阅读说明：本技术 一种用于低噪音永磁同步电机的转子初始位置检测方法 (Rotor initial position detection method for low-noise permanent magnet synchronous motor ) 是由 不公告发明人 于 2019-10-17 设计创作，主要内容包括：本发明公开了一种用于低噪音永磁同步电机的转子初始位置检测方法,属于电机转子初始位置检测方法领域,一种用于低噪音永磁同步电机的转子初始位置检测方法,通过物联网技术,将与物联网连接的检测装置和处理终端的多次检测结果汇总,为永磁同步电机主体转子的检测提供初始的电流矢量以及电流矢量的递增间隔的量值,而当物联网上没有存储当前永磁同步电机主体相同型号的检测数据时,可以将当前永磁同步电机主体现今型号的检测数据设为参考对象,以参考对象为基础进行测量,并在检测结束后,将对应检测结果和初始的电流矢量以及电流矢量的递增间隔上传到云端处理装置和物联网模块,加快永磁同步电机转子初始位置的正常检测。(The invention discloses a method for detecting the initial position of a rotor of a low-noise permanent magnet synchronous motor, which belongs to the field of methods for detecting the initial position of a motor rotor, and the method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor is characterized in that multiple detection results of a detection device and a processing terminal which are connected with the Internet of things are gathered through the Internet of things technology, so that an initial current vector and the magnitude value of the increasing interval of the current vector are provided for the detection of the rotor of a permanent magnet synchronous motor main body, when the detection data of the same type of the current permanent magnet synchronous motor main body are not stored on the Internet of things, the detection data of the current type of the current permanent magnet synchronous motor main body can be set as a reference object to carry out measurement on the basis of the reference object, and after the detection is finished, the corresponding detection results, the initial current vector and the increasing interval of the current, and the normal detection of the initial position of the rotor of the permanent magnet synchronous motor is accelerated.)

1. A rotor initial position detection method for a low-noise permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following main detection steps:

s1, determining a detection object, scanning the permanent magnet synchronous motor main body (1) by using the mobile terminal (6), uploading corresponding information obtained by scanning to the cloud processing device (4), and obtaining technical information such as the model and specification of the permanent magnet synchronous motor main body (1) by the cloud processing device (4) according to the information reserved on the cloud processing device and the information reserved on the Internet of things module (5);

s2, calling detection object information, calling the passing detection data of the permanent magnet synchronous motor main body (1) which is stored on the cloud processing device (4) and the Internet of things module (5) by the cloud processing device (4) according to the technical information such as the model and the specification of the permanent magnet synchronous motor main body (1), and downloading the corresponding detection data to the processing terminal (3);

s3, processing data, namely processing the detection data downloaded by the cloud processing device (4) by the processing terminal (3), selecting a proper measurement interval by taking the past detection data of the permanent magnet synchronous motor main body (1) as a reference, and selecting an initial current vector and an increasing interval of the current vector for measuring the initial position of the rotor of the permanent magnet synchronous motor main body (1);

s4, actually measuring the motor, and measuring the permanent magnet synchronous motor main body (1) by the detection device (2) according to the initial current vector established by the processing terminal (3) and the incremental interval of the current vector, and recording corresponding data;

s5, data are transmitted back, the data obtained through the S4 and the motor actual measurement are uploaded to a processing terminal (3) by a detection device (2), are processed by the processing terminal (3), are uploaded to a cloud processing device (4), and are uploaded to an Internet of things module (5) by the cloud processing device (4);

and S6, resetting the motor, and calculating by the processing terminal (3) according to the real-time data measured in the actual measurement of the motor S4 to obtain a reset excitation current vector of the permanent magnet synchronous motor main body (1) so that the rotor of the permanent magnet synchronous motor main body (1) is reset to a standard position.

2. The method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor according to claim 1, wherein: in the determination of the S1 detection object, the technology of scanning by the mobile terminal (6) can be the existing common AR scanning technology, and the model and specification of the permanent magnet synchronous motor main body (1) are determined through the appearance, the label or other characteristics of the permanent magnet synchronous motor main body (1) and the technology of image comparison and the like of the Internet of things.

3. The method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor according to claim 1, wherein: in the S2 detection object information calling, when passing detection data of the permanent magnet synchronous motor main body (1) are called, when the detection data related to the permanent magnet synchronous motor main body (1) are not stored on the cloud processing device (4) and the Internet of things module (5), the detection data of equipment with the type and the specification close to those of the permanent magnet synchronous motor main body (1) are called, and are downloaded to the processing terminal (3).

4. The method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor according to claim 1, wherein: in the S3 data processing, when the detection data related to the permanent magnet synchronous motor main body (1) are not stored in the cloud processing device (4) and the Internet of things module (5), the processing terminal (3) performs data processing according to the downloaded detection data of the equipment with the similar type and the similar specification of the permanent magnet synchronous motor main body (1), and selects an initial current vector and the incremental interval of the current vector for the initial position measurement of the rotor of the permanent magnet synchronous motor main body (1).

