原文地址:http://www.modularcircuits.com/blog/articles/bridge-to-the-far-side/how-to-read-motor-datasheets/
本文为翻译校正稿件,基于译者理解标注
How to Read Motor Datasheets
如何阅读电机数据表
1.Introduction
引言
This short article builds on the work we’ve done in modeling DC motors. Here I’ll show you how to turn that knowledge into practice and at the same time, extract useful information from motor datasheets.
这篇短文基于我们在直流电机建模方面所做的工作。在这里,我将向您展示如何将知识转化为实践,同时,从电机数据手册中提取有用的信息。
The reason you’ll have to do that exercise is that most motor manufacturers usually specify only a few things on their datasheets. Here are a few examples:
你必须实动手践的原因是,大多数电机制造商通常只展示了电机的少数几项参数内容。以下是一些例子:
http://www.kysanelectronics.com/Products/SubClass.php?recordID=281
http://www.micromo.com/coreless-dc-motors-data-sheets.aspx
2.Motor operating points and parameters
电机工作点及参数
There are four interesting operating points of a motor, and a manufacturer usually specifies the parameters for at least a few:
电机有四个有趣的工作点,制造商通常至少为其中几个指定参数:
1.No-load characteristics is measured when there’s nothing attached to the shaft of the motor, and is supplied the rated operating voltage
空载特性是在电机无负载状态下测量的,没有任何东西被附加到电机轴上,并且实在额定工作电压之下。
2.Stall characteristics is measured when the motor shaft is completely blocked (can’t move at all) and the motor is supplied its rated operating voltage – note, that to measure actual torque, the shaft needs to move a little bit, and as a result – as you will see later – friction still plays a role in this operating point
堵转特性是测量电机在额定工作电压状态下,电机轴被完全锁定时的特性(不能移动),注意,在测量实际扭矩时,轴需要移动一点点,所以-正如你将看到的-在这个工作点下,摩擦仍然发挥作用。
3.The maximum efficiency characteristics, again measured with the rated operating voltage supplied
最大效率,在额定工作电压下测量
4.The maximum power output characteristics, still with the rated operating voltage applied.
最大输出功率,仍在额定工作电压下测量
The interesting parameters at these for operating points are (using the ‘s’ suffix for ‘spec’):
对于这些工作点,我们感兴趣的参数是使用‘ s’后缀:
- Speed ( 速度 Ss)
- Torque (扭矩 Ts)
- Current (电流 Is)
- Voltage on the motor terminals (though it’s kept constant between all four measurements above) (电机两端的电压Vs)该值在测量上述四个工作特性时候保持不变
From these, the following parameters can be determined:
根据这些,可以确定以下参数:
- Motor constants (电极常量Kt和Ke,Kt是转矩系数,Ke是反电势系数)
- Motor internal resistance (电机内阻 Rm)
- Motor friction (电机摩擦 Tfriction)
To make sense of it all
3.搞明白这一切
It is important to understand that all measurements are done in a static condition. This means that reactive elements (the inductance of the coils, Lm or the inertia of the rotor, Jm) don’t play a role in the parameters, but it also means that they can’t be determined if the datasheet doesn’t specify them.
