• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    1. A method for driving an electric motor (1) for a rheometer, wherein a) the electric motor (1) transmits its drive energy to a sample (2), b) a desired time course (e (t)) for the deflection (w) is specified , Periodic predetermined shape, c) value (y) for the deflection (w) is determined as a measured variable (y (t)), d) the electric motor (1) is controlled by specifying a manipulated variable (u (t)), e ) that the measured variable (y (t)) and the manipulated variable (u (t)) behave non-linearly with respect to one another, f) for the desired time profile (e (t)) an approximate function (e '(t)) as a weighted sum of a number of predefined values Basic functions (f1 (t), f2 (t), ...) is determined, and the weights for the basis functions (f1 (t), f2 (t), ...) determined as the desired parameter vector (E) g) the manipulated variable (u (t)) is given the weighted sum of the basic functions (f1 (t), f2 (t),...), and then the following steps h) to k) according to a control process continuously and again h) the measured variable (y (t)) is sampled and the sampled values within a time window (W) are used, i) for the sampled values an approximation function (y '(t)) as a weighted sum of the basis functions (f1 (t), f2 (t), ...) is determined, and the weights are determined as an actual parameter vector (Y), j) a difference (D) between the desired parameter vector (E) and Actual parameter vector (Y) is subtracted from the actuating parameter vector (U), and k) the manipulated variable (u (t)) is given as the weighted sum of the basic functions (f1 (t), f2 (t), ...) with the values of the newly created control parameter vector (U) being used as weights in the following steps h) to j).
    公开号:AT517731A1
    申请号:T50864/2015
    申请日:2015-10-08
    公开日:2017-04-15
    发明作者:
    申请人:Anton Paar Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a method for controlling an electric motor for an oscillating rotation of the drive shaft, in particular for a rheometer.
    Furthermore, the invention relates to an arrangement for performing an oscillating rotation of the drive shaft, in particular for a rheometer for measuring the viscosity of a sample.
    From the prior art, different control arrangements for electric motors are known, which excite an electric motor to an oscillating rotation of the drive shaft. Such methods are used, in particular, to measure the nonlinear rheological properties of media, whereby the drive shaft of the motor is brought into the region of a medium to be investigated and its nonlinear rheological properties are determined by movement of the drive shaft in the respective medium. Particularly preferred is a rotating oscillation with large deflection amplitudes, since when exceeding certain limits by the deflection amplitudes used, the media or samples used show a nonlinear behavior. From the prior art it is particularly known to investigate the deformation behavior under cyclic stress, in particular strain and compression between two measuring parts, wherein at least one of the measuring parts is connected to the drive shaft of the motor. A so-called rotational rheometer designed in this way has shearing plates, between which the sample to be examined is arranged, one of the shearing plates being connected to the drive shaft of the electric motor.
    Rotation and oscillation rheometers are known from the prior art as instruments for determining the flow behavior of viscoelastic samples by means of different test positions, such as rotation, relaxation and oscillation tests. Both the flow behavior of liquids and the deformation behavior of solids can be investigated. In general, real samples show a combination of elastic and plastic behavior. The sample material to be examined is introduced into a measuring space between two measuring parts and by means of height adjustment and suitable sensors, the distance between the two measuring parts is determined. Upper and lower measuring part are relatively moved relative to each other about a common axis of rotation. The sample is sheared against each other due to rotation of the measuring parts. In such a measurement setup both rotating and rotating oscillating movements are possible. In principle, different geometries can be used for such a test setup, in particular measuring systems in which the medium is clamped between two plates, or measuring systems in which the medium is clamped between a cone and a plate, or measuring systems in which the medium is concentric between two arranged, rotating against each other cylinders is arranged.
    Various rheometers are known from the prior art, in which the torque is determined by means of an engine designed for driving and torque determination. Alternatively, however, the torque determination can also be made via two separate units for drive and rotation, which are each assigned to one of the measuring parts. In addition, devices with two measuring motors are known, as shown for example in Austrian Patent AT 508.706 B1.
    Regardless of the type of engine, synchronous motors with permanent magnets, as well as asynchronous motors can be used in the invention. In the context of the invention, the amplitude of the oscillation movement, the oscillation frequency, the rotational speed of the motor or the torque acting on the sample can be specified.
    The measurement of the torque can generally take place via the power consumption of the respective electric motor, wherein depending on the motor used or type of device for the torque is a functional relationship with the current consumption of the motor: N = Ci x I or N = c2 x I2, the both constants Ci and c2 are device specific.
