A voltage compensation and stabilization management system for a motor of a vortex shaker

Abstract

The present application relates to the technical field of motor control, and discloses a voltage compensation and stabilization management system for a motor of a vortex oscillator, comprising: a detection unit configured to collect a bus current signal; a processing unit configured to perform a differential operation on the bus current signal to determine a current change rate, determine that a load mutation condition is entered when the current change rate exceeds a preset threshold, and then query a load response coefficient according to a preset characteristic table and calculate a voltage compensation increment; and a driving unit configured to adjust a phase-shifting angle of an excitation voltage according to the voltage compensation increment, wherein the present application can identify a load condition in real time, perform feedforward compensation, eliminate transient voltage drop caused by load switching, maintain voltage steady-state characteristics of a motor drive link, effectively suppress speed fluctuation, and enhance dynamic response capability of the system under variable load conditions.

Description

TECHNICAL FIELD

[0001] The application relates to a voltage compensation stability management system of a motor of a vortex shaker, and belongs to the technical field of motor control. BACKGROUND

[0002] Currently, vortex shaker equipment usually adopts a permanent magnet synchronous motor or a brushless direct current motor as a driving core, and uses a proportional integral derivative control strategy to cooperate with a pulse width modulation technology to adjust the motor speed. Such a technical solution relies on bus current collection signals and speed feedback signals to maintain electromagnetic torque balance by adjusting the duty cycle of an inverter power switch tube, and shows good running characteristics under conventional low-viscosity fluid mixing conditions.

[0003] When the vortex shaker equipment processes biochemical samples with variable viscosity characteristics or non-Newtonian fluid characteristics, the motor load generates nonlinear and severe transient torque fluctuations. Since the existing control program performs feedback compensation based on speed deviation, there is an unavoidable time lag in signal sampling, control logic operation and inverter drive response. When the sample phase shifts in the container or produces a load impact similar to the blank biting type in a metal rolling mill, this feedback delay causes the voltage compensation command to lag behind the real load mutation time, resulting in a transient pressure drop in the drive system and a risk of rotor out-of-step. The physical structure design has bottlenecks, and the motor control strategy is also difficult to solve the dynamic instability of high-viscosity conditions from the algorithm level. For example, a vortex shaker and a uniform oscillation method thereof are disclosed in Chinese Patent Publication No. CN120393803A, which physically buffers through a flexible connecting plate and an integrated bearing plate structure to improve mechanical running smoothness and batch consistency. Although the structure dimension improves the stability of motion transmission, the core control link still uses PWM speed regulation and PID closed-loop logic. This feedback method lags behind the load fluctuation and cannot sense the load change rate. In the face of nonlinear load impact, the compensation voltage vector cannot be aligned with the rotor physical position, and it is difficult to suppress the speed oscillation caused by feedback regulation lag.

[0004] Therefore, how to construct an advanced voltage compensation mechanism based on load change rate sensing to offset the phase lag caused by sampling delay and suppress the voltage fluctuation caused by nonlinear load impact has become a technical problem to be solved by the application. SUMMARY

[0005] To solve the problems in the background art, the technical solution of the application is as follows: a voltage compensation stability management system of a motor of a vortex shaker, comprising:

[0006] A detection unit is configured to capture the bus current signal of the motor in real time and transmit the collected bus current data via a direct memory access channel.

[0007] The processing unit is connected with the detection unit, and is configured to perform a differential operation on the bus current data with a sampling period of 10 μs to extract a bus current rate of change dI / dt; the processing unit stores a preset electromagnetic compensation characteristic table, and determines that the motor enters a load mutation working condition when the bus current rate of change dI / dt exceeds a preset impact threshold; wherein the processing unit is configured to call a feedforward voltage compensation program based on the load mutation working condition, and query a load response coefficient corresponding to the bus current rate of change dI / dt according to the electromagnetic compensation characteristic table, and obtain a voltage compensation increment for offsetting a bus voltage drop by calculating a product of the load response coefficient and the bus current rate of change dI / dt ;

[0008] The driving unit is connected with the processing unit, and is configured to adjust a phase shift angle of a pulse width modulation signal according to the voltage compensation increment , and perform a lead phase shift compensation on an excitation voltage of the motor within 500 μs, the lead phase shift compensation being configured to offset an instantaneous voltage drop caused by the load mutation working condition by changing a vector space distribution of an inverter circuit.

