CN102829742A - Method for measuring absolute position of rotor in motor servo system - Google Patents
Method for measuring absolute position of rotor in motor servo system Download PDFInfo
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- CN102829742A CN102829742A CN2012102643656A CN201210264365A CN102829742A CN 102829742 A CN102829742 A CN 102829742A CN 2012102643656 A CN2012102643656 A CN 2012102643656A CN 201210264365 A CN201210264365 A CN 201210264365A CN 102829742 A CN102829742 A CN 102829742A
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Abstract
The invention discloses a method for measuring the absolute position of a rotor in a motor servo system, comprising the steps of: integrally combining the motor and a position sensor; and by utilizing position information provided by a predetermined position as well as relative position information and pitch information provided by the sensor, and recombining the position information through using a proper method so as to obtain absolute position information of the motor rotor. According to the method, a zero position indicator is not required; after outage, the absolute position of a zero position of a relative system of the motor rotor can be obtained through the predetermined position of the motor rotor; compared with a coarse/fine coupling double-speed rotary transformer system, the high-precision absolute position information is obtained by using the simple and reliable sensor, so that the structure of the integrated high-performance servo motor is simplified and decreased, then the structure is more compact and the volume is decreased; and at the same time, a signal processing circuit and coarse/fine coupling operation are decreased, so that compared with the coarse/fine coupling double-speed rotary transformer system, the performance-price ratio is improved and the complexity level is reduced.
Description
Technical field
The present invention relates to the measuring method of a kind of motor servo system rotor absolute position; Particularly utilize the method that obtains the rotor absolute position with the similar position transducer of multipolar resolver principle of work, be applicable to applications such as servo-drive electromechanical integrated product, servo instrument, servo turntable, electric automobile.
Background technology
Often will use position transducer in the motor servo system, rotary transformer or inductosyn are position transducers wherein commonly used.In the servo-drive system of absolute position, generally obtain absolute location information, like the thick smart coupling scheme of rotary transformer through the binary channels angle measuring system; Absolute position servo-drive system for finite angle; Multipole magnetic resistance rotary transformer of use or the multipolar resolver situation as absolute position transducer is also arranged, like the extremely smart machine of 32 couple in the two speed resolver of mentioning in the 12nd space, the whole nation in 2006 and the academic nd Annual Meeting of movable body control technology " High Accuracy Oscillating Scan motor and control system research ".The thick smart coupling scheme of rotary transformer generally have following several kinds of forms: a pair of utmost point rotary transformer and multipolar resolver coupling, a pair of utmost point rotary transformer and the coupling of multipole inductosyn, a pair of utmost point inductosyn and the coupling of multipole inductosyn, a pair of utmost point rotary transformer and the coupling of multipole magnetic resistance rotary transformer, a pair of utmost point magnetic resistance rotary transformer and the coupling of multipole magnetic resistance rotary transformer.
" inertia device " first volume 289-295 page or leaf has carried out detailed elaboration to the binary channels angle measuring system; Mention the full-shape measurement 3 kinds of schemes are arranged; Second kind of scheme wherein is to be proficient in to be provided with angular measurement sensor; Know a little about and do not establish angular measurement sensor, the reading of knowing a little about is to rely on the information of being proficient in to form by up-down counter.Accomplish a code period and get into next code period when being proficient in angular measurement sensor, when promptly the number of register was changed over to minimum value (zero passage) beginning and counted again by maximal value, up-down counter added 1; Do not accomplish a code period and return to previous code period when being proficient in angular measurement sensor; Be that register does not fill up and just returns minimum value (zero passage) and transfer to when depositing maximum code value; Up-down counter subtracts 1, the counting coupling of register and up-down counter is just obtained the full-shape coding of alternative plan.Second kind of scheme do not known a little about angular measurement sensor owing to having, and its reading of knowing a little about is the increment that the angular measurement sensor angle information is proficient in accumulation, and it does not need the thick smart coupling error correction of counting; But also just therefore it can not give the actual zero point position, when needs when a certain actual zero point position begins to measure; Need to increase a zero-bit indicating device, when zero-bit began to measure, the zero-bit indicating device sent a pulse; To know a little about the counting zero clearing, and begin counting.Another shortcoming of second kind of scheme is that it does not have recovery capability, in case outage needs all to start anew.