要重点了解的是所有的测量都是在静态条件下进行的。这意味着电抗元件(线圈的电感Lm 或转子的惯性Jm)在参数中不起作用,但这也意味着如果点电机的数据手册没有指定这些参数,就无法确定它们。
As always, the motor conversion equations are true, and are the same for all operating points:
一如既往,电机转换方程式是正确的,并且对于所有工作点来说都是相同的:
T = Kt*I (1)
Vg = Ke*s (2)
There are two losses in the motor to consider: the internal resistance (Rm) and the friction (Tfriction). In this discussion we will use the much more accurate (though non-linear) friction model as opposed to the linear drag model to represent mechanical losses in the motor. That means that the friction torque (Tfriction) is constant as long as the direction of the rotation doesn’t change. With the reactive elements out of the way, we know that the current through the motor will drop a constant voltage across the internal resistance and the rest is available for mechanical conversion:
在电动机中有两种损耗要考虑: 内阻(Rm)和摩擦产生的摩擦力矩(Tfriction)。在这个讨论中,我们将使用更加精确(非线性)的摩擦模型相代替线性阻力模型来表示电机的机械损耗。这意味着只要旋转方向不改变,摩擦力矩(Tfriction)是恒定的。除去无功元件后,我们知道通过电机的电流会在内阻处降低一个恒定的电压,其余部分被用于机械能转换:
Vs = I*Rm+Vg (3)
Vs是供电电压,I为通过点击的电流,电机本身具有内阻,所以会产生一个压降,Vg就是剩余转换为机械能的电压
Similarly, some of the torque on the mechanical side is used to compensate for the friction and the rest is available on the shaft of the motor:
同样,机械方面,产生的扭矩部分被用于补偿摩擦力,其余部分在电动机的轴上:
Ts = Tconverted – Tfriction (4)
Ts是电机轴上产生的转矩,它等于电机总转换的转矩Tconverted减去被用于补偿摩擦的那部分转矩
From these, for any of the measurements, we can get the following:
从这些数据中,我们可以得到以下结果:
Ts + Tfriction = Kt*Is (5)
电机轴上产生的转矩+被用于补偿摩擦的那部分转矩=转矩系数*电流
Vs – Is*Rm = Ke*Ss (6)
电机两端的电压-内阻上的压降=反电势系数*轴的转速
The knowns here are: Ts, ss, Is and Vs. We’re looking for Tfriction, Rm, KT and KE. If you have data available from the datasheet for at least two of the four operating points, you can in theory arrive at the unknowns. However, two special cases can help: if you have information on the stall or no-load operating point, a few things get simpler. In both cases, all the energy pumped into the motor on the electrical side is entirely used up on the internal losses: the resistance and the friction.
这里的已知的是: Ts,Ss,Is 和 Vs. 我们需要求解的是 Tfriction, Rm, Kt and Ke.。如果您有数据表中至少两个工作点参数被列出来,那么理论上可以求解全部未知数。但是,有两种特殊情况可以帮助您: 如果您有关于堵转特性或空载特性的参数,一些事情会变得更简单。在这两种情况下,所有的泵入电机的能量在电子方面被完全用于内部损失: 电阻和摩擦。
For the stalled case, the shaft is not rotating, which means that the generator voltage (Vg) must be 0, just as ss is. The second equation becomes simpler with that knowledge:
对于堵转情况下,轴不旋转,这意味着电机此时作为发电机,发电电压(Vg)必须是0,因为Ss 也是0。有了这个知识,第二个等式就变得简单了:
Vs – Is(stall)*Rm = 0 (7)
供电电压 - 堵转电流*电机内阻 = 0
From this, Rm can be expressed:
由此,Rm 可以表示为:
Rm = Vs/Is(stall) (8)
移个项,得内阻 = 电压/堵转电流
For the no-load case, we know that the converted torque is just enough to compensate the friction, there’s no torque left on the shaft. So Ts must be 0. Because of that, the first equation becomes:
对于空载情况,我们知道转换的扭矩刚好足以补偿摩擦,没有扭矩留在轴上。所以 Ts 一定是0。正因为如此,第一个等式变成:
Tfriction = Kt*Is(no-load) (9)
摩擦产生的转矩 = 转矩系数 * 空载电流
Putting this value for Tfriction back into the the torque equation for the stall-case, we get:
把这个摩擦力的值放回失速情况下的扭矩方程中,我们得到:
Ts(stall) + KT*Is(no-load) = KT*Is(stall) (10)
电机堵转的转矩 + 转矩系数*空载电流 = 转矩系数*堵转电流
Now, solving it for KT, we get:
现在,为了得到Kt,我们有:
Kt = Ts(stall)/(Is(stall)-Is(no-load)) (11)
转矩系数Kt = 堵转扭矩 / (堵转电流 - 空载电流)
With these two, we can calculate the remaining two parameters (Tfriction and KE) for any operating point using our original two equations:
有了这两个方程,我们可以用我们原来的两个方程计算任意工作点的剩余两个参数(Tfriction 和 Ke) :
∵ Ts + Tfriction = Kt*Is
∴ Tfriction = Kt*Is – Ts
摩擦转矩 = 转矩系数 * 额定工作电流 - 额定工作转矩
∵ Vs – Is*Rm = Ke*ss
∴ Ke = (Vs – Is*Rm)/Ss
反电势系数 = (供电电压 - 工作电流*内阻) / 转速
Of course Tfriction and KE should be constants, independent of the set of parameters we calculate them from, but it’s a good test to calculate them from all possible sources and see how much different the values are.