5. The method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor according to claim 1, wherein: in the S3 data processing, when the detection data with the similar model of the permanent magnet synchronous motor main body (1) is not stored in the cloud processing device (4) and the internet of things module (5), the measurement method should be based on the prior art.

6. The rotor initial position detection system for the low-noise permanent magnet synchronous motor according to claim 1, comprising a permanent magnet synchronous motor main body (1) and a detection device (2), wherein the permanent magnet synchronous motor main body (1) is in signal connection with the detection device (2), and is characterized in that: detection device (2) signal connection has processing terminal (3), processing terminal (3) signal connection has high in the clouds processing apparatus (4), high in the clouds processing apparatus (4) signal connection has thing networking module (5), PMSM main part (1) signal connection has mobile terminal (6), and mobile terminal (6) and high in the clouds processing apparatus (4) signal connection.

7. The rotor initial position detecting device for the low-noise permanent magnet synchronous motor according to claim 1, wherein: the surface of the permanent magnet synchronous motor main body (1) is fixedly connected with a vacuum suction pad (7), the permanent magnet synchronous motor main body (1) is fixedly connected with the vacuum suction pad (7) through vacuum adsorption, one end of the vacuum suction pad (7) close to the permanent magnet synchronous motor main body (1) is fixedly connected with a magnetic induction probe (10), and the vacuum suction pad (7) is coated on the outer side of the non-contact surface of the magnetic induction probe (10) and the permanent magnet synchronous motor main body (1), one end of the magnetic induction probe (10) far away from the permanent magnet synchronous motor main body (1) is fixedly connected with a connecting wire (11), and one end of the connecting wire (11) far away from the magnetic induction probe (10) penetrates through the vacuum suction pad (7) and is in signal connection with the detection device (2), an inner cavity (8) is formed in the vacuum suction pad (7) in a chiseled mode, and an elastic ball (9) is filled in the inner cavity (8).

8. The rotor initial position detecting device for the low-noise permanent magnet synchronous motor according to claim 1, wherein: elastic ball (9) are including shell (901), a plurality of through-holes (902) have been dug on shell (901), shell (901) inner chamber passes through-hole (902) and communicates with the external world, be filled with a plurality of type one ball (903), type two ball (904) and type three ball (905) in shell (901), the size of type one ball (903), type two ball (904) and type three ball (905) reduces in proper order, and the diameter of type three ball (905) is less than the aperture of through-hole (902).

9. The rotor initial position detecting device for the low-noise permanent magnet synchronous motor according to claim 1, wherein: a small amount of lubricating oil is filled in the inner cavity of the shell (901).

10. The rotor initial position detecting device for the low-noise permanent magnet synchronous motor according to claim 1, wherein: the surfaces of the first-type ball (903), the second-type ball (904) and the third-type ball (905) are all provided with capillary pores.

Technical Field

The invention relates to the field of motor rotor initial position detection methods, in particular to a rotor initial position detection method for a low-noise permanent magnet synchronous motor.

Background

The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and a three-phase stator winding is reacted through an armature under the action of the rotating magnetic field to induce three-phase symmetrical current.

The invention discloses a method for detecting the initial position of a rotor of a permanent magnet synchronous motor in Chinese invention with publication number CN101459407B, which solves the problems that: the method has the advantages that the method does not need a larger stator current value in order to improve the angle resolution ratio like a high-frequency signal injection method, shows the advantages of small current noise and very weak vibration, and simultaneously has no influence on the identification precision, and comprises the steps of applying different vector directions and amplitudes according to a preset angle step length and amplitude step length, ensuring that the stator current vector generated by micro-displacement of the rotor cannot act on the stator of the permanent magnet synchronous motor in any direction, generating stator magnetic potentials in different directions and different magnitudes by the permanent magnet synchronous motor until the rotor of the permanent magnet synchronous motor generates micro-displacement, and detecting the initial position of the rotor according to the fact that the vector direction of the applied stator current forms 90 degrees with the position angle of the rotor, the applied stator current vector firstly keeps the amplitude unchanged to change the 360-degree angle step, after the 360-degree angle step is changed, the rotor of the permanent magnet synchronous motor still does not generate micro displacement, the amplitude of the stator current vector is increased according to the amplitude step, and the amplitude of the stator current vector is kept unchanged to repeatedly change the 360-degree angle step until the rotor of the permanent magnet synchronous motor generates micro displacement.