Chang Yahui utilizes 64 pairs of utmost point magnetic resistance rotary transformers to realize the drive controlling to motor as the magnetic pole position sensor of 6 pairs of pole brushless DC torque motors in its Master's thesis " incorporate driving circuit of brushless electric machine is realized based on gyroaccelerometer "; Utilize the pre-determined bit of rotor to realize confirming of motor pole initial position in the literary composition; The relative position of change output and the absolute position that pitch number comprehensively obtains rotor are revolved in utilization then, and then realize the drive controlling to brushless D. C. torque motor." system design of multipole magnetoresistance transformer digital angle measurement " literary composition that 2008 the 2nd phases (total the 24th phase) " navigation and control " delivered utilizes FPGA to realize that 64 pairs of utmost point magnetic resistance revolve the excitation and the angle measurement circuit of change.Can find out: Chang Yahui utilizes the pre-determined bit of rotor to produce initial zero signal in its Master's thesis; The function of the zero-bit indicating device that completion " inertia device " first volume P294 page or leaf is mentioned; Not enough point is its location that can only be used for the rotor magnetic pole; Realize the effect of magnetic pole sensor, the absolute position that can't be applied to rotor relative system zero-bit is confirmed, can't play the effect of absolute position transducer in the motor servo system.In other words; In this paper; Just in order to realize that the rotor magnetic pole aligns with the stationary magnetic field direction that the motor stator winding energising forms, so that produce initial zero-bit, but this initial zero-bit is not unique to the purpose of pre-determined bit; Its quantity is identical with the number of pole-pairs of rotor, and is not unique at the relative position angle of the multipole magnetic resistance rotary transformer output of initial zero-bit.Therefore; This paper is to realize the function of rotor magnetic pole as initial zero-bit with motor pre-determined bit method, still has the shortcoming of second kind of scheme that " inertia device " first volume P294 page or leaf mentions: can't provide the actual zero point position, not have recovery capability; In case outage needs all to start anew.
Summary of the invention
The technical matters that the present invention solves is: the deficiency that overcomes prior art; The measuring method of a kind of motor servo system rotor absolute position is provided; The present invention only utilizes the relative position angle of position transducer output and the absolute location information that pitch number obtains rotor indirectly; Reduced the structure of servomotor, and measuring accuracy is high.
Technical solution of the present invention is: the measuring method of a kind of motor servo system rotor absolute position, and step is following:
(1) can measure the position transducer of relative position angle and pitch number and motor coaxle is rigidly connected or with motor with can measure being combined into one of the position transducer servomotor of relative position angle and pitch number, the mechanical angle that the relative stator separately of rotor of the position transducer that can measure relative position angle and pitch number and motor is turned over is identical;
(2) utilize localization method that said position transducer rotor is navigated to M definite position successively; Confirm that at each position measurement obtains the angle, absolute position of said position transducer rotor, relative position angle and pitch number; Set up between relative position angle and the pitch number of said position transducer rotor mapping relations, wherein M >=2 one to one;
(3) utilize and the identical localization method of step (2); Said position transducer rotor is navigated to step (2) M any position in definite position; Measure the relative position angle of said position transducer rotor; Utilize between relative position angle and the pitch number of the said position transducer rotor that step (2) sets up mapping relations one to one, obtain confirming the corresponding initial pitch number in relative position angle of position and said position transducer rotor at this;
(4) on the basis of step (3), when said position transducer rotor is rotated further, utilize said position transducer to measure the relative position angle of said position transducer rotor current location; The initial pitch number that utilizes the pitch signal that produces in the said position transducer rotor rotation process that step (3) is obtained carries out the pitch number that reversible counting obtains said position transducer rotor current location;
(5) on the basis of step (4); Utilize the pitch number of said position transducer rotor current location and the relative position angle of said position transducer rotor current location; Calculate the angle, absolute position of said position transducer rotor current location, thereby obtain the absolute position of motor servo system rotor.
Said localization method adopts electrical power pre-determined bit, servo-drive system mechanism location or motor location torque self-align.When localization method adopted the electrical power pre-determined bit, the numerical value of M was by the number of pole-pairs of rotor or the lowest common multiple decision of the number of teeth and motor stator winding energising umber of beats; When localization method adopted servo-drive system mechanism location, then the numerical value of M was by the number of teeth decision of end-toothed disc; When localization method adopted the motor location torque self-align, the numerical value of M was by the number of pole-pairs or the number of teeth decision of rotor.
Said position transducer adopts multipole symmetrical structure form, number of pole-pairs N >=2, and when the rotor relative stator rotation of position transducer does not exceed a pole span, the relative position angle in pitch of position transducer output; When the rotor relative stator rotation of position transducer exceeded a pole span, position transducer was exported relative position angle and the pitch signal in the next pitch.