[0009] Preferably, the processing unit is further configured to calculate a load resistance torque characteristic value according to a ripple frequency component of the bus current data, and perform a stator winding thermal impedance identification in combination with an induced electromotive force signal of a power switch tube off interval; wherein the processing unit is configured to calculate an associated deviation of the load resistance torque characteristic value and the stator winding thermal impedance identification result, and linearly correct a gain term in the feedforward voltage compensation program according to the associated deviation, so as to maintain an output torque stiffness of the motor in a sample viscosity changing environment, and compensate for an internal pressure drop loss caused by winding heating, thereby ensuring that an adjustment step of the voltage compensation increment matches real-time electromagnetic characteristics of the motor.

[0010] Preferably, the processing unit is configured to perform a phase arbitration logic; the processing unit offsets a control delay caused by a sampling link by using a phase advance generated by a digital filter, and realizes a logical coupling of the voltage compensation increment and a rotor instantaneous position before a speed deviation signal is generated, so as to suppress speed oscillation caused by feedback regulation lag.

[0011] Preferably, the processing unit is configured to output a test pulse with a preset duty cycle in a starting stage, and construct a load characteristic model containing a load mass distribution according to a feedback current response curve; the processing unit performs an inverse phase voltage compensation on a torque pulsation component generated by an asymmetric load, and converts a stress fluctuation amount output by the load characteristic model into a reverse electromagnetic torque.

[0012] Preferably, the detection unit comprises a sampling resistor, an operational amplifier circuit and a hardware buffer; the hardware buffer is connected with a direct memory access channel, and is configured to perform time sequence alignment processing on the bus current data, so as to ensure that the bus current rate of change dI / dt extracted by the processing unit can accurately represent the instantaneous slope of the load mutation of the motor.

[0013] Preferably, the processing unit determines the voltage compensation increment by the following relationship: : , wherein, is the value of the voltage compensation increment, G is a preset proportional adjustment gain, dI / dt is the bus current rate of change, is a system stiffness coefficient representing the electromagnetic response capability of the motor drive link.

[0014] Preferably, the processing unit stores a characteristic gain library for different viscosity grade samples; the processing unit retrieves the target compensation parameter corresponding to the physical properties of the current sample according to the extracted load response coefficient, so as to realize the voltage compensation increment adaptation to different container load characteristics.

[0015] Preferably, the drive unit comprises a pulse width modulation controller and a power inverter bridge; the pulse width modulation controller is configured to receive the voltage vector instruction output by the processing unit, and change the conduction phase of the gate drive signal sent to the power inverter bridge, so as to compensate for the bus energy gap by changing the flux trajectory.

[0016] Preferably, the system further comprises a monitoring module; the monitoring module is configured to calculate the instantaneous slip between the actual speed and the target speed of the motor, and when the instantaneous slip exceeds a preset safety boundary, force the processing unit to enter a power limited state, and limit the maximum pulse width of the pulse width modulation signal.

[0017] Preferably, the processing unit is implemented by a microprocessor or a field programmable gate array, and is configured with a hardware multiplier, so as to ensure that the total logical delay from extracting the bus current rate of change dI / dt to the phase shift adjustment performed by the drive unit is less than 100 μs.

[0018] Compared with the prior art, the application has the following advantages:

[0019] 1. In the voltage compensation stable management, by extracting the first derivative feature of the bus current and taking it as the physical criterion for the advance correction of the driving voltage, the electromagnetic torque and the load impact are realized to be hedged synchronously, the response lag due to the dependence of the traditional feedback mechanism on error accumulation does not constitute a technical constraint in the framework of the application, the processing unit predicts the load evolution trend according to the current rate of change, so that the driving voltage produces a phase shift before the torque fluctuation is completely fed back to the speed loop, the instantaneous voltage drop caused by the load mutation is eliminated, and the bus steady-state characteristics of the motor under high dynamic switching conditions are maintained.

[0020] 2. By combining the virtual phase buffer mechanism with the rotor physical inertia to perform phase arbitration, the compensation vector and the rotor physical position are flexibly coupled under the condition of drastic frequency changes. The mechanical damping absorbs the logic error caused by the sampling delay. There is no need to introduce a filtering link that may induce high-frequency noise. While maintaining a high response bandwidth, the system eliminates the risk of oscillation in the feedback adjustment process, and exhibits extremely high running smoothness and dynamic transition stability.

