CN101621274B - Method for automatically recognizing AC servo motor in AC servo system - Google Patents
Method for automatically recognizing AC servo motor in AC servo system Download PDFInfo
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- CN101621274B CN101621274B CN2009103037736A CN200910303773A CN101621274B CN 101621274 B CN101621274 B CN 101621274B CN 2009103037736 A CN2009103037736 A CN 2009103037736A CN 200910303773 A CN200910303773 A CN 200910303773A CN 101621274 B CN101621274 B CN 101621274B
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Abstract
The invention provides a method for recognizing an AC servo motor in an AC servo system. The method for automatic recognition comprises the following steps: an AC servo driver drives the AC servo motor to rotate in a loop opening way and reads the information of a compound type photoelectric coder in the process of rotation; the parameter needed by the AC servo driver driving the AC servo motor is calculated by read data so as to control the AC servo motor. In the method, the AC servo driver and the AC servo motor can be designed into two independent products, and the AC servo driver can be adapted to any AC servo motor with the compound type photoelectric coder in the power allowance range, thereby the application ranges of the AC servo driver and the AC servo motor is expanded.
Description
Technical field
The invention belongs to the motor control assembly technical field, be specifically related to the automatic identification method of AC servo motor in a kind of AC servo, is AC servo driver to the automatic identification of AC servo motor with combined type photoelectric encoder.
Background technology
AC servo replaces traditional DC servomechanism gradually in modern transmission control field, becomes the main flow actuator of kinetic control system.AC servo mainly comprises AC servo driver and AC servo motor, and AC servo motor generally is equipped with the combined type photoelectric encoder.
Because the motor technology parameter that each motor manufacturer produces is inconsistent, cause the AC servo driver of producing at present both at home and abroad all can only adaptive fixedly brand or the AC servo motor of model, AC servo driver is spun off as an independent product, cause AC servo motor also can't become a general product.External AC servo producer generally produces servo-driver and servomotor simultaneously, make the two formation supporting, domestic because AC servo motor technology is started late, and causes the AC servo motor brand more, the infull situation of product line of each brand letter lid.So AC servo driver can only adaptive single brand or the situation of model motor make AC servo driver and AC servo motor all have significant limitation.
Summary of the invention
The technical problem to be solved in the present invention provides the discrimination method of AC servo motor in a kind of AC servo.
Automatic identification method of the present invention comprises following content: AC servo driver is by pointing to the voltage vector at electric zero point to motor output, make rotor be forced to adhesive, corresponding codes device U, V, W signal encoding value when obtaining electric angle 0 and spending to the position at electric zero point; AC servo driver continuation output rotational voltage vector drive rotor rotates to the Z pulse and the position occurs, obtains Z pulse and the mechanical angle value ψ between electric zero point; Rotor continues to rotate to the position that next Z pulse occurs, and obtains the pulse sum P that encoder rotates a circle
EOccur for twice obtaining the number of repetition n of encoder U, V, W signal encoding rule of combination and coded combination in the process of Z pulse in the motor rotation;
Characteristics according to the combined type photoelectric encoder calculate according to following formula again:
The number of pole-pairs N of motor
P=n;
The line of encoder is counted N
e=P
E/ 4;
Encoder Z pulse and the motor electric angle between electric zero point
θ＝ψ*N
p；
Obtain the corresponding relation of encoder U, V, W signal and motor electric angle by the coded combination rule, finish automatic identification process.
AC servo driver of the present invention drives AC servo motor open loop rotation, AC servo driver reads combined type photoelectric encoder information in the rotary course, calculate AC servo driver by the data that read then and drive the required parameter of AC servo motor, and then realize control AC servo motor.Adopt the present invention, can make AC servo driver and AC servo motor become two independently products, AC servo driver can be in the power allowed band adaptive any AC servo motor with combined type photoelectric encoder, expanded the scope of application of AC servo driver and AC servo motor.