Setting up between relative position angle and the pitch number of said position transducer rotor one by one in the said step (2), the method for correspondence mappings relation is: utilize localization method to measure the relative position angle α of whole M the said position transducer rotors in definite position
(i), angle, absolute position θ
(i)With pitch number P
(i), confirm the relative position angle α of position transducer rotor
(i)With pitch number P
(i)Between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)* γ, i ∈ [1, M];
Wherein: γ is the pitch angle of known location sensor;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, can measure for this angle of given servo-drive system, and when the servo-drive system zero-bit overlaps with the position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
Utilize between said position transducer rotor relative position angle that step (2) sets up and the pitch number mapping relations one to one in the said step (3); Obtain in this implementation method of confirming the corresponding initial pitch number in relative position angle of position and said position transducer rotor be: rotor is stabilized in a position in M definite position; Rotor relative position angle α according to said position transducer output; Mapping relations one by one between relative position angle of setting up according to said step (2) and the pitch number obtain this corresponding initial pitch in relative position angle of confirming position and said position transducer rotor and count P
0: θ
0=(α-α
0) ± P
0* γ;
Wherein: θ
0Confirming the angle, corresponding initial absolute position, relative position angle of position and said position transducer rotor for this, is the angle of the relative servo-drive system zero-bit of rotor;
α is the angle of the relative transducer zeroing of position transducer rotor for this relative position angle of confirming the position;
P
0For this confirms the pairing initial pitch number in relative position angle of position and said position transducer rotor;
γ is the pitch angle of known location sensor;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
The implementation method that said step (5) obtains the absolute position of motor servo system rotor is: the computing formula at the angle, absolute position of motor servo system rotor is: θ=(α-α
0) ± P * γ,
Wherein: α is the relative position angle of position transducer in current location output;
P is the pitch number of position transducer rotor in current location;
γ is the pitch angle of known location sensor;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
The present invention's advantage compared with prior art is:
(1) the present invention is combined into one motor and position transducer; Relative position information and the pitch information of utilizing positional information that pre-determined bit provides and sensor to provide; Reconfigure above-mentioned positional information through appropriate method, obtain the absolute location information of rotor.The present invention does not need zero-position indicator, and after the outage, the absolute position through the pre-determined bit of rotor is obtained rotor relative system zero-bit can provide the actual zero point position; Revolve the change system with thick smart coupling double speed and compare, simplified physical construction, reduced volume; Reduced the signal processing circuit and thick smart coupling computing of thick machine, identical bearing accuracy has been arranged, stronger recovery capability has been arranged; Revolve the change system with thick smart coupling double speed and compare, improved cost performance, reduced complexity.
(2) at the motor servo system production field, can reduce the kind of (or unified) sensor, simplify the assembling adjustment zero-bit work of sensor; Realize the software arrangements in assembling later stage; The technology highly versatile helps realizing that the more massive production of position transducer to reduce production costs, enhances productivity; Be suitable for the integrated field of motor servo-drive control module, like miniature precision turntable etc.; Be particularly suitable for the electric automobile field, help realizing the two-in-one function of magnetic pole position sensor and mileometer.
Description of drawings
Fig. 1 is a realization schematic diagram of the present invention;
Fig. 2 is realization flow figure of the present invention;
Fig. 3 is first kind of rotor absolute position acquisition methods synoptic diagram;
Fig. 4 is second kind of rotor absolute position acquisition methods synoptic diagram;
Fig. 5 is the third rotor absolute position acquisition methods synoptic diagram;
Fig. 6 is the 4th a kind of rotor absolute position acquisition methods synoptic diagram;
Fig. 7 is the 5th a kind of rotor absolute position acquisition methods synoptic diagram;
Fig. 8 is the 6th a kind of rotor absolute position acquisition methods synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further detailed explanation.
At first the technical term that relates to is briefly introduced.The servo-drive system zero-bit is called for short system's zero-bit, refers in this motor servo system, and by the people the null position, angle, absolute position that is defined as rotor.For multipole sensor, the position angle of exporting at a pole span inner sensor is called the relative position angle; The relative position angle of sensor output is that zero position is called transducer zeroing; The corresponding mechanical angle of a pole span of sensor is called pitch angle; The pole span number that strides across in the angle that rotor sensor turns over is called pitch number; Rotor sensor rotates when exceeding the scope of a pole span, and its signal processing circuit will be exported a pitch (pulse) signal, is used to represent that rotor sensor has just striden across a pitch, and this pitch signal is carried out the pitch number that reversible counting can obtain current location; System's zero-bit is called the angle, absolute position to the angle that the rotor sensor current location is turned over; Rotor sensor is positioned to the pitch number that behind the precalculated position, obtains and is called the initial pitch number in each use, and the angle, absolute position that obtains is called angle, initial absolute position.
