque of the motor reaches the target torque, and switch the direction of the current through the motor so that the number of times the motor alternates between positive and negative torque reaches the target value, so as to perform motor torque impact test.

[0035] Furthermore, in one possible implementation, the test module is also used to input a preset current to the motor and rotate the motor shaft by an electrical angle with a set step size to obtain the torque data output by the rotated motor shaft at each circumferential position. Based on the torque data, the position where the motor shaft rotates to the position corresponding to the maximum torque read by the torque sensor is determined.

[0036] Furthermore, in one possible implementation, the test module is also used to determine the electrical angle of the rotating motor shaft based on the mechanical angle and the number of pole pairs; Determine whether the current electrical angle has reached the set angle; If not, continue rotating the motor shaft until the electrical angle of the motor shaft reaches the set angle.

[0037] Furthermore, in one possible implementation, the test module is also used to determine the formula: Calculate the torque of the motor, where P is the number of pole pairs. For the rotor magnetic field, For stator current, Stator current vector and relative The spatial phase angle.

[0038] Furthermore, in one possible implementation, the processing module is also used to determine whether the maximum error between the output maximum torque and the target maximum torque is within a preset error range; If so, then do not adjust the set step size; If not, gradually decrease the set step size until the maximum error is within the preset error range.

[0039] Furthermore, in one possible implementation, the processing module is also used to gradually increase the current input to the motor and monitor the torque value output by the motor in real time until the target torque is reached. The corresponding current is determined based on the target torque, and the corresponding current is input to the motor. The direction of the current flowing through the motor windings is alternately changed by controlling the commutator, so that the torque direction detected by the torque sensor changes alternately. The number of times the torque direction changes alternately is recorded until the number reaches the preset target number.

[0040] Furthermore, in one possible implementation, the processing module is also used to connect the U-phase winding of the motor to the positive terminal of the constant current source through a commutator, and connect the V and W-phase windings in parallel to the negative terminal of the constant current source through a commutator. Alternatively, the V-phase winding can be connected to the positive terminal of the constant current source through a commutator, and the U and W-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the W-phase winding can be connected to the positive terminal of the constant current source via a commutator, and the U and V-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source via a commutator.

[0041] Reference Figure 3 , Figure 3 The diagram shown is a flowchart of a motor torque impact test provided by the present invention. Figure 3 As shown: S301, the permanent magnet synchronous motor is mounted on the tooling to fix the motor shaft. The housing of the permanent magnet synchronous motor is fixed on the tooling.

[0042] The motor shaft of the permanent magnet synchronous motor is fixed on a fixture, which is equipped with a torque sensor to detect the output torque of the motor shaft.

[0043] The UVW phases of the permanent magnet synchronous motor are connected to a constant current source via a commutator; The positive and negative output terminals of the constant current source are connected to the input terminals of the commutator.

[0044] In a permanent magnet synchronous motor, the U phase is connected to the positive terminal of a constant current source via a commutator, and the V and W phases are connected in parallel and then connected to the negative terminal of a constant current source via a commutator; or the V phase is connected to the positive terminal of a constant current source via a commutator, and the U and W phases are connected in parallel and then connected to the negative terminal of a constant current source via a commutator; or the W phase is connected to the positive terminal of a constant current source via a commutator, and the U and V phases are connected in parallel and then connected to the negative terminal of a constant current source via a commutator.

[0045] S302. Set the constant current source to output a small current, read and record the torque of the torque sensor, and then disconnect the constant current source.

[0046] S303. After the motor shaft rotates a certain mechanical angle, set the constant current source to output the same small current again, read and record the torque from the torque sensor, and then disconnect the constant current source. Repeat this step.

[0047] The mechanical angle is rotated in 2° increments; after rotation, the motor stator is fixed; the constant current source is set to output the same current as in step S302; the torque is measured again from the torque sensor, and the constant current source is disconnected. This step is repeated again.

[0048] S304. Determine whether the motor shaft has rotated a cumulative 180° electrical angle. The determination method is: electrical angle = mechanical angle × number of pole pairs, that is, the cumulative mechanical angle rotated in step S303 is 180° ÷ number of pole pairs.

[0049] S305. Take the absolute value of the torque recorded at all positions, adjust the motor shaft to the circumferential position corresponding to the maximum recorded torque, and fix the motor shaft.