当然 Tfriction 和 Ke是常数,独立于我们计算它们的参数集,但是这是一个很好的测试,我们可以从不同参数来计算他们的值,但是这些值会有不同吗?
4.Let’s try it!
让我们试试吧
I’m going to use my usual motor, the RS-550PF-8021. The datasheet specifies all four operating points, that I’m summarizing in the following table:
我要用我平时用的电机,型号RS-550PF-8021。数据表指定了所有四个操作点,我在下表中总结了这些操作点:
TS 转矩 | SS 转速 | VS 工作电压 | IS 工作电流 | |
---|---|---|---|---|
NO-LOAD 空载 | 0 mNm | 24000 RPM | 12 V | 1.5 A |
STALL 堵转 | 647.25 mNm | 0 | 12 V | 148 A |
MAXIMUM EFFICIENCY 最大效率 | 58.252 mNm | 21840 RPM | 12 V | 14.685 A |
MAXIMUM POWER 最大功率 | 323.62 mNm | 12000 RPM | 12 V | 74.75 A |
From the dand no-load numbers, we can get:
从堵转和空载参数,我们可以得到:
Kt = 647.25/(148-1.5) = 4.418mN*m/A
Rm = 12/148=81mΩ
事实证明,数据表指定了这些参数,它们与我们的计算相匹配。
And with that, we can calculate the other two parameters for the operating points:
这样,我们就可以计算出其他两个操作点的参数:
Tfriction = Kt*Is – Ts = 4.418*1.5 = 6.627mNm
Ke = (Vs – Is*Rm)/Ss = (12-14.685*0.081)/21840 = 4.726 mV/rad/s
TFRICTION 摩擦 | KE | |
---|---|---|
NO-LOAD 空载 | 6.627 mNm | N/A 不适用 |
STALL 失速 | 6.627 mNm | 4.726 |
MAXIMUM EFFICIENCY 最大效率 | 6.632 mNm | 4.726 |
MAXIMUM POWER 最大功率 | 6.627 mNm | 4.726 |
The numbers are almost perfectly the same, only the friction shows a less than 0.1% error.
这些数字几乎是完全相同的,只是摩擦力的误差在0.1%附近 。
The last parameter specified in the datasheet is actually a typo: it’s not he back-EMF constant (KE), but another parameter of the motor that we haven’t talked about yet, KM. It can be calculated like this:
数据表中指定的最后一个参数实际上是一个错误数据: 它不是反电动势常数(Ke) ,而是另一个我们还没有讨论过的电机参数 Km。可以这样计算:
Km = Kt/sqrt(Rm)
Km = 4.418/sqrt(0.081) = 15.52 mNm/√W
You can verify that both the value and the unit works out from the numbers we have so far.
你可以亲自动手计算以验证我们的数据是否正确。
5.纸上得来终觉浅
译者:我针对淘宝上最常见的一款555电机做参数计算,电机的性能规格书如下:
提取我们需要的信息,列表如下:
TS 转矩 | SS 转速 | VS 工作电压 | IS 工作电流 | |
---|---|---|---|---|
NO-LOAD 空载 | 0 mNm | 5000 RPM | 24 V | 0.15 A |
STALL 堵转 | 1100 g*cm | 0 | 24 V | 5.6 A |
开始计算:
Rm = Vs / Iss(stall) = 24V / 5.6A = 4.28Ω
实际测量值:新电机2.5R 旧电机4.4R
Kt = Ts(stall) / (Iss(stall) - I(no-load)) = 110mNm / (5.6-0.15) = 20.1834 mN*m/A
Tfriction = Kt*Is – Ts = 20.1834 * 0.15 - 0= 3.0275 mN*m
Tfriction = Kt*Is – Ts = 20.1834*5.6 - 110 = 3.0274 mN*m
Ke = (Vs – Is*Rm)/Ss = (24-0.15 * 4.28) / 5000 = 4.671 mV/rad/s
附表:电机性能曲线示意图