As shown in Figure 1, be definite method principle schematic that the motor of position transducer and 5 pairs of utmost points of 12 pairs of utmost points is formed angle, rotor absolute position behind the motor servo system.The position that indicates O among the figure is system's zero-bit of this servo-drive system, indicates 1,2 ..., the position of 12 characters such as grade is a transducer zeroing, the position that indicates I, II, III, IV, V character is a pre-determined bit allocation really, α
0Be the relative position angle of system's zero-bit to transducer zeroing, α
(i)Be the relative position angle of the relative transducer zeroing in precalculated position, θ
(i)Be the angle, absolute position of precalculated position relative system zero-bit, θ is the angle, absolute position of rotor optional position relative system zero-bit, and γ is the pitch angle of sensor, and the every leap transducer zeroing of rotor sensor is just exported a pitch (pulse) signal.
Principle of work of the present invention is: utilize certain localization method; Successively the rotor pre-determined bit is arrived whole M definite positions; Set up mapping relations one by one between the pitch number with the relative servo-drive system zero-bit in relative position angle of position transducer output with this precalculated position; Then through with aforementioned identical location technology, rotor is navigated to the some positions in above-mentioned M definite position, utilize the relative position angle of sensor output; Through the relative position angle set up and the mapping relations one by one between the pitch number; Obtain the initial pitch number that this confirms position relative system zero-bit, utilize position transducer the initial pitch number to be carried out reversible counting then, obtain the pitch number of rotor optional position relative system zero-bit through the pitch signal of signal Processing output; Combined sensor is the relative position angle of output in real time, comprehensively obtains the rotor angle, absolute position of relative system zero-bit at an arbitrary position.
The number of phases of motor is m; Then the stator "on" position possibility during the rotor pre-determined bit is that (n is relevant with m for n; N >=m) plant; The number of pole-pairs of rotor is p, can obtain M (M is the lowest common multiple of n and p) altogether and plant the rotor precalculated position, and the number of pole-pairs of supposing rotor sensor is N; Then in a pole span angle of rotor sensor, be distributed with the relative position angle of M rotor, set up the mapping relations between the pitch number of relative position angle, rotor relative system zero-bit of angle, absolute position, the sensor output in motor stator "on" position, rotor precalculated position.Confirm immediate stator "on" position by the relative position angle of sensor output during use; Make rotor reach the precalculated position; Obtain the relative position angle of sensor output; Utilize the mapping relationship searching form of aforementioned foundation or calculate the initial pitch number of precalculated position relative system zero-bit; Calculate the angle, initial absolute position in precalculated position, the angle, absolute position of follow-up optional position is obtained by the relative position angle and the pitch number COMPREHENSIVE CALCULATING of this position transducer output, and the pitch number of this optional position carries out reversible counting acquisition through the pitch signal of signal Processing output to the initial pitch number via sensor.Utilize rotor pre-determined bit state as much as possible; Can shorten the time that the angular displacement in the rotor pre-determined bit process consumes; The situation of the instantaneous acquisition rotor of the original position absolute position of more approaching thick smart coupling two speed resolver is further strengthened the practicality of new method.Maximal value M that the rotor precalculated position is possible and position transducer number of pole-pairs N during prime number, can realize man-to-man mapping relations each other; Otherwise need realize man-to-man mapping relations by the incomplete symmetry of structure or the mapping relations of additive method elimination one-to-many.Often utilize a kind of stator "on" position to realize that the pre-determined bit of rotor is simpler and more direct in actual the use, the stator "on" position can be selected arbitrarily between the 1-n kind according to actual needs in fact.
As shown in Figure 2, concrete performing step of the present invention is following:
(1) can measure the position transducer of relative position angle and pitch number and motor coaxle is rigidly connected or with motor with can measure being combined into one of the position transducer servomotor of relative position angle and pitch number, the mechanical angle that the relative stator separately of rotor of the position transducer that can measure relative position angle and pitch number and motor is turned over is identical; Said position transducer adopts multipole symmetrical structure form, number of pole-pairs N >=2, and when the rotor relative stator rotation of position transducer does not exceed a tooth pitch, the relative position angle in pitch of position transducer output; When the rotor relative stator rotation of position transducer exceeded a tooth pitch, position transducer was exported relative position angle and the pitch signal in the next pitch.