[0050] S306. Gradually increase the constant current source current until the torque sensor reaches the test target torque, and record the current value.

[0051] S307. Set the constant current source current, the magnitude of which is the final current value in step S600. Change the direction of the current through the motor by using the commutator until the number of alternating positive and negative torque outputs from the motor shaft reaches the test target value, and the test ends.

[0052] In summary, before the test, the positive terminal of the constant current source was connected to the U phase of the permanent magnet synchronous drive motor via a commutator, and the negative terminal of the constant current source was connected in parallel with the V and W phases of the permanent magnet synchronous drive motor via a commutator. Then, the motor shaft was fixed, a small current was set in the constant current source, and the torque was read from the torque sensor. The constant current source was then de-energized, and the motor shaft was rotated by 2 electrical degrees. The constant current source was again set to a small current, and the torque was read from the torque sensor. The constant current source was then de-energized, and this process was repeated until the motor rotated 180 electrical degrees. The motor shaft was then rotated to the position corresponding to the maximum torque read by the torque sensor, and then fixed. Next, the current was increased through the constant current source until the torque sensor feedback torque reached the test torque. The constant current source current was fixed, and the motor's U phase was alternately connected to the positive terminal, and the V and W phases to the negative terminals via the commutator. Alternatively, the U phase could be connected to the negative terminal, and the V and W phases to the positive terminal. This method achieved an alternating positive and negative torque impact test on the motor torque.

[0053] Reference Figure 4 , Figure 4 The diagram shown is a motor torque impact test architecture provided by the present invention. Figure 4 As shown: Specifically, 1. Constant current source; 2. Commutator; 3. Permanent magnet synchronous drive motor; 31. Permanent magnet synchronous drive motor housing; 32. Motor shaft; 4. Tooling; 41. Tooling panel; 42. Tooling flange; 43. Tooling shaft; 5. Torque sensor.

[0054] ① The permanent magnet synchronous motor 3 is mounted on the tooling 4 to fix the motor shaft 32.

[0055] The housing 31 of the permanent magnet synchronous motor is fixed to the tooling panel 41; the motor shaft 32 of the permanent magnet synchronous motor is fixed to the tooling flange 42 through the tooling shaft 43; the tooling flange 42 is also assembled with the torque sensor 5; the torque sensor 5 is installed and fixed to the tooling panel 41.

[0056] The U phase of the permanent magnet synchronous drive motor 3 is connected to the positive terminal of the constant current source 1 through commutator 2, and the V and W phases are connected in parallel and then connected to the negative terminal of the constant current source 1 through commutator 2; or the V phase of the permanent magnet synchronous drive motor 3 is connected to the positive terminal of the constant current source 1 through commutator 2, and the U and W phases are connected in parallel and then connected to the negative terminal of the constant current source 1 through commutator 2; or the W phase of the permanent magnet synchronous drive motor 3 is connected to the positive terminal of the constant current source 1 through commutator 2, and the U and V phases are connected in parallel and then connected to the negative terminal of the constant current source 1 through commutator 2.

[0057] ② Set constant current source 1 to output a small current, read and record the torque of torque sensor 5, and then disconnect constant current source 1.

[0058] Commutator 2 disables electrode commutation. In this example, during debugging, phase U is directly connected to the positive terminal of constant current source 1. Set the output current of constant current source 1 to approximately 50A in this example, and read and record the torque value measured by the torque sensor. After the first measurement, disconnect the current output of constant current source 1.

[0059] ③ Rotate the motor shaft 32 by a certain mechanical angle, set the constant current source 1 to output the same small current again, read and record the torque measured by the torque sensor 5, and then disconnect the constant current source 1. Repeat this step.

[0060] Loosen the fixing bolts of the tooling flange 42, rotate the tooling flange 42 to rotate the motor shaft 32 by a certain mechanical angle, and then fix the motor shaft 32 again through the tooling flange 42. In this example, the mechanical angle is 2°. Therefore, according to the formula Electrical angle = Mechanical angle × Number of pole pairs, for a 3-pole permanent magnet synchronous drive motor, the electrical angle of one rotation is 6°, and for a 4-pole permanent magnet synchronous drive motor, the electrical angle of one rotation is 8°; the electrical angle of rotation for permanent magnet synchronous motors with other pole pairs can be deduced accordingly.