    The deflection of the oscillating motor can be determined in different ways, in particular optically.
    The aim of measuring a sample is to obtain different measurements for different amplitudes, deflections and frequencies that can be modified independently of each other. The measured values determined in this way are called the rheological fingerprint of the material to be examined.
    Here, however, there is the significant problem that the respective excitation is mitverändert by the non-linear behavior of the medium or the sample.
    The object of the invention is therefore to provide a control of an electric motor for an oscillating rotation, in which either the time course of the
    Torque or the time course of the deflection in advance is freely definable. In particular, it is an object of the invention that the time profile of the torque or the deflection with great accuracy takes the form of a sine or cosine oscillation.
    The invention solves this problem with the characterizing features of claim 1.
    For this purpose, the invention proposes a concrete control of the electric motor. According to the invention, in a method for controlling an electric motor for an oscillating rotation of the drive shaft, in particular for a rheometer, provided that a) the electric motor transmits its drive energy to a sample that opposes the oscillation of the electric motor, b) to be reached Sollzeitverlauf for the deflection or for the sample torque is specified, and this desired time course has a periodic predetermined shape, c) that the actual value for the deflection or for the sample torque is continuously determined as a measured variable, d) that the electric motor by specifying a manipulated variable in the form of e) that the measured variable and the manipulated variable at least within a range between the maximum and the minimum of the predetermined periodic desired time course to each other nonlinear behavior, f) that for the desired time course a Proximity function as a weighted sum of a number of predetermined periodic, and possibly temporally shifted, basis functions (is determined, and the weights used for the individual basis functions are determined as desired parameter vector, g) that the manipulated variable as weighted with control parameters of a control parameter vector sum the basic functions is specified, wherein the target parameter vector multiplied by a predetermined factor is initially given as a control parameter vector, and then the following steps h) to k) are carried out continuously and repeatedly according to a control process, namely h) that the measured variable is scanned continuously and the last determined samples for the measured variable are used within a predetermined time window, i) that for the samples of the measured variable within the time window, an approximation function is determined as a weighted sum of the basis functions, and the zoom j) that a difference between the desired parameter vector and the actual parameter vector is determined and that this difference, optionally weighted with a further predetermined factor, from the Actuating parameter vector is subtracted, and k) that the control variable subsequently used is given as a weighted sum of the basis functions, the values of the newly created control parameter vector being used as weights in the following steps h) to j).
    The invention also relates to an arrangement comprising a controller and a motor according to claim 6.
    This results in significant improvements in the use of large signal amplitudes, in which the medium to be examined or the sample to be examined is operated in the nonlinear force or strain range. In particular, the invention allows to specify a very precise sine or cosine curve of the torque or the deflection of the electric motor.
    In order to better take into account the frequency dependence of individual non-linear effects of the sample, it can be provided that sinusoidal and cosine torques are used as the basis function.
    In order to be able to generate a spectrum of different frequencies in a simple manner, it can be provided that a first basic function has a predetermined basic form and the further basic function is compressed by an integer value relative to the first basic function, so that fn (t) = ti (n * t).
    To reduce the required computing time, it may be provided that the number of selected basic functions is less than 5.
    A preferred embodiment of the invention, which enables rapid real-time signal conditioning, provides that the basic functions be given as periodic functions, and that the sampling be chosen such that more than one hundred samples occur during the period of the longest-period basis function.
    For the same purpose it can be provided that the basic functions are specified periodically, and that the time window within which the samples are made has a duration of between 25 and 50% of the period of the basic function with the longest period.
    The adaptation, as described in the features h) to k) of claim 1, is preferably carried out several times in order to achieve a good correlation between the desired signal and the actual signal. For this purpose, it can be advantageously provided that periodic functions are specified as basic functions, and that the adaptation of steps h) to k) of claim 1 is repeated periodically, wherein between each two adjustments each time period of between 25 and 100% of the period of the basic function with the longest period.
    A particularly preferred embodiment of the invention is shown in more detail in the drawing figures.
    Fig. 1 shows a motor 1, which is acted upon by a regulator 3 via a voltage source with a predetermined voltage waveform UM or a current waveform lM. The controller 3 is fixed as a manipulated variable u (t) as a function of a predetermined desired time profile for the deflection w of the motor or for the sample torque M corresponding to the current time profile or the voltage time profile. The electric motor 1 is driven for an oscillating rotation of its drive shaft. The electric motor 1 transmits its drive energy via a motor shaft to a sample 2, which is located between two plates, of which at least one is rotated against the sample 2, so that the sample 2 is subject to a total of a shear or rotational movement. Due to the specific viscosity of the sample 2, depending on the deflection of the drive shaft of the electric motor 1, different torques occur on the motor shaft. These determined or set interpretations w and torques M can be related to one another, from which the specific viscoelastic behavior of the sample 2 to be examined can be determined.