(2) utilize localization method that said position transducer rotor is navigated to M definite position successively; Confirm that at each position measurement obtains the angle, absolute position of said position transducer rotor, relative position angle and pitch number; Set up between relative position angle and the pitch number of said position transducer rotor mapping relations, wherein M >=2 one to one; It is self-align that wherein locator meams adopts the mechanism location (like end-toothed disc etc.) or the motor location torque of electrical power pre-determined bit, servo-drive system; The numerical value of said M is confirmed by the localization method that is adopted; For example: localization method adopts motor stator winding energising pre-determined bit mode; Then the numerical value of M generally is not more than 4096 by the number of pole-pairs (or number of teeth) of rotor and the lowest common multiple decision of motor stator winding "on" position number (energising umber of beats); Localization method adopts the end-toothed disc locator meams, and then the numerical value of M generally is not more than 2048 by the number of teeth decision of end-toothed disc; Localization method adopts motor location torque self-localization method, and then the numerical value of M generally is not more than 1024 by number of pole-pairs (or number of teeth) decision of rotor; Adopt other locator meams, the number decision of rotor stability position when then the numerical value of M rotates a week by rotor.
Setting up between relative position angle and the pitch number of said position transducer rotor one by one, the method for correspondence mappings relation is: utilize localization method to measure the relative position angle α of whole M the said position transducer rotors in definite position
(i), angle, absolute position θ
(i)With pitch number P
(i), confirm the relative position angle α of position transducer rotor
(i)With pitch number P
(i)Between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)* γ, i ∈ [1, M];
Wherein: γ is the pitch angle of position transducer; α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, can measure for this angle of given servo-drive system, and when the servo-drive system zero-bit overlaps with the position transducer zero-bit, α
0=0;
Wherein: θ
(i)Being the angle, absolute position, is the angle of the relative servo-drive system zero-bit of rotor, angle, the absolute position θ of M definite position
(i)Through measuring;
α
(i)Being the relative position angle, is the angle of the relative transducer zeroing of position transducer;
γ is a pitch angle, is every pair of extremely corresponding mechanical angle of position transducer;
P
(i)(P
(i)>=0) being pitch number, is the number of position transducer rotor from the servo-drive system zero-bit to pitch that current location is passed through, and the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
At θ
(i), α
0, under the γ situation about having confirmed, α
(i)With P
(i)Between can set up mapping relations; If mapping relations θ
(i)=(α
(i)-α
0) ± P
(i)* γ, i ∈ [1, M] is a monotonic quantity, then can pass through α
(i)Confirm P uniquely
(i)It is reliable and stable that above-mentioned localization method requires the location, and resetting does not influence bearing accuracy, and bearing accuracy is generally by the accuracy guarantee of sensor;
(3) utilize and the identical localization method of step (2); Said position transducer rotor is navigated to step (2) M any position in definite position; Measure the relative position angle of said position transducer rotor; Utilize between said position transducer rotor relative position angle that step (2) sets up and the pitch number mapping relations one to one, obtain counting P in this corresponding initial pitch in relative position angle of confirming position and said position transducer rotor
0Its implementation is: rotor is stabilized in a M position in definite position; Rotor relative position angle α according to said position transducer output; Mapping relations one by one between relative position angle of setting up according to said step (2) and the pitch number obtain this corresponding initial pitch in relative position angle of confirming position and said position transducer rotor and count P
0: θ
0=(α-α
0) ± P
0* γ;
Wherein:
θ
0Confirming the angle, corresponding initial absolute position, relative position angle of position and said position transducer rotor for this, is the angle of the relative servo-drive system zero-bit of rotor;
α is the angle of the relative transducer zeroing of position transducer rotor for this relative position angle of confirming the position;
P
0For this confirms the pairing initial pitch number in relative position angle of position and said position transducer rotor;
γ is the pitch angle of known location sensor;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, when the servo-drive system zero-bit overlaps with the position transducer zero-bit, and α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
(4) on the basis of step (3), after rotor rotation, said position transducer output pitch signal utilizes this pitch signal that the initial pitch that step (3) obtains is counted P
0Carry out reversible counting, can obtain said position transducer rotor pitch number P at an arbitrary position; When rotor arrived the optional position, the angle, absolute position of rotor optional position can be expressed as: θ=(α-α
0) ± P * γ,
Wherein, α is the relative position angle that position transducer is exported at an arbitrary position;
P is the position transducer rotor corresponding pitch number of pitch number pitch counter output at an arbitrary position;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of position transducer zero-bit to the servo-drive system zero-bit, when the servo-drive system zero-bit overlaps with the position transducer zero-bit, and α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
Locator meams of the present invention can adopt modes such as mechanism location or the motor location torque of electrical power pre-determined bit, servo-drive system be self-align.Electrical power pre-determined bit mode refer in the motor stator winding one mutually or a fewly communicate during steady current the situation that rotor aligns with the motor stator magnetic pole through certain hour; The mechanism of servo-drive system location refers to utilize detent mechanism such as end-toothed disc when motor is static, to provide the position location of confirming of degree of precision; Motor location torque self-localization method refers to magneto because the effect of magnet steel produces magnetic resistance moment; Make rotor confirm to have on the position opposing external force to keep it, make rotor remain on above-mentioned definite position as the time spent what do not receive external force in this locational trend at some.
