CN113411015B - Motor rotation initial angle calibration method and system and electronic equipment - Google Patents
Motor rotation initial angle calibration method and system and electronic equipment Download PDFInfo
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- CN113411015B CN113411015B CN202110887758.1A CN202110887758A CN113411015B CN 113411015 B CN113411015 B CN 113411015B CN 202110887758 A CN202110887758 A CN 202110887758A CN 113411015 B CN113411015 B CN 113411015B
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- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000012360 testing method Methods 0.000 claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 230000008569 process Effects 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 239000000314 lubricant Substances 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 7
- 230000011664 signaling Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 19
- 230000000875 corresponding effect Effects 0.000 description 21
- 238000003860 storage Methods 0.000 description 20
- 230000008859 change Effects 0.000 description 19
- 230000002085 persistent effect Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009837 dry grinding Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000000498 cooling water Substances 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Electric Motors In General (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The application relates to a motor rotation initial angle calibration method, a motor rotation initial angle calibration system and electronic equipment. The calibration method comprises the following steps: outputting a detection signal to a motor assembly loaded on an offline test bench, so that a motor to be calibrated rotates in a mode corresponding to the detection signal, and a rotary initial angle calibration value between a rotary transformer and the motor to be calibrated is obtained; the motor assembly comprises the motor to be calibrated and a motor controller, and the rotary transformer is arranged on the motor to be calibrated; and sending a writing instruction comprising the rotation initial angle calibration value to the motor controller so that the motor controller modifies a preset rotation initial angle in a built-in program into the rotation initial angle calibration value. The scheme provided by the application can simplify the calibration process and further improve the production efficiency.
Description
Technical Field
The application relates to the technical field of automobile assembly, in particular to a motor rotation initial angle calibration method, a motor rotation initial angle calibration system and electronic equipment.
Background
The permanent magnet synchronous motor for the new energy automobile is generally provided with a rotary transformer for analyzing the position of a motor rotor, and the motor controller calculates the accurate magnetic pole position of the rotor by decoding the position of the rotor and a rotary initial angle value pre-stored in a built-in program of the motor controller, so that the closed-loop accurate control of the permanent magnet synchronous motor is realized. The initial angle of rotation is the offset angle between the zero position angle of the rotary transformer and the zero position angle of the permanent magnet synchronous motor, also called the initial angle of zero position of the motor, and is usually determined after the rotary transformer is installed.
Because the precision of the rotary transformer, the manufacturing deviation of the rotary transformer stator and the motor end cover, the installation deviation of the rotary transformer, the stress deformation of the motor end cover and other comprehensive deviations lead to inconsistent position output of the sensor and the actual motor rotor position and finally affect NVH (Noise, vibration, harshness noise, vibration and harshness) characteristics of the electric drive, the detection and calibration of the rotary initial angle are required, so that the rotary initial angle value stored in the built-in program of the motor controller is consistent with the actual rotary initial angle of the permanent magnet synchronous motor.
In the related art, a zero setting instrument is generally adopted for testing zero offset of a motor, then the angle of a rotary setting stator is manually adjusted until the displayed rotary setting zero value is a standard zero median value, and then a rotary setting stator bolt is locked. The calibration method needs two processes of static and dynamic zeroing, has complex procedures, and causes low production efficiency.
Disclosure of Invention
In order to solve or partially solve the problems existing in the related art, the application provides a motor rotation initial angle calibration method, a motor rotation initial angle calibration system and electronic equipment, which can simplify the calibration flow and further improve the production efficiency.
The application provides a motor rotation initial angle calibration method, which comprises the following steps:
outputting a detection signal to a motor assembly loaded on an offline test bench, so that a motor to be calibrated rotates in a mode corresponding to the detection signal, and a rotary initial angle calibration value between a rotary transformer and the motor to be calibrated is obtained; the motor assembly comprises the motor to be calibrated and a motor controller, and the rotary transformer is arranged on the motor to be calibrated;
and sending a writing instruction comprising the rotation initial angle calibration value to the motor controller so that the motor controller modifies a preset rotation initial angle in a built-in program into the rotation initial angle calibration value.