Description of drawings
Fig. 1 is the combined type photoelectric encoder code-disc schematic diagram that embodiments of the invention are equipped with motor
Fig. 2 is the encoder of the present invention signal output waveform schematic diagram that rotates a circle
Fig. 3 is encoder U of the present invention, V, W signal output and counter electromotive force of motor relation schematic diagram
Fig. 4 is a rotational voltage schematic vector diagram of the present invention
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the combined type photoelectric encoder code-disc schematic diagram that embodiments of the invention are equipped with motor.
Fig. 2 is the encoder of the present invention signal output waveform schematic diagram that rotates a circle.
As can be seen from the figure, the signal of the combined type photoelectric encoder of the AC servo motor that the embodiment of the invention adopts output has A, B, Z, U, V, W, and wherein A, B signal are orthogonal pulses; U, V, W signal correspond respectively to the electric interval of three electric phase phasic difference 120 degree of motor, each interval electric angle is 180 degree, be corresponding 6 the electric intervals that differ 60 degree of binary pulse coding (1～6) of U, V, W signal, coding rule is relevant with the mounting means of encoder manufacturer and motor producer.
Fig. 3 is encoder U of the present invention, V, W signal output and counter electromotive force of motor relation schematic diagram.
Encoder rotates a circle, and the Z pulse signal is exported once; Number of pole-pairs N corresponding to motor
P, the pulse code of U, V, W signal repeats to export N
PInferior; A, B pulse are counted N through its quantity behind the quadruplicated frequency circuit corresponding to the line of encoder
eFour times of 4N
e
AC servo driver realizes that the parameter that the driving to the AC servo motor with combined type photoelectric encoder needs has: the 1. number of pole-pairs N of motor
P2. the line of encoder is counted N
e3. encoder Z pulse and the motor electric angle θ between electric zero point; 4. the corresponding relation that is used for U, V, W signal and the motor electric angle of original position of electric motor's rotator detection.
Fig. 4 is a rotational voltage schematic vector diagram of the present invention.AC servo driver is by pointing to the voltage vector at electric zero point to AC servo motor output, make rotor be forced to the position of adhesive to electric zero point, write down the assembly coding Code1=5 of this position U, V, W signal, AC servo driver is that electric angle is exported the rotational voltage vector zero point and driven rotor and rotate synchronously with this position.The AC servo driver record is from A, the B orthogonal pulses of combined type photoelectric encoder in the rotation process, when AC servo driver receives the Z pulse signal of encoder for the first time, A, B orthogonal pulses n1=410 record with accumulative total this moment, with A, the zero clearing of B orthogonal pulses of accumulative total, restart accumulative total simultaneously; Rotor continues rotation, writes down the assembly coding of U, V, W signal in the rotary course, when AC servo driver receives the Z pulse signal of encoder for the second time, with A, the B orthogonal pulses n2=1440 of accumulative total this moment; The number n 3=12 that the assembly coding of U, V, W signal occurs and putting in order notes.
The number of pole-pairs N of motor
P=n3/6=2;
The line of encoder is counted N
e=n2/4=360;
The 360 ° of * N of * of electric angle θ between electric zero point of encoder Z pulse and motor=(n1/n2)
P=205 ° of electrical degrees; Wherein θ is the cycle with 360 °;
Encoder U, V, W signal encoding Code1=5 are electric zero point, according to noting coding appearance order in the motor rotary course: 5,1,3,2,6,4, can calculate U, V, 6 pairing electric angles of coding of W signal successively, that is: 5 correspondences are 330 °～30 °, 30 °～90 ° of 1 correspondences, 90 °～150 ° of 3 correspondences, 150 °～210 ° of 2 correspondences, 210 °～270 ° of 6 correspondences, 270 °～330 ° of 4 correspondences.
The superiority of motor automatic identification method mainly embodies AC servo driver can carry out identification to the AC servo motor that has the combined type photoelectric encoder arbitrarily, can constitute AC servo with AC servo motor after the identification, make AC servo driver and AC servo motor can not be subjected to the influence of manufacturer's technical parameter, enlarged the scope of application of the two preferably.