Fig. 3,4,5,6,7,8 has provided 6 kinds and has realized block diagram, and wherein Fig. 3,4 is for utilizing motor self-align moment location or stator winding electrifying pre-determined bit to realize confirming of rotor precalculated position; Fig. 5,6 is for utilizing mechanism's (like end-toothed disc or ratchet etc.) location in the servo-drive system to realize confirming of rotor precalculated position; Fig. 7,8 perhaps utilizes motor stator winding energising pre-determined bit and mechanism to make up and realizes confirming of rotor precalculated position for the mechanism's combination that utilizes motor self-align moment location and servo-drive system realizes confirming of rotor precalculated position.At Fig. 3, in 5,7, the function of up-down counter merges realization in absolute location information is comprehensive; At Fig. 4, in 6,8, the function of up-down counter puts forward separately, no longer is included in absolute location information and realizes in comprehensive.
As shown in table 1; The number of pole-pairs of a stepper motor is 50, and multipole magnetic resistance revolves and becomes the sensor number of pole-pairs and be 32, under the constant situation of a certain direct current "on" position of stator winding; Regulation is a positive dirction clockwise; Suppose that system's zero-bit overlaps with transducer zeroing, absolute position angle and relation pitch number and relative position angle between of rotor when different precalculated position can be seen: the angle, absolute position in precalculated position=sensor pitch angle * pitch number+relative position angle.Because the highest common factor 2 of motor number of pole-pairs 50 and sensor number of pole-pairs 32; Therefore we see that cycle index is 2 in table 1; The situation that corresponding 2 pitch numbers in 1 relative position angle are promptly always arranged; Form a pair of two mapping relations, therefore in reality, need utilize asymmetry, mechanism location or the servicing unit of rotor tooth pitch to realize mapping one to one: 1 corresponding 1 pitch number in relative position angle.In fact, in practical application, we select consciously motor number of pole-pairs and sensor number of pole-pairs each other the situation of prime number just can avoid the appearance of above-mentioned one-to-many mapping, realize man-to-man mapping relations.For example: the motor number of pole-pairs is 3,5,7,9,11,13,15 to be 2,4,8,16,32,64,128,256 pairings mutually with the sensor number of pole-pairs, and perhaps the number of pole-pairs of motor is 2,4,6,8,10,12...50,100,200 is 31 to match mutually with the number of pole-pairs of sensor.
Motor among the present invention can be that rotors such as stepping motor, brshless DC motor, permagnetic synchronous motor, switched reluctance machines have the motor of magnetic pole (or salient pole) and the various motors of band mechanism's locating device (like end-toothed disc), and position transducer can be the multicycle high precision relative position sensor of kinds such as multipole magnetic resistance rotary transformer, multipolar resolver, multipole inductosyn, multipole ball bar sensor, multipole grating sensor, multipole capacitor grid transducer.Practicality is the highest surely belongs to the array configuration that motor and multipole magnetic resistance revolve change.
The mapping relations that table 1 stepper motor (50 tooth) and magnetic resistance revolve change (32 pairs of utmost points)
Embodiment one:
The present invention can use other a kind of method to realize, its concrete performing step (1), (3), (4) are identical with the foregoing invention performing step, and the implementation method of step (2) is following:
At first, know the relative position angle α of M any position in definite position
1With pitch number P
1Mapping relations one by one;
Then, utilize relational expression: α
(i)=α
1+ (β * m-γ * P
(i)), i ∈ [1, M]
Calculate the relative position angle of all the other M-1 definite positions and the mapping relations one by one of pitch number.Wherein:
0≤m≤M，0≤P
(i)≤N，0≤α
1≤360°/N，0≤α
(i)≤360°/N；
N is the number of pole-pairs of position transducer;
γ is the pitch angle of position transducer;
M is the periodicity of rotor rotation settling position during one week;
β is the cycle angle between two adjacent settling positions of rotor;
α
1Relative position angle for servo-drive system pre-determined bit zero-bit; Finger is under certain localization method effect; Rotor is stabilized in a M position in definite position; This position is called servo-drive system pre-determined bit zero-bit, and the angle between this position and the transducer zeroing is called the relative position angle of servo-drive system pre-determined bit zero-bit.