    In order for such a measurement to be carried out as a whole, either the sample torque M or the deflection w is predetermined beforehand in the form of a desired value e (t). The setpoint time course e (t) has a periodic, predetermined shape and is predefined for the controller 3.
    In the arrangement of Fig. 1, a measuring device, not shown, containing either the actual value of the deflection w or the actual value of the sample torque M continuously determined. This meter ultimately delivers actual
    Values for the deflection w or the sample torque M as the measured variable y (t) and transmitted to the controller 3.
    In the context of the invention, it is assumed that the sample 2 behaves non-linearly. Moving the drive shaft of the motor 1 only within a small range of deflection around an operating point, the sample 2 usually behaves linearly around the respective operating point. If, however, the deflection w is increased, the result for a nonlinear sample 2 is that the measured quantities y (t) and the manipulated variable u (t) are at least within a range between the maximum and the minimum of the predetermined periodic target time profile e (FIG. t) behave non-linearly with each other. Because of this nonlinear behavior, it is also not possible to estimate or determine in advance a manipulated variable u (t) which ultimately achieves the desired setpoint time profile e (t). In addition, there may also be the problem that a sample 2 changes during the measurement, in particular behaves hysteretically, so that a pre-adjustment of a manipulated variable u (t) to achieve a predetermined desired time course e (t) is not possible. For this reason, the invention uses the iterative method described in more detail below, in which ultimately the predefined desired time profile e (t) for the deflection w or the sample torque M is achieved in a simple manner.
    Initially, ie, before the iterative setting, an approximate function e '(t) is determined for the desired time course e (t), which is the weighted sum of a number of predefined, periodic and possibly temporally shifted basis functions fi (t), f2 (t), ... is determined.
    As basis functions f-i (t), f2 (t), ... are advantageously sine or
    Kosinusschwingungen
    , used, where a0 a
    Base frequency, in particular 1 Hz, represents and the first basis function f ^ t) has a predetermined basic form and the other basis functions over the first base function are each compressed by a predetermined integer value, so that fn (t) = f ^ n *!). Preferably, only a few basic functions are used overall, the present embodiment uses only three basic functions altogether.
    An advantageous example of basic functions is shown in greater detail in FIG. 2, for example. If one wants to represent the set time course e (t) by an approximation function e '(t), then the individual weights to be weighted with the basis functions f ^ t), f2 (t), to come to a time course, which corresponds to the desired time course e (t) as possible e (t) ~ e '(t) = ei fi (t) + e2 f2 (t) + .... The weights ei, e2, ... determined in this way are determined as desired parameter vector E = [ei, e2,...] And kept available for the further procedure. If one uses sine and cosine oscillations, the values of the desired parameter vector E can be determined, for example, by means of discrete Fourier transformation or fast Fourier transformation (FFT).
    For initial setting of the manipulated variable u (t), a setting parameter vector U = [ui, u2, ...] is given whose individual elements represent weights which - multiplied by the basis functions - as a weighted sum the manipulated variable u (t ) approximate.
    As an initial value for the setting parameter vector U, the setpoint parameter vector E, multiplied by a predetermined factor x, is specified. The predefined factor x is defined in advance as follows: 0.5 with M default and 0.5 * J * (2 * Pi * fn) 2 with w specification (J: Moment of inertia of the measuring drive)
    In the following, an iterative method is shown with which the controller 3 continuously adapts the manipulated variable u (t) in order to create a deflection w or a sample torque M corresponding to the predetermined desired time profile e (t). For this purpose, as shown in Fig. 3, the measured variable y (t) - which is either the deflection w or the sample torque M - scanned. Advantageously, the sampling takes place in very short intervals, wherein, based on the period of the basic function T (t) with the respective longest period, more than a hundred samples are taken during such a period. With a period duration of the basic function T (t) of 1000 ms, the sampling rate is preferably 512 Hz. Between 256 and 512 samples, in particular 256 or 512 samples, are preferably recorded per oscillation.
    The samples within a time window W immediately preceding the current time are used. The time window W, within which the samples are taken, is set approximately to a duration of between 25% and 100% of the period of the basic function T (t) with the longest period.