Claims (1)
1. AC servo motor automatic identification method in the AC servo is characterized in that described automatic identification method comprises following content:
AC servo driver is by pointing to the voltage vector at electric zero point to motor output, make rotor be forced to adhesive to the position at electric zero point, corresponding codes device U, V, W signal encoding when obtaining electric angle 0 and spending; AC servo driver continuation output rotational voltage vector drive rotor rotates to the Z pulse and the position occurs, obtains Z pulse and the mechanical angle value ψ between electric zero point; Rotor continues to rotate to the position that next Z pulse occurs, and obtains the pulse sum P that encoder rotates a circle
EOccur for twice in the process of Z pulse in the motor rotation, obtain the number of repetition n of encoder U, V, W signal encoding rule and coding;
Characteristics according to the combined type photoelectric encoder calculate according to following formula again:
The number of pole-pairs N of motor
P=n;
The line of encoder is counted N
e=P
E/ 4;
Encoder Z pulse and the motor electric angle between electric zero point
θ＝ψ*N
p；
Obtain the corresponding relation of encoder U, V, W signal and motor electric angle by encoder U, V, W signal encoding rule, finish automatic identification process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103037736A CN101621274B (en) | 2009-06-29 | 2009-06-29 | Method for automatically recognizing AC servo motor in AC servo system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103037736A CN101621274B (en) | 2009-06-29 | 2009-06-29 | Method for automatically recognizing AC servo motor in AC servo system |
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| Publication Number | Publication Date |
|---|---|
| CN101621274A CN101621274A (en) | 2010-01-06 |
| CN101621274B true CN101621274B (en) | 2011-09-28 |
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| CN2009103037736A Expired - Fee Related CN101621274B (en) | 2009-06-29 | 2009-06-29 | Method for automatically recognizing AC servo motor in AC servo system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208533A (en) * | 2016-08-02 | 2016-12-07 | 珠海格力电器股份有限公司 | Encoder reset device and encoder reset method |
| CN106774147A (en) * | 2016-11-28 | 2017-05-31 | 金舜 | The given pulse gear in servo-driver position than automatic setting method |
| CN115296588B (en) * | 2022-09-06 | 2024-05-24 | 广东若铂智能机器人有限公司 | Servo motor dynamic parameter adaptation method |
| CN115208257B (en) * | 2022-09-16 | 2023-01-31 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1148168A (en) * | 1996-08-08 | 1997-04-23 | 中国科学院电工研究所 | Method and device for testing original position of electric motor's rotator for ac servo system |
| US6653829B1 (en) * | 1999-09-17 | 2003-11-25 | Delphi Technologies, Inc. | Low cost approach to measuring high resolution rotary position of electric machines |
| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN1581670A (en) * | 2004-05-18 | 2005-02-16 | 桂林星辰电力电子有限公司 | Method for positioning first-on rotor for alternating current permanent-magnet synchronous motor control system |
| CN101409523A (en) * | 2008-12-01 | 2009-04-15 | 哈尔滨理工大学 | Method for determining initial position of permanent magnet motor magnetic pole through incremental encoder |
-
2009
- 2009-06-29 CN CN2009103037736A patent/CN101621274B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1148168A (en) * | 1996-08-08 | 1997-04-23 | 中国科学院电工研究所 | Method and device for testing original position of electric motor's rotator for ac servo system |
| US6653829B1 (en) * | 1999-09-17 | 2003-11-25 | Delphi Technologies, Inc. | Low cost approach to measuring high resolution rotary position of electric machines |
| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN1581670A (en) * | 2004-05-18 | 2005-02-16 | 桂林星辰电力电子有限公司 | Method for positioning first-on rotor for alternating current permanent-magnet synchronous motor control system |
| CN101409523A (en) * | 2008-12-01 | 2009-04-15 | 哈尔滨理工大学 | Method for determining initial position of permanent magnet motor magnetic pole through incremental encoder |
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