[0061] Set the constant current source 1 to output 50A current again, and read and record the torque value measured by the torque sensor 5 for the second time; disconnect the output of the constant current source 1.

[0062] ④ Determine whether the motor shaft 32 has rotated a total of 180° electrical angle. The determination method is: electrical angle = mechanical angle × number of pole pairs. Repeat step ③ until the motor shaft 32 has rotated a total of 180° electrical angle.

[0063] The electromagnetic torque equation for the three-phase permanent magnet synchronous motor is as follows:

[0064] in: represents the electromagnetic torque of the permanent magnet synchronous motor; P represents the number of pole pairs. This is the rotor magnetic field; Stator current; Stator current vector and relative The spatial phase angle.

[0065] For a factory-produced three-phase permanent magnet synchronous motor, the number of pole pairs P, the rotor magnetic field... It has been determined that the electromagnetic torque is affected. The magnitude is the stator current. and stator current vector relatively The spatial phase angle β. And when Once confirmed, Size and sin The relevant information is that electromagnetic torque will inevitably occur within an electrical angle of 180°. The maximum or minimum value, The positive and negative signs indicate the direction of torque.

[0066] ⑤ Take the absolute value of the torque recorded at all positions, adjust the motor shaft to the circumferential position corresponding to the maximum recorded torque, and fix the motor shaft.

[0067] In this example, the current during commissioning is 50A. According to the formula, an angle β will occur, causing the electromagnetic torque to... The absolute value is the largest. Then fix the motor shaft 32 to the corresponding... The absolute value of β is at the angle where it is the largest.

[0068] In this example, the mechanical angle rotation step is 2°, and the current is 50A. For a three-phase permanent magnet synchronous motor with three pole pairs, the maximum torque is measured. The maximum error between the measured maximum torque and the theoretical maximum torque is: 1 - sin(90° - 3*2°) ≈ 0.55%; for a three-phase permanent magnet synchronous motor with 4 pole pairs, the measured maximum torque... The maximum error between the measured maximum torque and the theoretical maximum torque is: 1 - sin(90° - 4*2°) ≈ 0.97%. For three-phase permanent magnet synchronous motors with a larger number of pole pairs, the mechanical step size can be reduced to improve the error between the measured maximum torque and the theoretical maximum torque.

[0069] ⑥ Gradually increase the current of constant current source 1 until the torque of torque sensor 5 reaches the test target torque, and record the current value.

[0070] According to the formula, once β corresponding to the maximum measured torque is determined, the electromagnetic torque is affected. The value is Therefore, the electromagnetic torque can be adjusted by regulating the current output of constant current source 1 to the three-phase permanent magnet synchronous motor. Once the electromagnetic torque reaches the target torque, the target current output of constant current source 1 can be determined.

[0071] By taking all the steps above, a relatively reasonable β angle and the corresponding output current of constant current source 1 can be determined, so that the permanent magnet synchronous drive motor 3 can output the test target torque with a smaller input current.

[0072] ⑦ Set the current of constant current source 1 to the final current value of ⑥, and change the direction of the current through the motor by commutator 2 until the number of alternating positive and negative torque outputs of the motor shaft 32 reaches the test target value.

[0073] In this example, the function of commutator 2 is to change the direction of the current passing through the three phases U, U, and W of the permanent magnet synchronous motor. That is, before commutation, phase U is positive and phase VW is negative; after commutation, phase U is negative and phase VW is positive; after another commutation, phase U is positive and phase VW is negative; and so on. In this way, the permanent magnet synchronous drive motor 3 alternately outputs the target torque in the positive direction and the target torque in the reverse direction until the target number of torque impact tests is completed.

[0074] The following reference Figure 5 To describe an electronic device 500 according to this embodiment of the present invention. Figure 5 The electronic device 500 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0075] like Figure 5 As shown, the electronic device 500 is manifested in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one processing unit 510, at least one storage unit 520, and a bus 530 connecting different system components (including storage unit 520 and processing unit 510).