In some embodiments, outputting a detection signal to a motor assembly loaded on the offline test bench, and rotating a motor to be calibrated according to a mode corresponding to the detection signal, so as to obtain a rotational initial angle calibration value between the rotary transformer and the motor to be calibrated includes:
outputting a speed control signal to the motor controller, so that the motor controller controls the motor to be calibrated to rotate according to the speed corresponding to the speed control signal;
and obtaining a rotation initial angle calibration value from the motor controller, wherein the rotation initial angle calibration value is a zero offset value between the rotary transformer and the motor to be calibrated, which is obtained through a self-learning program built in the motor controller.
In some embodiments, the motor assembly further comprises a decelerator connected to the motor to be calibrated; the method further comprises the steps of: and enabling the offline test bench to convey lubricant to the speed reducer in the rotating process of the motor to be calibrated.
In some embodiments, the off-line test bench is provided with a bench motor;
the motor assembly further comprises: and closing the enabling state of the rack motor.
In some embodiments, the motor assembly is provided with an identification code; the method further comprises the steps of:
obtaining the identification information of the motor assembly through the identification code;
and storing the identification information and the rotation initial angle calibration value in a database in a correlated manner.
In some embodiments, the sending a write instruction to the motor controller that includes the rotational initial angle calibration value includes:
obtaining the initial angle calibration value of the rotation variation from the database;
and the motor controller sends a writing instruction comprising the rotation initial angle calibration value.
In another aspect, the application provides a method for calibrating a rotational initial angle of a motor, which comprises the following steps:
inputting a detection signal, and enabling a motor to be calibrated loaded on a test bench to rotate in a mode corresponding to the detection signal so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated;
and receiving a writing instruction comprising a rotation initial angle calibration value, so as to modify a preset rotation initial angle in a built-in program into the rotation initial angle calibration value.
In some embodiments, inputting the detection signal, rotating the motor to be calibrated loaded on the offline test bench in a manner corresponding to the detection signal includes:
receiving a speed control signal, and controlling the motor to be calibrated to rotate according to the speed corresponding to the speed control signal;
the method for receiving the writing instruction comprising the rotation initial angle calibration value further comprises the following steps:
obtaining a zero offset value between the rotary transformer and the motor to be calibrated through a self-learning program built in the motor controller;
and sending the zero offset value to the offline test control equipment.
Another aspect of the application provides an electronic device comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements a motor rotation initial angle calibration method as described above.
Another aspect of the present application provides a motor rotation initial angle calibration system, comprising:
the system comprises a test bench for offline loading a motor assembly, wherein the motor assembly comprises a motor to be calibrated and a motor controller, and the motor to be calibrated is provided with a rotary transformer;
the off-line test control equipment is used for outputting a detection signal to the motor assembly, so that the motor to be calibrated rotates in a mode corresponding to the detection signal, and a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated is obtained; and sending a write-in instruction comprising the initial rotation angle calibration value to the motor controller so as to modify the preset initial rotation angle in a built-in program to the initial rotation angle calibration value by the motor controller.
In some embodiments, the motor assembly further comprises a decelerator connected to the motor to be calibrated;
the offline test bench includes: and the lubricant storage space is used for conveying lubricant to the speed reducer in the rotating process of the motor to be calibrated.
In some embodiments, further comprising:
the code reader is used for reading an identification code arranged on the motor assembly so as to obtain the identification information of the motor assembly through the identification code;
and the manufacturing execution system is used for storing the identification information and the rotation initial angle calibration value in a correlated way.
According to the embodiment of the application, the detection and calibration of the initial angle of the motor rotation change are directly carried out by the off-line test system, no additional manual zero setting and dynamic rotation change zero setting equipment is needed, and the calibration of the initial angle of the rotation change is not needed by the static and dynamic zero setting processes before the off-line test, so that the equipment and the working procedures required by the calibration of the initial angle of the rotation change can be reduced, the calibration flow is simplified, and the production efficiency is improved.
In addition, the preset initial angle of rotation in the built-in program of the motor controller is automatically modified into the initial angle calibration value of rotation through the written instruction, so that automatic calibration operation can be realized, error risks caused by manual operation are eliminated, production efficiency is improved, and labor cost is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic diagram of a motor rotation initial angle calibration system according to an embodiment of the present application;
FIG. 2 is a flow chart of a motor rotation initial angle calibration method according to an embodiment of the application;
FIG. 3 is a flow chart of a motor rotation initial angle calibration method according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a motor rotation initial angle calibration system according to an embodiment of the present application.