In the early stage of starting, a sufficiently small stator current vector needs to be input, the amplitude is kept unchanged to change 360-degree angle step length, after the rotor of the permanent magnet synchronous motor does not generate micro displacement after the 360-degree angle step length is changed, the amplitude of the stator current vector is increased according to the amplitude step length, the amplitude of the stator current vector is kept unchanged to repeatedly change 360-degree angle step length until the rotor of the permanent magnet synchronous motor generates micro displacement, and therefore long-time useless detection is needed in the early stage of detection, meanwhile, a detection instrument needs to perform long-time useless detection and operation, the detection efficiency is greatly reduced, the utilization efficiency of the detection instrument is also improved, and the normal detection of the initial position of the rotor of the permanent magnet synchronous motor is influenced.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a method for detecting the initial position of a rotor of a low-noise permanent magnet synchronous motor, which can greatly reduce the useless detection time in the early detection stage, increase the utilization efficiency of a detection instrument and accelerate the normal detection of the initial position of the rotor of the permanent magnet synchronous motor.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A method for detecting the initial position of a rotor of a low-noise permanent magnet synchronous motor mainly comprises the following detection steps:

s1, determining a detection object, scanning the permanent magnet synchronous motor main body by using the mobile terminal, uploading corresponding information obtained by scanning to a cloud processing device, and obtaining technical information such as the model and specification of the permanent magnet synchronous motor main body by the cloud processing device according to the information left by the cloud processing device and the information left by the Internet of things module;

s2, extracting information of the detected object, extracting past detection data of the permanent magnet synchronous motor body which is remained on the cloud processing device and the Internet of things module by the cloud processing device according to the technical information such as the model and the specification of the permanent magnet synchronous motor body, and downloading the corresponding detection data to the processing terminal;

s3, processing data, namely, processing the detection data according to the cloud processing device by the processing terminal, selecting a proper measurement interval by taking the past detection data of the main body of the permanent magnet synchronous motor as a reference, and selecting an initial current vector and an increasing interval of the current vector for measuring the initial position of the rotor of the main body of the permanent magnet synchronous motor, so that the useless measurement times of the current vector in the early stage of measurement are reduced, and the measurement efficiency is increased;

s4, actually measuring the motor, measuring the main body of the permanent magnet synchronous motor by the detection device according to the initial current vector set by the processing terminal and the incremental interval of the current vector, and recording corresponding data;

s5, returning data, wherein the data obtained through the actual measurement of the motor in the S4 mode is uploaded to a processing terminal by a detection device, processed by the processing terminal, uploaded to a cloud processing device and uploaded to an Internet of things module by the cloud processing device, and before the data are uploaded to the Internet of things module by the cloud processing device, the detection data need to be marked with a digital tag of a permanent magnet synchronous motor main body, so that retrieval in the future is facilitated;

s6, resetting the motor, calculating by the processing terminal according to real-time data measured in the actual measurement of the motor S4 to obtain a reset excitation current vector of the main body of the permanent magnet synchronous motor, resetting the rotor of the main body of the permanent magnet synchronous motor to a standard position, reducing electromagnetic impact in the normal starting process of the main body of the permanent magnet synchronous motor, reducing electromagnetic impact on structures such as the rotor and a fixed magnet block in the main body of the permanent magnet synchronous motor, and the size of the reset excitation current vector is measured by the detection device and is uploaded to the processing terminal, and the reset excitation current vector is calculated by the processing terminal and needs to be determined by referring to the final position of the rotor in the detection process, so that the accuracy of.

Further, in the determination of the S1 detection object, the technology of mobile terminal scanning may use the existing relatively common AR scanning technology, determine the model and specification of the permanent magnet synchronous motor body through the appearance, label or other characteristics of the permanent magnet synchronous motor body and through technologies such as internet of things image comparison, and provide support for subsequent detection.

Furthermore, in the calling of the information of the detection object of S2, when the past detection data of the main body of the permanent magnet synchronous motor is called, and when the detection data related to the main body of the permanent magnet synchronous motor is not stored in the cloud processing device and the internet of things module, the detection data of the equipment with the model and the specification similar to those of the main body of the permanent magnet synchronous motor is called and is downloaded to the processing terminal.

Further, in the S3 data processing, when no detection data related to the permanent magnet synchronous motor main body is stored in the cloud processing device and the internet of things module, the processing terminal performs data processing according to the detection data of the devices with similar models and specifications of the permanent magnet synchronous motor main body, and selects an initial current vector and an incremental interval of the current vector for the initial position measurement of the rotor of the permanent magnet synchronous motor main body, where the selection of the initial current vector and the incremental interval of the current vector should keep enough margin, so as to ensure that the permanent magnet synchronous motor main body is not easily damaged in the measurement process.

Furthermore, in the S3 data processing, when the detection data with the similar model of the permanent magnet synchronous motor main body is not stored in the cloud processing device and the internet of things module, the measurement method should be based on the prior art, so as to ensure that the permanent magnet synchronous motor main body is not easily damaged in the measurement process.