Embodiment two:
The present invention can also use the third method to realize, its concrete performing step (1), (4) are identical with implementation step of the present invention, and the implementation method of step (2) is following:
Measure the relative position angle α of M any position in definite position
1With pitch number P
1Mapping relations one by one;
The implementation method of step (3) is following:
At first, utilize and the identical localization method of step (2), said position transducer rotor is navigated to step (2) M any position in definite position, measure the relative position angle of said position transducer rotor;
Then, utilize relational expression: α
(i)=α
1+ (β * m-γ * P
0), i ∈ [1, M]
Calculate the relative position angle α that this confirms the position
(i)Count P with initial pitch
0Mapping relations one by one.Wherein:
0≤m≤M，0≤P
0≤N，0≤α
1≤360°/N，0≤α
0≤360°/N；
N is the number of pole-pairs of position transducer;
α
(i)Being the relative position angle, is the angle of the relative transducer zeroing of original position of electric motor's rotator;
γ is the pitch angle of position transducer;
M is the periodicity of rotor rotation settling position during one week;
β is the cycle angle between two adjacent settling positions of rotor;
P
0(P
0>=0) being the initial pitch number, is the number of position transducer rotor from the servo-drive system zero-bit to pitch that initial position passes through, and the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
α
1Relative position angle for servo-drive system pre-determined bit zero-bit; Finger is under certain localization method effect; Rotor is stabilized in a M position in definite position; This position is called servo-drive system pre-determined bit zero-bit, and the angle between this position and the transducer zeroing is called the relative position angle of servo-drive system pre-determined bit zero-bit.
At last, utilize following relational expression:
θ
0＝(α
(i)-α
0)±P
0×γ，i∈[1，M]
Calculate the corresponding initial absolute position angle θ in relative position angle that confirms position and said position transducer rotor at this
0, wherein:
θ
0Being the angle, absolute position, is the angle of the relative servo-drive system zero-bit of original position of electric motor's rotator;
α
(i)Being the relative position angle, is the angle of the relative transducer zeroing of original position of electric motor's rotator;
γ is a pitch angle, is every pair of extremely corresponding mechanical angle of position transducer;
M is the periodicity of rotor rotation settling position during one week;
P
0(P
0>=0) being pitch number, is the number of position transducer rotor from the servo-drive system zero-bit to pitch that initial position passes through, and the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of position transducer zero-bit to the servo-drive system zero-bit, when the servo-drive system zero-bit overlaps with the position transducer zero-bit, and α
0=0.
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
Those skilled in the art are after grasping core concept of the present invention; Can be according to different requirement and design parameter; Carry out under the situation of the present invention variously augmenting, improving and change not departing from, adopt different implementations, as: pure hardware, FPGA, CPLD, DSP or computer software are realized its function; This method is not only applicable to the measurement of absolute position angle that rotatablely moves, and is applicable to the measurement of rectilinear motion absolute position.
The present invention not detailed description is a technology as well known to those skilled in the art.
Claims (7)
1. the measuring method of a motor servo system rotor absolute position is characterized in that step is following:
(1) can measure the position transducer of relative position angle and pitch number and motor coaxle is rigidly connected or with motor with can measure being combined into one of the position transducer servomotor of relative position angle and pitch number, the mechanical angle that the relative stator separately of rotor of the position transducer that can measure relative position angle and pitch number and motor is turned over is identical;
(2) utilize localization method that said position transducer rotor is navigated to M definite position successively; Confirm that at each position measurement obtains the angle, absolute position of said position transducer rotor, relative position angle and pitch number; Set up between relative position angle and the pitch number of said position transducer rotor mapping relations, wherein M >=2 one to one;
(3) utilize and the identical localization method of step (2); Said position transducer rotor is navigated to step (2) M any position in definite position; Measure the relative position angle of said position transducer rotor; Utilize between relative position angle and the pitch number of the said position transducer rotor that step (2) sets up mapping relations one to one, obtain confirming the corresponding initial pitch number in relative position angle of position and said position transducer rotor at this;
(4) on the basis of step (3), when said position transducer rotor is rotated further, utilize said position transducer to measure the relative position angle of said position transducer rotor current location; The initial pitch number that utilizes the pitch signal that produces in the said position transducer rotor rotation process that step (3) is obtained carries out the pitch number that reversible counting obtains said position transducer rotor current location;
(5) on the basis of step (4); Utilize the pitch number of said position transducer rotor current location and the relative position angle of said position transducer rotor current location; Calculate the angle, absolute position of said position transducer rotor current location, thereby obtain the absolute position of motor servo system rotor.