In this embodiment, the motor rotation initial angle calibration system is implemented by an End of Line (EOL) system. The offline test system can be used for function detection and configuration before offline of the new energy automobile driving motor product. Referring to fig. 1, the motor rotation initial angle calibration system of the present embodiment includes an offline test bench 110 and an offline test control device 130.
The offline test stand 110 is used to load the motor assembly 120. The motor assembly 120 includes a motor 122 to be calibrated and a motor controller 124, and the motor 122 to be calibrated is provided with a rotary transformer.
The rotary transformer is an electromagnetic sensor, is a small AC motor for measuring angle, and is used for measuring the angular displacement and angular velocity of a rotating shaft of a rotating object, and comprises a rotary transformer rotor and a rotary transformer stator.
More specifically, the motor 122 to be calibrated is a permanent magnet synchronous motor; the rotary transformer rotor is arranged on the motor rotating shaft and rotates synchronously with the motor rotor, and the rotary transformer stator is fixedly arranged on the motor end cover.
The off-line test control device 130 is configured to output a detection signal to the motor assembly 120, so that the motor 122 to be calibrated rotates in a manner corresponding to the detection control signal, so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor 122 to be calibrated; and a write command for sending a write command including the initial rotation angle calibration value to the motor controller 124 to modify the preset initial rotation angle in the built-in program of the motor controller 124 to the initial rotation angle calibration value. And the modification is successful, namely the calibration of the initial angle of the motor rotation is realized.
The offline test control device 130 may include a control computer. The offline test control device 130 is connected to the motor controller 124 through a bus, and outputs a detection control signal to the motor controller 124. The bus is, for example, a controller area network (Controller Area Network, CAN) bus.
It will be appreciated that the data interaction between the off-line test control device 130 and the motor controller 124 may be, for example, in accordance with the unified diagnostic service (Unified Diagnostic Services, USD) protocol rules.
In one specific implementation, the offline test control device 130 outputs a speed control signal to enable the motor controller 124 to control the motor 122 to be calibrated to drive the rotary transformer to rotate at a low speed (for example, in a range of 1000 rpm-5000 rpm), and after the rotation speed of the motor to be calibrated is stable, the zero offset value between the rotary transformer and the motor to be calibrated is obtained through a self-learning program built in the motor controller 124 in a waveform resolving manner, that is, the initial angle calibration value of the rotary transformer is obtained.
It will be appreciated that in other implementations, the off-line test control device 130 may control the off-line test system to output a specific detection electrical signal to the motor 122 to be calibrated, and obtain the initial rotational angle calibration value between the resolver and the motor 122 to be calibrated in other known manners.
In this embodiment, the detection and calibration of the initial angle of the motor rotation change are directly performed through the offline testing system, no additional manual zero setting and dynamic rotation change zero setting equipment is needed, and no additional calibration of the initial angle of the rotation change is needed through two processes of static zero setting and dynamic zero setting before offline testing, so that equipment and procedures required for calibrating the initial angle of the rotation change can be reduced, the calibration process is simplified, and the production efficiency is improved.
In addition, the preset initial angle of rotation in the built-in program of the motor controller 124 is automatically modified to the initial angle calibration value by writing instructions, so that automatic calibration operation can be realized, error risks caused by manual operation are eliminated, production efficiency is improved, and labor cost is reduced.
In some embodiments, the motor assembly 120 further includes a decelerator 126 coupled to the motor 122 to be calibrated; specifically, the motor 122 to be calibrated, the reducer 126 and the motor controller 124 are assembled into a whole and then are loaded on the offline test bench 110 for detecting and calibrating the initial angle of rotation. The decelerator may include, for example, a reduction gear.
Further, the offline test stand 110 is provided with a lubricant storage space 112 for storing lubricant to deliver the lubricant to the decelerator 126 during rotation of the motor 122 to be calibrated.
In the related art, a motor to be calibrated, a speed reducer and a motor controller are assembled and then dynamically zeroed, a speed reducing gear can rotate in a non-lubrication state, and finally tooth surface burn is caused in a dry grinding state. In this embodiment, when the offline testing stand 110 performs the initial angle detection and calibration of the rotational variation, the lubricant can be delivered to the reducer 126 through the lubricant storage space 112 provided in the offline testing stand 110, so as to avoid damage caused by dry grinding of the reducer.