[0021] 3. By extracting material resistance parameters from the bus current ripple characteristics and combining them with the residual signals during power switch turn-off, thermal identification is performed to achieve deep decoupling between control gain and physical environment evolution. By co-mapping the material viscosity change characteristics with the winding impedance offset, the system automatically corrects the output weight of the voltage compensation operator. This closed-loop correction based on the reuse of information byproducts enables the motor to maintain constant torque stiffness under long-cycle operation or sample property migration environment, suppressing internal losses caused by parameter drift. Attached Figure Description

[0022] Figure 1 This is a flowchart of the signal processing and control of the voltage compensation and stabilization management system of the present invention;

[0023] Figure 2 This is a diagram showing the system architecture and functional unit composition of the voltage compensation and stabilization management system of the present invention. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings; the embodiments described in this section are only for explaining the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0025] This invention provides a voltage compensation and stabilization management system for a vortex oscillator motor, comprising a detection unit, a processing unit, and a drive unit. The detection unit is connected to the processing unit via a physical hardware link and is used to acquire the raw bus current signal during motor operation. The processing unit is connected to the drive unit and is used to execute a voltage compensation algorithm based on load change rate sensing and output the voltage compensation increment. The drive unit is used to compensate for voltage increments. Adjust the excitation phase of the power inverter circuit; due to the vortex oscillator when driving high viscosity or non-Newtonian fluid samples, the nonlinear torque fluctuation of the fluid load will cause the drive link to produce a transient pressure drop, and the traditional deviation feedback regulation has a physical response lag; To meet this challenge, the following procedures are used to achieve voltage steady-state management; The detection unit captures the bus current signal using a sampling resistor, and transmits the collected bus current data via a direct memory access channel; The processing unit performs difference operation on the bus current data with a sampling period of 10us, and extracts the bus current rate of change dI / dt; When the processing unit determines that the bus current rate of change dI / dt exceeds the preset impact threshold, it is determined that the motor enters the load mutation working condition; The processing unit queries the load response coefficient corresponding to the bus current rate of change dI / dt according to the pre-stored electromagnetic compensation characteristic table, and obtains the voltage compensation increment for counteracting the bus voltage drop by calculating the product of the load response coefficient and the bus current rate of change dI / dt .

[0026] The detection unit captures the motor bus current signal, uses a 12-bit high-speed analog-to-digital converter to trigger synchronous sampling at the midpoint of the pulse width modulation period, avoids electromagnetic interference noise generated by power switch tube switching transient, collects original current data and writes it into the processor internal deep 10 cycle buffer area in real time through the direct memory access channel, and the processing unit performs sliding difference operation to extract the difference value between the current sampling point value and the previous 5th sampling point value in the buffer area to determine the bus current rate of change dI / dt, wherein dI / dt is the bus current rate of change, the unit is A / s, the random jitter caused by hardware sampling noise is filtered out, and the load mutation feature extraction delay is maintained within 20 microseconds; The processing unit determines the voltage compensation increment through the following relationship : , wherein is the value of the voltage compensation increment, the unit is V; G is the preset proportional regulation gain; dI / dt is the bus current rate of change, the unit is A / s; is the system stiffness coefficient representing the electromagnetic response capability of the motor drive link; In a test record, the system detects that the bus current increases by 5mA in adjacent sampling periods, and calculates that the bus current rate of change dI / dt is 500A / s; If the preset proportional regulation gain G is 0.02, and the system stiffness coefficient is 100, then the output voltage compensation increment is 0.1V; The driving unit adjusts the voltage compensation increment The phase shift angle of the pulse width modulation signal is adjusted to offset the transient voltage drop caused by load mutation by changing the vector space distribution of the inverter circuit; the electromagnetic compensation feature table is determined by offline calibration: the motor is in a 2000 rpm constant speed reference state, the dynamic dynamometer applies a 0.05 N·m to 0.8 N·m step load with a step increment of 0.05 N·m, and the measured peak value of the bus current change rate dI / dt and the bus voltage transient drop value corresponding to the load step triggering moment are recorded wherein is the bus voltage transient drop value, in V, and the voltage compensation increment required to maintain the bus voltage drop rate less than 0.5% wherein is the voltage compensation increment, in V, and the dI / dt value interval and the corresponding voltage compensation increment of each group is stored in the non-volatile memory of the processing unit in the form of key-value pairs.