2. the measuring method of a kind of motor servo system rotor according to claim 1 absolute position is characterized in that: said localization method adopts electrical power pre-determined bit, servo-drive system mechanism location or motor location torque self-align.
3. the measuring method of a kind of motor servo system rotor according to claim 2 absolute position; It is characterized in that: when localization method adopted the electrical power pre-determined bit, the numerical value of M was by the number of pole-pairs of rotor or the lowest common multiple decision of the number of teeth and motor stator winding energising umber of beats; When localization method adopted servo-drive system mechanism location, then the numerical value of M was by the number of teeth decision of end-toothed disc; When localization method adopted the motor location torque self-align, the numerical value of M was by the number of pole-pairs or the number of teeth decision of rotor.
4. the measuring method of a kind of motor servo system rotor according to claim 1 absolute position; It is characterized in that: said position transducer adopts multipole symmetrical structure form; Number of pole-pairs N >=2; When the rotor relative stator rotation of position transducer does not exceed a pole span, the relative position angle in pitch of position transducer output; When the rotor relative stator rotation of position transducer exceeded a pole span, position transducer was exported relative position angle and the pitch signal in the next pitch.
5. the measuring method of a kind of motor servo system rotor according to claim 1 absolute position is characterized in that: setting up between relative position angle and the pitch number of said position transducer rotor one by one in the said step (2), the method for correspondence mappings relation is: utilize localization method to measure the relative position angle α of whole M the said position transducer rotors in definite position
(i), angle, absolute position θ
(i)With pitch number P
(i), confirm the relative position angle α of position transducer rotor
(i)With pitch number P
(i)Between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)* γ, i ∈ [1, M];
Wherein: γ is the pitch angle of known location sensor;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, can measure for this angle of given servo-drive system, and when the servo-drive system zero-bit overlaps with the position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
6. the measuring method of a kind of motor servo system rotor according to claim 1 absolute position; It is characterized in that: utilize between said position transducer rotor relative position angle that step (2) sets up and the pitch number mapping relations one to one in the said step (3); Obtain in this implementation method of confirming the corresponding initial pitch number in relative position angle of position and said position transducer rotor be: rotor is stabilized in a position in M definite position; Rotor relative position angle α according to said position transducer output; Mapping relations one by one between relative position angle of setting up according to said step (2) and the pitch number obtain this corresponding initial pitch in relative position angle of confirming position and said position transducer rotor and count P
0: θ
0=(α-α
0) ± P
0* γ;
Wherein: θ
0Confirming the angle, corresponding initial absolute position, relative position angle of position and said position transducer rotor for this, is the angle of the relative servo-drive system zero-bit of rotor;
α is the angle of the relative transducer zeroing of position transducer rotor for this relative position angle of confirming the position;
P
0For this confirms the pairing initial pitch number in relative position angle of position and said position transducer rotor;
γ is the pitch angle of known location sensor;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, when the servo-drive system zero-bit overlaps with the position transducer zero-bit, and α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
7. the measuring method of a kind of motor servo system rotor according to claim 1 absolute position, it is characterized in that: the implementation method that said step (5) obtains the absolute position of motor servo system rotor is: the computing formula at the angle, absolute position of motor servo system rotor is: θ=(α-α
0) ± P * γ,
Wherein: α is the relative position angle of position transducer in current location output;
P is the pitch number of position transducer rotor in current location;
γ is the pitch angle of known location sensor;
α
0Being the relative position angle of servo-drive system zero-bit, is the mechanical angle of servo-drive system zero-bit transducer zeroing to the position, when the servo-drive system zero-bit overlaps with the position transducer zero-bit, and α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, when clockwise rotating, gets rotor "+" number, get when rotating counterclockwise "-" number; When being defined as positive dirction counterclockwise, when rotating counterclockwise, gets rotor "+" number, get when clockwise rotating "-" number.
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| US11431231B2 (en) | 2019-02-15 | 2022-08-30 | Shaun William FETHERSTON | Cable-actuated position sensors and gear motors |
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