In some embodiments, the motor assembly 120 is provided with an identification code, such as a bar code or two-dimensional code attached to the surface of the motor.
Further, the motor rotation initial angle calibration system further comprises a code reader 140 and a manufacturing execution system 150.
The code reader 140 is connected with the offline test control device 130, and is used for reading an identification code installed on the motor assembly 100 to obtain identification information of the motor assembly through the identification code; the code reader 140 may be, for example, a code scanner, such as a scanning gun.
The manufacturing execution system (Manufacturing Execution System, MES) 150 has a motor information database coupled to the off-line test control apparatus 130 for storing identification information of the motor assembly in association with the detected rotational initial angle calibration value.
In some embodiments, the off-line test control apparatus 130 obtains identification information of the motor assembly from the code reader 140, and stores the identification information in association with the rotational initial angle calibration value obtained by the detection in the motor information database of the manufacturing execution system 150.
In the embodiment of the present application, the offline test control device 130 may directly write the rotation initial angle calibration value to the motor controller 124 through a write command after detecting and obtaining the rotation initial angle calibration value. It will be appreciated that the off-line test control apparatus 130 may also obtain a rotational initial angle calibration value corresponding to the identification information of the motor assembly from the manufacturing execution system 150 and send a write command including the rotational initial angle calibration value to the motor controller 124.
Further, the motor rotation initial angle calibration system further comprises a power cabinet 160 and a cooling water tank 170; wherein, the power cabinet 160 is used for supplying power to the motor assembly 120, and the cooling water tank 170 is used for cooling the motor assembly 120 during operation.
Fig. 2 is a flow chart of a motor rotation initial angle calibration method according to an embodiment of the application. The method in the embodiment can be applied to the offline test control device. Referring to fig. 2, the calibration method of the present embodiment includes:
s21, outputting a detection signal to a motor assembly loaded on the offline test bench, and enabling a motor to be calibrated to rotate in a mode corresponding to the detection signal so as to obtain a rotary initial angle calibration value between the rotary transformer and the motor to be calibrated; the motor assembly comprises a motor to be calibrated and a motor controller, and the rotary transformer is arranged on the motor to be calibrated;
s22, sending a writing instruction comprising the initial rotation angle calibration value to the motor controller so as to modify a pre-stored initial rotation angle in a built-in program of the motor controller into the initial rotation angle calibration value.
In some embodiments, outputting a detection signal to the motor assembly, and rotating the motor to be calibrated according to a mode corresponding to the detection signal, where obtaining the initial angle calibration value of the resolver and the motor to be calibrated includes:
outputting a speed control signal to a motor controller, so that the motor controller controls the motor to be calibrated to rotate according to the speed corresponding to the speed control signal;
and obtaining a rotation initial angle calibration value from the motor controller, wherein the rotation initial angle calibration value is a zero offset value between the rotary transformer and the motor to be calibrated, which is obtained through a self-learning program built in the motor controller.
In some embodiments, outputting a detection signal to the motor assembly, and rotating the motor to be calibrated in a manner corresponding to the detection signal to obtain a rotational initial angle calibration value between the resolver and the motor to be calibrated includes:
outputting a detection electric signal to the motor to be calibrated, and enabling the motor to be calibrated to rotate in a mode corresponding to the detection electric signal so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated.
In some embodiments, the motor assembly further comprises a decelerator coupled to the motor to be calibrated; further, the calibration method further comprises the following steps: the offline test bench is enabled to convey lubricant to the speed reducer in the rotation process of the motor to be calibrated. Therefore, damage caused by dry grinding of the speed reducer in the calibration process can be avoided.
In some embodiments, the offline test rack is provided with a rack motor; further, before outputting the detection signal to the motor assembly, the method further comprises: and closing the enabling state of the rack motor. Closing the enabling state of the rack motor, so that the rack motor does not rotate along with the motor to be calibrated in the calibration process, and deviation of the calibration result caused by overlarge load can be avoided. In addition, because the enabling state of the rack motor is closed in the calibration process, when the motor assembly is loaded on the offline test rack, a disassembly and assembly process half shaft is not needed to connect the motor assembly and the rack motor, and therefore the production efficiency can be further improved.