[0027] The drive unit performs phase shift compensation, and the processing unit outputs the voltage compensation increment is converted into a spatial vector pulse width modulation algorithm vector lead angle wherein is the vector lead angle, in rad, and the voltage compensation increment is determined by the ratio of the current bus voltage transient value is the magnitude, and the target voltage vector is rotated and transformed in the stationary coordinate system to make the inverter circuit generate an excitation voltage that produces a lead displacement relative to the rotor position in the spatial phase, instantaneously increases the active component of the stator flux linkage to offset the electromagnetic power gap caused by load mutation, and limits the bus voltage steady-state fluctuation rate within the preset index; the system performs dynamic correction according to the following procedures; the processing unit calculates the load torque characteristic value according to the ripple frequency component of the bus current data, and performs stator winding hot impedance identification combined with the induced potential signal of the power switch tube off interval; by constructing a 512-point hardware ring buffer at a sampling rate of 100 kHz, using a digital bandpass filter of 400 Hz to 1200 Hz to perform real-time feature extraction on the original bus current signal in the buffer, and matching the extracted ripple peak value with the 0.5 N·m / A resistance torque mapping table to obtain the dynamic load characteristic linearly related to the sample viscosity; the processing unit calculates the correlation deviation of the load torque characteristic value and the stator winding hot impedance identification result, and linearly corrects the gain term in the feedforward voltage compensation program according to the correlation deviation; when the winding temperature rises and the stator resistance increases by 10%, the processing unit identifies the increase of internal voltage drop loss, and automatically corrects the coefficient of proportional adjustment gain G upward by 5% to maintain the output torque stiffness of the motor.

[0028] To address the control delay caused by the sampling stage, the processing unit executes phase arbitration logic. This arbitration logic prioritizes scheduling based on a 20-microsecond time window. When the bus current change rate triggers the 400 amperes per second threshold condition, the processing unit instantaneously increases the control weight of the feedforward voltage compensation program from 0.3 to 0.95 and forcibly locks the output value of the proportional-integral feedback loop for two pulse width modulation cycles to ensure that the advance phase shift command obtains absolute execution rights before the speed loop generates a deviation signal. The processing unit uses the phase advance generated by the digital filter to compensate for the sampling lag. Before the speed deviation signal is generated, the processing unit adjusts the update frequency of the phase shift angle to achieve voltage compensation increment. The coupling with the rotor's instantaneous position is achieved; the processing unit employs a microprocessor with a hardware multiplier to ensure that the total logic delay from extracting the bus current change rate dI / dt to the drive unit executing phase shift adjustment is less than 100μs; this time-domain advanced phase shift compensation mechanism suppresses speed oscillations caused by feedback regulation lag; to address the off-center load phenomenon caused by uneven sample distribution within the container, the system executes a load modeling procedure during startup; the drive unit outputs test pulses with a preset duty cycle, and the processing unit constructs a load characteristic model based on the feedback current response curve, including load mass distribution information; for the torque pulsation component generated by asymmetrical loads, the processing unit executes reverse phase... Voltage compensation converts the force fluctuation output by the load characteristic model into a reverse electromagnetic torque, offsetting the radial force fluctuation during rotation and reducing mechanical resonance caused by sample imbalance. In addition, the system has a monitoring module that calculates the instantaneous slip between the actual speed and the target speed of the motor in real time. When the instantaneous slip exceeds the preset safety boundary, the monitoring module forces the processing unit to enter a power-limited state and limits the maximum pulse width of the pulse width modulation signal to prevent the system from being damaged due to overload. The above units and logic procedures work together to maintain the steady-state voltage characteristics of the motor drive link, reducing the instantaneous fluctuation rate of the bus voltage to within 0.5%.

[0029] In a high-throughput biochemical analysis scenario of processing samples with non-Newtonian fluid characteristics, the motor drives the container loaded with high-viscosity concentrated reagents to accelerate from static to a target rotating speed of 2800 rpm. Due to the nonlinear change of the shear stress of the fluid in the container with the rotating speed, a transient impact load similar to the instant when the blank enters the roll gap in the metal rolling mill is generated, which causes the bus current induced by the stator winding to have a rising edge jump. If the system only relies on the rotating speed deviation feedback for adjustment, due to the physical time delay of signal acquisition, logic operation and power inverter circuit response, the compensation voltage command will lag behind the real load fluctuation time, thereby causing the bus voltage to drop by more than 12% and increasing the risk of rotor out-of-step. In order to offset the phase lag caused by sampling delay and suppress the voltage fluctuation caused by nonlinear load impact, the detection unit continuously captures the bus current signal of the motor with a sampling period of 10μs, and transmits the collected bus current data to the processing unit through the direct memory access channel. The processing unit extracts the bus current rate of change dI / dt by performing difference operation on the current value of the current sampling period and the current value of the previous sampling period. When it is determined that the bus current rate of change dI / dt exceeds the preset impact threshold, the processing unit calls the feedforward voltage compensation program and determines the load response coefficient corresponding to the bus current rate of change dI / dt according to the pre-stored electromagnetic compensation characteristic table. By calculating the product of the load response coefficient and the bus current rate of change dI / dt, the voltage compensation increment for offsetting the bus voltage drop is obtained .