Further, a rotor initial position detecting system for low noise PMSM, includes PMSM main part and detection device, and signal connection between PMSM main part and the detection device, the detection device signal connection has processing terminal, processing terminal signal connection has high in the clouds processing apparatus, high in the clouds processing apparatus signal connection has thing networking module, PMSM main part signal connection has mobile terminal, and mobile terminal and high in the clouds processing apparatus signal connection.

Further, a rotor initial position detection device for low noise PMSM, the surface connection of PMSM main part is fixed with the vacuum and inhales the pad, through vacuum adsorption fixed connection between PMSM main part and the vacuum suction pad, the vacuum is inhaled the one end fixedly connected with magnetic induction probe that the pad is close to the PMSM main part, and the vacuum suction pad cladding is in the non-contact face outside of magnetic induction probe and PMSM main part, the one end fixedly connected with connecting wire of PMSM main part is kept away from to the magnetic induction probe, and the one end that the magnetic induction probe was kept away from to the connecting wire runs through the vacuum suction pad and with detection device signal connection, it has the inner chamber to open the chisel in the vacuum suction pad, the inner chamber intussuseption is filled with the elastic ball, and the cooperation through inner chamber and elastic ball can effectively reduce the vibration that PMSM main part produced in the course of the work to the shadow of vacuum suction pad and the connection between magnetic induction And the sound makes the vacuum suction pad and the magnetic induction probe not easy to fall off from the outer surface of the main body of the permanent magnet synchronous motor and not easy to influence normal detection.

Further, the elastic ball includes the shell, it has a plurality of through-holes to open on the shell, the shell inner chamber passes through-hole and external intercommunication, a plurality of type one balls, type two balls and three type balls are filled in to the shell, the size of type one ball, type two balls and three type balls reduces in proper order, and the diameter of three type balls is less than the aperture of through-hole, increases the holistic elasticity of elastic ball through the mutually supporting between type one ball, type two balls and the three type balls, increases the anti-seismic performance of vacuum suction pad.

Furthermore, a small amount of lubricating oil is injected into the inner cavity of the shell, and the lubricating oil can slip when impact occurs among the first-type ball, the second-type ball and the third-type ball, so that the impact generated by impact among the first-type ball, the second-type ball and the third-type ball is greatly reduced, and the vacuum suction pad is not easy to damage when being impacted by strong external force.

Further, capillary micropore has all been dug on first type ball, second type ball and three type ball surfaces, and lubricating oil can be inhaled back to capillary micropore automatically under self surface tension's effect, when the vacuum is inhaled the pad and is received less impact, can reduce the impact that the vacuum is inhaled between first type ball, second type ball and the three type balls and fill up and receive through the striking, be difficult for responding to lubricating oil and skid and influence the antidetonation effect, and when the vacuum is inhaled the pad and is received stronger impact, the lubricating oil of absorption in capillary micropore can be extrudeed by the impact for protect first type ball, second type ball and three type balls.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

according to the invention, multiple detection results of a detection device and a processing terminal connected with the Internet of things are summarized through the Internet of things technology, an initial current vector and a magnitude value of an increasing interval of the current vector are provided for detection of a rotor of a main body of a permanent magnet synchronous motor, when detection data of the same type of the main body of the permanent magnet synchronous motor is not stored in the Internet of things, the detection data of the current type of the main body of the permanent magnet synchronous motor can be set as a reference object, a new initial current vector and a magnitude value of an increasing interval of the current vector are determined through reasonable correction on the basis of the reference object, after detection is finished, the corresponding detection result, the initial current vector and the increasing interval of the current vector are uploaded to a cloud processing device and an Internet of things module, information storage amounts of the cloud processing device and the Internet of things module are increased, and useless detection time in the early stage of detection is, the utilization efficiency of the detection instrument is increased, and the normal detection of the initial position of the permanent magnet synchronous motor rotor is accelerated.

Drawings

FIG. 1 is a schematic structural diagram of a rotor initial position detection system of a low-noise permanent magnet synchronous motor according to the present invention;

FIG. 2 is a partial cross-sectional view between the low noise PMSM of the present invention and a magnetic induction probe;

FIG. 3 is a cross-sectional view of the elastomeric ball of the present invention;

fig. 4 is a main flowchart of the method for detecting the initial position of the rotor of the low-noise permanent magnet synchronous motor according to the present invention.

The reference numbers in the figures illustrate:

1 permanent magnet synchronous machine main part, 2 detection device, 3 processing terminal, 4 high in the clouds processing apparatus, 5 thing networking module, 6 mobile terminal, 7 vacuum suction pad, 8 inner chambers, 9 elastic ball, 901 shell, 902 through-hole, 903 type one ball, 904 type ball, 905 type three ball, 10 magnetic induction probe, 11 connecting wires.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.