In some embodiments, the motor assembly is provided with an identification code, such as a bar code or a two-dimensional code attached to the surface of the motor; further, the calibration method further comprises the following steps: obtaining the identification information of the motor assembly through the identification code; and storing the identification information of the motor assembly and the rotation initial angle calibration value in the MES system in an associated mode. More specifically, after the offline test control device obtains the identification information of the motor assembly through scanning the identification code from the code scanner, the identification information of the motor assembly and the rotation initial angle calibration value are associated and stored in the MES system.
In some embodiments, sending a write instruction to the motor controller that includes a rotation-varying initial angle calibration value includes: acquiring a rotation initial angle calibration value corresponding to the identification information from an MES system according to the identification information of the motor assembly; and sending a write command comprising the rotation initial angle calibration value to a motor controller. Through the association storage of the identification information of the motor assembly and the initial angle calibration value of the rotation change in the MES system, the calibration of the initial angle of the rotation change can be carried out on the motor again according to the data stored in the MES system when the motor is needed, the detection of the initial angle of the rotation change is not needed to be carried out again, and the maintenance cost can be reduced.
In this embodiment, the detection and calibration of the initial angle of the motor rotation change are directly performed through the offline testing system, no additional manual zero setting and dynamic rotation change zero setting equipment is needed, and no additional calibration of the initial angle of the rotation change is needed through two processes of static zero setting and dynamic zero setting before offline testing, so that equipment and procedures required for calibrating the initial angle of the rotation change can be reduced, the calibration process is simplified, and the production efficiency is improved.
In addition, the preset initial angle of rotation in the built-in program of the motor controller is automatically modified into the initial angle calibration value of rotation through the written instruction, so that automatic calibration operation can be realized, error risks caused by manual operation are eliminated, production efficiency is improved, and labor cost is reduced.
Fig. 3 is a flow chart of a motor rotation initial angle calibration method according to another embodiment of the application. The method of the present embodiment is applicable to motor assemblies. Referring to fig. 3, the calibration method of the present embodiment includes:
s31, inputting a detection signal, and enabling a motor to be calibrated loaded on the offline test bench to rotate in a mode corresponding to the detection signal so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated;
s32, receiving a writing instruction comprising a rotation initial angle calibration value so as to modify a preset rotation initial angle in a built-in program into the rotation initial angle calibration value.
In some embodiments, inputting the detection signal to rotate the motor to be calibrated in a manner corresponding to the detection signal includes: the motor controller receives a speed control signal from the offline test control device and controls the motor to be calibrated to rotate according to the speed corresponding to the speed control signal; the method further comprises the following steps before receiving the writing instruction comprising the rotation initial angle calibration value: obtaining a zero offset value between the rotary transformer and the motor to be calibrated through a self-learning program built in the motor controller; and sending the zero offset value to the offline test control equipment.
In some embodiments, inputting the detection signal to rotate the motor to be calibrated in a manner corresponding to the detection signal includes: and inputting a detection electric signal to the motor to be calibrated, and enabling the motor to be calibrated to rotate in a mode corresponding to the detection electric signal so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated.
In this embodiment, the detection and calibration of the initial angle of the motor rotation change are directly performed through the offline testing system, no additional manual zero setting and dynamic rotation change zero setting equipment is needed, and no additional calibration of the initial angle of the rotation change is needed through two processes of static zero setting and dynamic zero setting before offline testing, so that equipment and procedures required for calibrating the initial angle of the rotation change can be reduced, the calibration process is simplified, and the production efficiency is improved.
In addition, the preset initial angle of rotation in the built-in program of the motor controller is automatically modified into the initial angle calibration value of rotation through the written instruction, so that automatic calibration operation can be realized, error risks caused by manual operation are eliminated, production efficiency is improved, and labor cost is reduced.
Corresponding to the embodiment of the method, the application also provides an embodiment of the electronic equipment.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device of the embodiment may be an offline test control device or a motor controller.
Referring to fig. 4, the electronic device 400 of the present embodiment includes a memory 410 and a processor 420.