[0030] The processing unit determines the voltage compensation increment by the following mathematical formula : , wherein is the value of the voltage compensation increment, in units of V; G is the preset proportional regulation gain; dI / dt is the bus current rate of change, in units of A / s; is the system stiffness coefficient representing the electromagnetic response capability of the motor drive link; in a test record, the system detects that the bus current increases by 0.2A in adjacent sampling periods, and the bus current rate of change dI / dt is calculated to be 20000A / s. If the preset proportional regulation gain G is 0.002 and the system stiffness coefficient is 100, then the output voltage compensation increment is 0.4V. The drive unit adjusts the phase shift angle of the power inverter bridge within 500μs according to the voltage compensation increment , so that the voltage compensation increment The predictive injection of electromagnetic energy is completed before the bus voltage produces a substantial drop. By introducing load change rate sensing into the feedforward control loop, the system completes dynamic correction of the drive voltage in the initial stage of load mutation, changes the traditional control mode of lag dependence on speed deviation signals, aligns the voltage compensation instruction with the real physical load fluctuation in the time domain, limits the instantaneous fluctuation rate of the bus voltage to within 0.5%, and ensures the torque output stability of the motor under variable load conditions.

[0031] Example two: On the motor verification platform equipped with a high-frequency power analyzer and a dynamic dynamometer, verification tests are carried out for the nonlinear fluid resistance torque fluctuation generated by the motor when driving the biochemical container. The bus current data is obtained through a high-precision current sensor, the sampling frequency is set to 100 kHz and the quantization bits are 16 bits. In order to simulate the high-frequency electromagnetic interference in the real laboratory environment and verify the anti-interference ability of the system, a Gaussian white noise with a signal-to-noise ratio of 20 dB and a power frequency interference harmonic with a frequency of 50 Hz are actively superimposed in the input signal. In the core parameter decision chain, the setting of the sampling period is based on the trade-off between sampling real-time and processor operation load. In order to ensure that the capture delay of the torque impact is lower than the electromagnetic response constant, the sampling period is set to 10 μs. The system stiffness coefficient According to the impedance characteristic of the equivalent inductance of the motor drive link and the capacity resistance of the DC side filter capacitor, the preset sweep test program is calibrated to 92.5.

[0032] The control group without load change rate sensing compensation algorithm is tested. When the container loaded with non-Newtonian fluid sample with dynamic viscosity of 300 mPa·s is accelerated from static to 2500 rpm, the periodic migration of the fluid phase causes the bus current to fluctuate by 2.5 A. Due to the response lag of the conventional proportional integral adjustment, the measured bus voltage of the control group produces a transient voltage drop of 13.5%, resulting in an increase in speed fluctuation rate to 4.2%. Switch to the test group applying the technical solution of the present application, the processing unit performs real-time differential operation to extract the bus current rate dI / dt. When a 25 mA increment of bus current is detected in adjacent sampling periods, the bus current rate dI / dt is calculated to be 2500 A / s. The processing unit determines the load response coefficient according to the preset electromagnetic compensation characteristic table, and determines the voltage compensation increment through the following mathematical formula : , wherein is the value of voltage compensation increment, unit: V; G is the preset proportional adjustment gain; in order to ensure the consistency of the calculation formula in the physical dimension, the proportional adjustment gain G internally integrates the electromechanical conversion proportional operator with the value of 0.15 volts per newton meter, and in the motor power initialization stage, the calibration is obtained by applying a 12-volt constant voltage and using an external dynamometer to measure a static locked-rotor torque of 0.8 newton meters, thereby converting the torque domain adjustment requirement into a physical instruction in the voltage domain; di / dt is the bus current rate of change, unit: A / s; is the system stiffness coefficient; the voltage compensation increment of the test group at the current sampling point is calculated is 0.21V, and the drive unit adjusts the conduction phase of the power tube according to the instruction, dynamically corrects the power gap by changing the vector space distribution, and data observation shows that the bus voltage fluctuation amplitude of the test group is reduced to 0.14V, and the fluctuation suppression rate reaches 92.2%.