    Subsequently, the sample values of the measured variable y (t) within the time window W are also subjected to the same analysis as the desired time profile. An approximation function y '(t) is determined as the weighted sum of the basis functions, the individual, thus determined
    Weights for the individual basis functions are combined to form an actual parameter vector Y.
    In a further step, the difference D between the desired parameter vector E and the actual parameter vector Y is determined. This difference D is weighted with a predetermined factor v, which is in particular between 0.2 and 0.5. This difference D is subtracted from the setting parameter Un and in this way the setting parameter Un + i is formed for the next iteration step.
    In a last step, the manipulated variable u (t) for the next iteration step is determined as a weighted sum of the basis functions based on the newly determined manipulated parameter vector Un + i.
    Then another one
    Scanning performed within a subsequent time window W, again an actual parameter vector Y determined, the difference D between the desired parameter vector E and the actual parameter vector Y determined and subtracted from the setting parameter vector U and again the Set parameter vector U used to generate the manipulated variable u (t). This process is performed continuously by the controller 3 to provide a corresponding adjustment of the measurand, i. the deflection w or the sample torque M to reach.
    The adaptation can be repeated as often as desired. Between each two adjustments, there is a time period of between 25 and 100% of the period duration of the basic function fi (t) with the longest period.
    权利要求:
    Claims (10)
    [1]
    claims:
    1. A method for controlling an electric motor (1) for an oscillating rotation of the drive shaft, in particular for a rheometer, a) wherein the electric motor (1) transmits its drive energy to a sample (2), which opposes the oscillation of the electric motor (1) , characterized in that b) that a target time profile (e (t)) to be achieved is specified for the deflection (w) or for the sample torque (M), and this desired time profile (e (t)) has a periodic predetermined shape, c) the actual value (y) for the deflection (w) or for the sample torque (M) is continuously determined as measured variable (y (t)), d) that the electric motor (1) is preset by specifying a manipulated variable (u (t)) in the form of the voltage (UM) applied to it or of the current flowing through it (lM), e) that the measured variable (y (t)) and the manipulated variable (u (t)) are at least within a range between the maximum and the minimum of the predetermined periodic target time f) that for the setpoint time course (e (t)) an approximation function (e '(t)) as a weighted sum of a number of predetermined periodic, and possibly temporally shifted, basis functions (f ^ t ), f2 (t), ...), and the weights used for the individual basis functions (fi (t), f2 (t), ...) are determined as the desired parameter vector (E), g ) that the manipulated variable (u (t)) is given as the sum of the base functions (f ^ t), f2 (t), ...) weighted with control parameters of a control parameter vector (U), where as actuating parameter vector (U) Initially, the desired parameter vector (E) multiplied by a predetermined factor (x) is given, and then the following steps h) to k) are carried out continuously and repeatedly according to a control process, namely h) that the measured variable (y (t )) is scanned continuously and the last determined samples for the measured variable (y (t)) within a given time i) that for the samples of the measured variable (y (t)) within the time window (W) an approximation function (y '(t)) as the weighted sum of the basis functions (f ^ t), f2 (t ), ...), and the weights used for the individual basis functions (f1 (t), f2 (t), ...) are determined as the actual parameter vector (Y), j) that a difference ( D) is determined between the desired parameter vector (E) and the actual parameter vector (Y) and that this difference (D), optionally weighted with a further predetermined factor, is subtracted from the actuating parameter vector (U), and k) that the subsequently used manipulated variable (u (t)) is given as a weighted sum of the basis functions (f-1 (t), f2 (t),...), the values of the newly created actuating parameter vector (U ) can be used as weights in the following steps h) to j).
    [2]
    2. Method according to claim 1, characterized in that sine and cosine oscillations are used as basis functions (fi (t), f2 (t), ...) and / or - that a first basis function (f ^ t)) has a given basic form and the other basic functions (f2 (t),...) are each compressed by a predetermined integer value n, so that fn (t) = fi (n * t) and / or - the number of basis functions (f ^ t), f2 (t), ...) is less than 5.
    [3]
    3. The method of claim 1 or 2, characterized in that - the basic functions are given as periodic functions, and - that the sampling is selected such that more than 100 samples during the period of the base function with the longest period take place.
    [4]
    4. The method according to any one of the preceding claims, characterized in that - the basic functions are specified periodically, and - that the time window (W) within which scans are used, a duration of between 25% and 100% of the period of the basic function with the longest Period has.