[0076] The storage unit stores program code that can be executed by the processing unit 510, causing the processing unit 510 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0077] Storage unit 520 may include readable media in the form of volatile storage units, such as random access memory (RAM) 521 and / or cache memory 522, and may further include read-only memory (ROM) 523.

[0078] Storage unit 520 may also include a program / utility 524 having a set (at least one) program module 525, such program module 525 including but not limited to: operating system, one or more application programs, other program modules and program data, each of these examples or some combination of these may include an implementation of a network environment.

[0079] Bus 530 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0080] Electronic device 500 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 500, and / or any device that enables electronic device 500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 550. Furthermore, electronic device 500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 560. As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 530. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0082] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0083] refer to Figure 6 As shown, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0084] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0085] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0087] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0088] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0089] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0090] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for testing the torque impact of an electric motor, characterized in that, include: Based on the constrained state of the permanent magnet synchronous motor shaft, the output torque of the motor shaft at different electrical angles is tested to locate the position corresponding to the maximum torque of the motor. At the position corresponding to the maximum torque of the motor, gradually increasing electrical excitation is applied to the motor until the motor output torque reaches the target torque. The direction of the current passing through the motor is then switched so that the number of times the motor alternates between forward and reverse torque reaches the target value, thus performing a motor torque impact test.

2. The method according to claim 1, characterized in that, The test motor shaft output torque at different electrical angles is used to locate the position corresponding to the maximum torque of the motor, including: A preset current is input to the motor, and the motor shaft is rotated by an electrical angle at a set step size to obtain the torque data output by the rotated motor shaft at each circumferential position. Based on the torque data, the position where the motor shaft rotates to the position corresponding to the maximum torque read by the torque sensor is determined.

3. The method according to claim 2, characterized in that, Before acquiring the torque data output by the rotated motor shaft at each circumferential position, the following steps are included: Determine the electrical angle of the rotating motor shaft based on the mechanical angle and the number of pole pairs; Determine whether the current electrical angle has reached the set angle; If not, continue rotating the motor shaft until the electrical angle of the motor shaft reaches the set angle.

4. The method according to claim 3, characterized in that, Also includes: According to the formula: Calculate the torque of the motor, where P is the number of pole pairs. For the rotor magnetic field, For stator current, Stator current vector and relative The spatial phase angle.

5. The method according to claim 2, characterized in that, Also includes: Based on the maximum output torque and the target maximum torque, determine whether the maximum error between the two is within the preset error range; If so, then do not adjust the set step size; If not, gradually decrease the set step size until the maximum error is within the preset error range.

6. The method according to claim 1, characterized in that, The process of applying gradually increasing electrical excitation to the motor until the motor output torque reaches the target torque, and switching the direction of the current through the motor so that the number of times the motor alternates between forward and reverse torque reaches the target value, includes: Gradually increase the current input to the motor and monitor the motor output torque value in real time until the target torque is reached; The corresponding current is determined based on the target torque, and the corresponding current is input to the motor. The direction of the current flowing through the motor windings is alternately changed by controlling the commutator, so that the torque direction detected by the torque sensor changes alternately. The number of times the torque direction changes alternately is recorded until the number reaches the preset target number.

7. The method according to claim 1, characterized in that, Before testing the output torque of the permanent magnet synchronous motor shaft at different electrical angles under constrained conditions to locate the position corresponding to the maximum torque of the motor, the following steps are included: The U-phase winding of the motor is connected to the positive terminal of the constant current source through a commutator, and the V and W-phase windings are connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the V-phase winding can be connected to the positive terminal of the constant current source through a commutator, and the U and W-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source through a commutator. Alternatively, the W-phase winding can be connected to the positive terminal of the constant current source via a commutator, and the U and V-phase windings can be connected in parallel and then connected to the negative terminal of the constant current source via a commutator.

8. A motor torque impact testing device, characterized in that, include: The test module is used to test the output torque of the permanent magnet synchronous motor shaft at different electrical angles under constrained conditions, so as to locate the position corresponding to the maximum torque of the motor. The processing module applies gradually increasing electrical excitation to the motor at the position corresponding to the maximum torque of the motor until the output torque of the motor reaches the target torque, and switches the direction of the current passing through the motor so that the number of times the motor alternates between positive and negative torque reaches the target value, thereby performing a motor torque impact test.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.

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