[0033] In order to verify the performance boundary of the scheme and determine the optimal working window, a stress test for the sample viscosity gradient is further performed, when the sample viscosity gradually increases in the range of 50mPa•s to 450mPa•s, the voltage compensation increment shows a stable linear follow-up characteristic with the load change rate, and the bus voltage instantaneous drop rate is maintained within 0.5%, while when the sample viscosity continues to increase to 550mPa•s and the drive current approaches the power limit of the inverter, the measured voltage compensation increment response curve shows a nonlinear inflection point, and the compensation amount no longer increases synchronously with the increase of the load change rate, which reveals the output saturation physical law of the power inverter circuit under the limit load, and confirms that the parameter range defined in the specification has covered the dynamic margin boundary of the drive link; Through the above gradient verification, it is proved that the voltage compensation mechanism based on load change rate sensing can effectively offset the physical time delay of the sampling link, so that the motor can maintain a constant output torque in a complex variable load environment.

[0034] In the calibration mode for the electromagnetic parameters of the vortex oscillation instrument, the system stiffness coefficient and the proportional adjustment gain G are determined before the system runs, and the steps are as follows: the test platform is set on a dynamic simulation test bench with power impedance analysis capability, the test bench provides a frequency stepping signal with an accuracy of 0.01Hz, which is used to scan the complex impedance of the motor drive link, the initial state of the test is set as the motor being in a static state, the container is loaded with 50mL of pure water, and the bus voltage of the drive unit is maintained at 24V, and the processing unit determines the system stiffness coefficient The process includes that the drive unit outputs a sinusoidal voltage pulse with the output frequency increasing from 1Hz to 500Hz, the detection unit synchronously captures the response amplitude and phase of the bus current, the processing unit calculates the active power component and electromagnetic torque fluctuation at each frequency point, and determines the system stiffness coefficient : wherein, is the system stiffness coefficient, unit: N•m / rad; is the observed peak value of electromagnetic torque ripple, unit: N•m; is the corresponding electromagnetic phase shift, unit: rad; when the test excitation with a frequency of 50Hz is applied, the measured torque fluctuation is 0.15N•m, the phase shift is 0.0016rad, and the system stiffness coefficient is calculated to be 93.75, and the processing unit determines the proportional regulation gain The process of determining the proportional regulation gain includes controlling the motor speed to be constant at 1500rpm, applying an instantaneous resistance torque with an amplitude of 0.5N•m through an external load simulator to simulate the load impact triggered by sample phase migration, and obtaining the measured peak value of bus current rate of change dI / dt by the processing unit through the detection unit. During the test, the coefficient of the proportional regulation gain G is gradually increased by 0.0002 as a step from 0.001 until the slope of the bus voltage drop point is 0, at which time the corresponding proportional regulation gain G is determined to be 0.0024.

[0035] In the load characteristic modeling in the starting stage, the processing unit identifies the physical characteristics of the fluid sample by analyzing the impulse response signal, the driving unit injects a direct current braking pulse with a pulse width of 500μs into the stator winding, the detection unit collects the response curve of the current rising from 0 to the steady-state value in real time, and the processing unit extracts the rising time and the peak current in the response curve, and calculates the fluid resistance torque according to the preset operator matrix. When the measured rising time is 1.2 and the peak current is 15% lower than the reference value, the processing unit determines that the sample has high shear viscosity, and automatically increases the phase shift advance angle in the driving control by 2.5 ° By executing the above parameter determination steps, the system realizes the quantitative mapping of the control quantity to the physical quantity, reduces the control deviation caused by the difference of the hardware link, shortens the current loop convergence time of the motor by 75% when facing load mutation, and the driving unit can maintain the constant torque stiffness of the motor in the electromagnetic environment.

[0036] In the offline parameter calibration scheme, the processing unit fills the electromagnetic compensation feature table according to a preset step sequence, collects physical mapping data by applying a step torque load to the motor in a controlled environment, controls the motor to operate in a speed range of 1000 rpm to 4000 rpm, increments the physical torque load by 0.05 N•m using a high-bandwidth dynamometer, and synchronously records the bus current rate of change dI / dt and the voltage correction amount required to maintain the bus voltage steady state at each stable point by the power analyzer. The processing unit fits a weighted least squares regression curve to the measured bus current rate of change dI / dt and its corresponding voltage correction amount, determines the load response coefficient by extracting the slope characteristics of the regression curve at different operating points, and stores the coefficient value and the corresponding bus current rate of change dI / dt value range in the electromagnetic compensation feature table in the non-volatile memory in the form of key-value pairs.