    [5]
    5. The method according to any one of the preceding claims, characterized in that - the basic functions are specified as periodic functions, and - that the adaptation of steps h) to k) of claim 1 is repeated periodically, wherein between each two adjustments each a period of between 25% and 100% of the period duration is the basis function with the longest period.
    [6]
    6. Arrangement for performing an oscillating rotation of the drive shaft, in particular for a rheometer for measuring the viscosity of a sample (2), comprising an electric motor (1) and a motor controller (3), a) wherein the electric motor (1) has a drive shaft for transmission its drive energy to the sample (2), characterized in b) that the controller (3) to be reached periodic desired time profile (e (t)) for the deflection (w) or for the sample torque (M) is predetermined in advance, c ) that a measuring device is provided, the actual value (y) for the deflection (w) or for the sample torque (M) continuously determined as a measured variable (y (t)) and the controller (3) reports, d) that the controller (3) drives the electric motor (1) by specifying a manipulated variable (u (t)) in the form of the voltage (UM) applied thereto or the current flowing through it (lM), e) that the measured variable (y (t) ) and the manipulated variable (u (t)) at least within a range between f) that the controller (3) for the desired time course (e (t)) an approximation function (e '(t)) as a weighted sum of a Number of predetermined periodic, and possibly temporally shifted, basis functions (f ^ t), f2 (t), ...) determined, and the weights used for the individual basis functions (f ^ t), f2 (t), ...) g) that the controller (3) determines the manipulated variable (u (t)) as the sum of the basic functions (f t), f 2 (t ), where it predetermines as an actuating parameter vector (U) initially the desired parameter vector (E) multiplied by a predetermined factor (x), and the controller (3) subsequently the following steps h) to k) running continuously and repeatedly according to a control process, namely h) that the controller (3) from the measuring device, the measured variable (y (t)) la scans the last determined samples for the measured variable (y (t)) within a predetermined time window (W), i) that the controller (3) for the samples of the measured variable (y (t)) within the time window (W) an approximate function (y '(t)) is determined as the weighted sum of the basis functions (fi (t), f2 (t), ...), and the weights used for the individual basis functions (f1 (t), f2 (t), ...) is determined as the actual parameter vector (Y), j) that the controller (3) determines the difference (D) between the desired parameter vector (E) and the actual parameter vector (Y) and that the controller (3) subtracts this difference (D), possibly weighted, with another predetermined factor from the actuating parameter vector (U), and k) that the controller (3) uses the manipulated variable (u (t)) subsequently used as weighted sum of the basis functions (f ^ t), f2 (t), ...), wherein controller (3) the values of the newly created control parameter vector (U) as weights in the following steps h) to j) used.
    [7]
    7. Arrangement according to claim 6, characterized in that - the base functions (fi (t), f2 (t), ...) sine and cosine oscillations are used, and / or - that a first basis function (f ^ t)) has a given basic form and the further basis functions (f2 (t),...) are each compressed by a predetermined integer value n in comparison to the first basis function fi (t), so that fn (t) = fi (n * t) and / or - the number of basis functions (f ^ t), f2 (t), ...) is less than 5.
    [8]
    Arrangement according to claim 6 or 7, characterized in that - the basic functions are as periodic functions, and - that the sampling is chosen such that more than 100 samples take place during the period of the basic function with the longest period.
    [9]
    9. Arrangement according to one of claims 6 to 8, characterized in that - the basic functions are periodic, and - that the time window (W) within which scans are used, a duration of between 25% and 100% of the period of the basic function with the longest period.
    [10]
    10. Arrangement according to one of claims 6 to 9, characterized in that - the basic functions are as periodic, and - that the controller (3) periodically repeats the adaptation of steps h) to k) of claim 6, wherein between each two adjustments respectively a period of time of between 25% and 100% of the period base function f ^ t) is the longest period.
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    ATA50864/2015A|AT517731B1|2015-10-08|2015-10-08|Method for controlling an electric motor|ATA50864/2015A| AT517731B1|2015-10-08|2015-10-08|Method for controlling an electric motor|
    DE102016118606.6A| DE102016118606A1|2015-10-08|2016-09-30|Method for controlling an electric motor|
    CN201611005464.7A| CN106568688B|2015-10-08|2016-09-30|Method for actuating an electric motor|
    US15/285,677| US20170102309A1|2015-10-08|2016-10-05|Method for actuating an electric motor and configuration for exerting oscillatory rotation of a driveshaft|
    JP2016199095A| JP6771353B2|2015-10-08|2016-10-07|How to operate an electric motor|
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