The processor 420 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 410 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 420 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 410 may include any combination of computer-readable storage media including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 1010 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 410 has stored thereon executable code that, when processed by the processor 420, can cause the processor 420 to perform some or all of the methods described above.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Alternatively, the application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (7)
1. A motor rotation initial angle calibration method, comprising:
outputting a detection signal to a motor assembly loaded on an offline test bench, so that a motor to be calibrated rotates in a mode corresponding to the detection signal, and a rotary initial angle calibration value between a rotary transformer and the motor to be calibrated is obtained; the motor assembly comprises the motor to be calibrated and a motor controller, and the rotary transformer is arranged on the motor to be calibrated; the method comprises the following steps: outputting a speed control signal to the motor controller, so that the motor controller controls the motor to be calibrated to rotate according to the speed corresponding to the speed control signal; obtaining a rotation initial angle calibration value from the motor controller, wherein the rotation initial angle calibration value is a zero offset value between the rotary transformer and the motor to be calibrated, which is obtained in a waveform resolving mode through a self-learning program built in the motor controller;
and storing the identification information of the motor assembly and the rotation initial angle calibration value in a database in an associated manner, obtaining the rotation initial angle calibration value from the database, and sending a write-in instruction comprising the rotation initial angle calibration value to the motor controller so that the motor controller can modify a preset rotation initial angle in a built-in program into the rotation initial angle calibration value according to the write-in instruction and the rotation initial angle calibration value.
2. The method according to claim 1, characterized in that:
the motor assembly further comprises a speed reducer connected with the motor to be calibrated;
the method further comprises the steps of: and enabling the offline test bench to convey lubricant to the speed reducer in the rotation process of the motor to be calibrated.
3. The method according to claim 1, characterized in that:
the off-line test bench is provided with a bench motor;
the motor assembly further comprises: and closing the enabling state of the rack motor.
4. A method according to any one of claims 1 to 3, wherein the motor assembly is provided with an identification code; the method further comprises the steps of:
and obtaining the identification information of the motor assembly through the identification code.
5. A motor rotation initial angle calibration method, comprising:
inputting a detection signal, and enabling a motor to be calibrated loaded on a test bench to rotate in a mode corresponding to the detection signal so as to obtain a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated;
receiving a writing instruction comprising a rotation initial angle calibration value, and modifying a preset rotation initial angle in a built-in program into the rotation initial angle calibration value according to the writing instruction and the rotation initial angle calibration value; the write-in instruction is sent out by the off-line test control equipment, the off-line test control equipment obtains the initial rotation angle calibration value from a database, and the initial rotation angle calibration value is associated with the identification information of the motor assembly and is stored in the database in advance through the off-line test control equipment; the motor assembly comprises the motor to be calibrated;
the input of the detection signal, the rotation of the motor to be calibrated loaded on the offline test bench in a mode corresponding to the detection signal, comprises the following steps:
receiving a speed control signal, and controlling the motor to be calibrated to rotate according to the speed corresponding to the speed control signal;
the method for receiving the writing instruction comprising the rotation initial angle calibration value further comprises the following steps:
obtaining a zero offset value between the rotary transformer and the motor to be calibrated in a waveform resolving mode through a self-learning program built in the motor controller;
and sending the zero offset value to the offline test control equipment.
6. An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the motor rotation initial angle calibration method according to any one of claims 1 to 5.
7. A motor rotation initial angle calibration system, comprising:
the off-line test bench is used for loading the motor assembly; the motor assembly comprises a motor to be calibrated and a motor controller, wherein the motor to be calibrated is provided with a rotary transformer;
the off-line test control device is used for outputting a detection signal to the motor assembly, so that the motor to be calibrated rotates in a mode corresponding to the detection signal, and a rotation initial angle calibration value between the rotary transformer and the motor to be calibrated is obtained, and the off-line test control device comprises: outputting a speed control signal to the motor controller, so that the motor controller controls the motor to be calibrated to rotate according to the speed corresponding to the speed control signal; obtaining a rotation initial angle calibration value from the motor controller, wherein the rotation initial angle calibration value is a zero offset value between the rotary transformer and the motor to be calibrated, which is obtained in a waveform resolving mode through a self-learning program built in the motor controller; and the identification information of the motor assembly and the initial angle scaling value of the rotation are stored in a database in an associated mode, the initial angle scaling value of the rotation is obtained from the database, a writing instruction comprising the initial angle scaling value of the rotation is sent to the motor controller, and the motor controller is used for modifying a preset initial angle of the rotation in a built-in program into the initial angle scaling value of the rotation according to the writing instruction and the initial angle scaling value of the rotation.
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