[0037] When the vortex shaker is in a working condition where the deployment environment changes or the component generates parameter drift, the system corrects the stiffness coefficient of the system through the pre-deployment calibration and the proportional regulation gain G. The processing unit controls the drive unit to inject a pulse excitation sequence with a preset energy gradient into the stator winding, and monitors the response current envelope at the bus end within a 20 ms sampling window. The processing unit calculates the decay rate of the current envelope and compares it with the factory reference value. According to the deviation generated by the comparison, a correction operator reflecting the damping characteristics of the drive link is calculated and added in real time to the mathematical formula for calculating the voltage compensation increment , so that the voltage compensation instruction can offset the energy conversion efficiency loss due to changes in winding impedance or attenuation of bus capacitance. After calibration, the bus voltage drop depth of the motor at the speed switching transient state is reduced by 8.2%, and the total response delay of the system is maintained within 100 μs.

[0038] In the system deployment scheme for adapting to motors with different inertia specifications, the processing unit determines the impact threshold by performing a steady-state ripple statistical distribution test. The motor operates in an idle steady-state condition and the speed is maintained at 2000 rpm. The detection unit continuously captures 1000 bus current sample points with a sampling period of 10 μs. The processing unit performs a difference operation on the sample sequence and calculates the standard deviation σ of the sample sequence. The impact threshold is set according to the following mathematical formula: , where is the impact threshold, in A / s; μ is the mean value of the bus current rate of change sample sequence, in A / s; σ is the standard deviation of the sample sequence, in A / s; in a deployment record, μ is measured to be 150 A / s and σ is measured to be 25 A / s, then the impact threshold 225A / s, the value is stored in the register of the processing unit as a quantitative logic gate to determine the motor into the load mutation condition, excluding the voltage compensation program caused by hardware sampling noise false trigger; for the construction of the operator matrix M in the load characteristic model, the system executes the preset inertia gradient impulse response identification procedure, the drive unit injects a direct current test pulse with an amplitude of 10V and a pulse width of 500μs into the stator winding, and the processing unit records the bus current peak value in the process of the rotor from static to displacement The rising time experienced when the current rises to 63.2% of the peak value The processing unit maps the identified physical properties to a set of second-order operator matrices M by solving the first-order motion equation containing electromagnetic torque, moment of inertia and viscous friction coefficient. The matrix M is realized by a 2x2 discrete numerical array, the first row element in the internal is the inertia weight coefficient 1.15 calculated based on the rising time 1.5ms, and the second row element is the damping coefficient 0.92 corresponding to the peak current 4.2A. The above coefficients are multiplied and accumulated with the bus current rate of change using a hardware multiplier, so as to simplify the complex fluid dynamics feedback to an incremental correction of 0.88 degrees to the step size of the phase shift angle; wherein the elements in the operator matrix M are determined by linear interpolation method according to the ratio of the rising time To the motor electromagnetic time constant, when the measured rising time Is 1.5ms and the peak current Is 4.2A, the processing unit calculates the equivalent moment of inertia of the current load through the operator matrix M, and accordingly corrects the step adjustment of the phase shift angle to 1.2 degrees per hundred microseconds, so that the vector space distribution of the excitation voltage is physically aligned with the transient response characteristics of the rotor.

[0039] The system continuously monitors the evolution trend of the bus current rate of change dI / dt during real-time operation. When it is determined that the bus current rate of change dI / dt exceeds the impact threshold For 5 consecutive sampling periods, and its second-order change rate shows a monotonic increasing trend, the processing unit immediately locks the output weight of the voltage compensation increment To the maximum range, if the bus voltage fluctuation is detected to exceed the safety boundary of 0.5V, the system starts the standby interaction path and switches to the preset constant voltage frequency ratio control mode to maintain the torque output. This logic criterion determined based on the statistical distribution characteristics and the second-order operator correction mechanism offset the electromagnetic response delay caused by uneven load mass distribution, maintain the stability of the drive link in the non-ideal industrial environment. In the monitoring procedure for determining the operating boundary of the drive system, the system determines the safety boundary by measuring the no-load steady-state response at different speed points, the monitoring module acquires the actual speed n of the motor by collecting the sensor pulse frequency when the motor is in the no-load balance state, and the target speed and the instantaneous slip is calculated according to the following mathematical formula : wherein, is the value of the instantaneous slip; is the target speed, in rpm; n is the actual speed, in rpm; the system extracts the instantaneous slip the maximum value of the fluctuation in the continuous 1000 sampling periods and performs probability density fitting, and the safety boundary threshold is determined by finding the extreme value point corresponding to the 99% confidence interval. In a calibration instance, if the measured maximum slip under the steady-state fluctuation is 0.02, the safety boundary threshold is set to 0.03. When the actual speed n of the motor drops from 3000 rpm to 2700 rpm due to the sudden change of the load of the container, the instantaneous slip is 0.1, the monitoring module determines that the value exceeds the safety boundary threshold 0.03 and limits the output of the pulse width modulation signal.

[0040] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A voltage compensation stability management system for a motor of a vortex oscillator, characterized in that, The system comprises: a detection unit configured to capture a bus current signal of the motor in real time and transmit the acquired bus current data via a direct memory access channel; The processing unit is connected with the detection unit, and is used for performing differential operation on the bus current data with a sampling period of 10 μs to extract the bus current rate of change dI / dt; the processing unit stores a preset electromagnetic compensation characteristic table, and determines that the motor enters a load mutation working condition when the bus current rate of change dI / dt exceeds a preset impact threshold; wherein the processing unit is configured to call a feedforward voltage compensation program based on the load mutation working condition, and query a load response coefficient corresponding to the bus current rate of change dI / dt according to the electromagnetic compensation characteristic table, and obtain a voltage compensation increment for offsetting the bus voltage drop by calculating the product of the load response coefficient and the bus current rate of change dI / dt ; the processing unit further determines the voltage compensation increment by the following relationship : , wherein, is the numerical value of the voltage compensation increment, G is a preset proportional adjustment gain, dI / dt is the bus current rate of change, is a system stiffness coefficient representing the electromagnetic response capability of the motor driving link; each group of dI / dt value interval and corresponding voltage compensation increment is stored in the nonvolatile memory of the processing unit in the form of key-value pairs; The driving unit is connected with the processing unit, and is used for compensating the voltage increment according to the processing unit The phase-shift angle of the pulse width modulation signal is adjusted to perform lead phase-shift compensation on the excitation voltage of the motor within 500 microseconds, and the lead phase-shift compensation is used to offset the instantaneous voltage drop caused by the sudden load condition by changing the vector space distribution of the inverter circuit.

2. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, the processing unit is further configured to calculate a load resistance torque characteristic value according to a ripple frequency component of the bus current data, and perform stator winding thermal impedance identification in combination with an induced electromotive force signal of a power switch tube off interval; wherein the processing unit is configured to calculate an associated deviation of the load resistance torque characteristic value and the stator winding thermal impedance identification result, and linearly correct a gain term in a feedforward voltage compensation program according to the associated deviation, so as to maintain the output torque stiffness of the motor in a sample viscosity variation environment and compensate for internal pressure drop loss caused by winding heating.

3. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, The processing unit is configured to execute phase arbitration logic; the processing unit uses the phase advance generated by the digital filter to offset the control delay caused by the sampling link, and adjusts the update frequency of the phase shift angle before the speed deviation signal is generated, to realize voltage compensation increment Logical coupling with the instantaneous position of the rotor to suppress the speed oscillation due to the feedback regulation lag.

4. A voltage compensation stabilization management system for a motor of a vortex oscillator according to claim 1, characterized in that, The processing unit is configured to output a test pulse with a preset duty cycle in a starting stage, and construct a load characteristic model containing load mass distribution according to a feedback current response curve; the processing unit performs inverse phase voltage compensation on a torque pulsation component generated by an asymmetric load, and converts a stress fluctuation output by the load characteristic model into a reverse electromagnetic torque.

5. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, The detection unit comprises a sampling resistor, an operational amplifier circuit and a hardware buffer; the hardware buffer is connected with the direct memory access channel and is configured to perform time sequence alignment processing on the bus current data.

6. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, The processing unit stores a characteristic gain library for samples of different viscosity grades; the processing unit retrieves the characteristic gain library according to the extracted load response coefficient, so as to retrieve target compensation parameters corresponding to the physical properties of the current sample.

7. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, The driving unit comprises a pulse width modulation controller and a power inverter bridge; the pulse width modulation controller is configured to receive voltage vector instructions output by the processing unit, and change a conduction phase of a gate drive signal sent to the power inverter bridge, so as to compensate for a bus energy gap by changing a flux trajectory.

8. A voltage compensation stabilization management system for a motor of a vortexer according to claim 1, characterized in that, The system further comprises a monitoring module; the monitoring module is configured to calculate an instantaneous slip between an actual rotating speed and a target rotating speed of the motor, and force the processing unit to enter a power limited state and limit a maximum pulse width of the pulse width modulation signal when the instantaneous slip exceeds a preset safety boundary.

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