CN103178759A - Hall-free method for starting servo motor - Google Patents
Hall-free method for starting servo motor Download PDFInfo
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- CN103178759A CN103178759A CN2011104544684A CN201110454468A CN103178759A CN 103178759 A CN103178759 A CN 103178759A CN 2011104544684 A CN2011104544684 A CN 2011104544684A CN 201110454468 A CN201110454468 A CN 201110454468A CN 103178759 A CN103178759 A CN 103178759A
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- servomotor
- incremental encoder
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Abstract
The invention discloses a hall-free method for starting a servo motor. The hall-free method includes steps of firstly, perturbing the servo motor and sequentially providing basic torque vectors; and secondly, judging an electric angle sector where a rotor is currently located according to a turning result fed by an incremental encoder, providing an electric angle initial value and switching the rotor to be under conventional field-oriented control. Only a tiny perturbation test is required when the motor is electrified and started for the first time, normal operation of a sewing machine is hardly affected, and accordingly the method can be used as an emergency treatment method when the sewing machine cannot be used due to damage of a hall sensor. The hall-free method has the advantages that the perturbation test is carried out for the servo motor, and the location of the rotor is judged by the aid of output of the encoder, so that the rotor can be switched to be under the conventional field-oriented control, the motor is started, operation is simple and convenient, and the production efficiency is high.
Description
Technical field
The present invention relates to the industrial sewing machine control system technical field, be specifically related to a kind of servomotor starting method without hall.
Background technology
The industrial sewing machine servo motor code-disc generally is equipped with 3 hall transducers, and an incremental encoder, and wherein the hall transducer is used for electric motor starting.Servomotor is made rotor with permanent magnet, replaces the brush commutation with the stator winding commutation, with hall member sensor rotor position information.3 voltage signals that the real-time output of built-in 3 hall elements meeting is determined characterize rotor position information, digital control circuit is according to different voltage signals, realization is carried out the selectivity conducting to drive circuit, make coil produce the magnetic torque that the excitation rotor rotates, in one-period, 120 ° of each metal-oxide-semiconductor conductings.When rotor turned to Hall element and induces the position of another group signal, control part was opened again next group power transistor again, and so circulation motor just can be rotated further by same direction.But when having 1 hall transducer to be damaged, just can cause motor to start, cause sewing machine to turn round.Can not carry out normal production work, reduce production efficiency.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency of the prior art, a kind of servomotor starting method without hall is provided, by test that servomotor is perturbed, the position of the output judgement rotor by encoder makes it forward conventional field orientation to and controls, realize the startup of motor, can effectively solve in prior art when having 1 hall transducer to be damaged, cause motor to start, the problem that sewing machine can't turn round, simple to operation, production efficiency is high.
For achieving the above object, the technical solution used in the present invention is: a kind of servomotor starting method without hall is characterized in that comprising the following steps:
Step 1, the method are by servomotor being perturbed, providing successively the basic vector of torque;
Above-mentioned a kind of servomotor starting method without hall is characterized in that concrete steps are:
1) motor is divided into 6 zones with initial position of rotor, provides successively 0,1 in stator winding, 2,3,4,5 corresponding voltage vectors, it is 6ms that delay time is set, record turning to of rotor according to the output of incremental encoder, can judge sector, rotor place according to turning to of rotor, be in 2. sector as rotor, 0 voltage vector will make the counterclockwise faint rotation of rotor so, and 2 voltage vectors will make the clockwise faint rotation of rotor;
When 2) powering on, to the servomotor test of perturbing, provide successively torque basis vector, then according to the result that turns to of incremental encoder feedback, judge the electrical degree sector that rotor is positioned at this moment, and provide the electrical degree initial value, can change conventional field orientation over to and control; Because the voltage vector sum that provides successively is zero, so rotor only can produce faint perturbation, the user almost is not aware of.
Above-mentioned a kind of servomotor starting method without hall is characterized in that: described servomotor starts does not need to adopt the hall element, determines that by the perturbation of rotor rotor-position carries out the startup to servomotor.
Above-mentioned a kind of servomotor starting method without hall, it is characterized in that: described incremental encoder is a kind of rotating detector that swing offset is converted to a succession of digital pulse signal, be used for the pilot angle displacement by these pulses, incremental encoder provides the two-phase square wave, its phase difference is 90 degree, one of them passage provides the information relevant to rotating speed, carries out the order contrast by two channel signals simultaneously, obtains the information of direction of rotation.
The present invention compared with prior art has the following advantages:
1, the present invention is by test that servomotor is perturbed, output by encoder judges that the position of rotor makes it forward conventional field orientation to and controls, realize the startup of motor, can effectively solve in prior art when having 1 hall transducer to be damaged, cause motor to start, the problem that sewing machine can't turn round, and production efficiency is high.
2, simple to operation, the present invention is by servomotor being perturbed, providing successively the basic vector of torque, then according to the result that turns to of incremental encoder feedback, judge the electrical degree sector that rotor is positioned at this moment, and provide the electrical degree initial value, can change conventional field orientation over to and control.
Below by drawings and Examples, the present invention is described in further detail.
Description of drawings
Fig. 1 is that the present invention starts schematic diagram without the hall servomotor.
Embodiment
A kind of servomotor starting method without hall of the present invention comprises the following steps:
Step 1, the method are by servomotor being perturbed, providing successively the basic vector of torque;
As shown in Figure 1, a kind of servomotor starting method without hall, concrete steps are:
1) motor is divided into 6 zones with initial position of rotor, provides successively 0,1 in stator winding, 2,3,4,5 corresponding voltage vectors, it is 6ms that delay time is set, record turning to of rotor according to the output of incremental encoder, can judge sector, rotor place according to turning to of rotor, be in 2. sector as rotor, 0 voltage vector will make the counterclockwise faint rotation of rotor so, and 2 voltage vectors will make the clockwise faint rotation of rotor;
When 2) powering on, to the servomotor test of perturbing, provide successively torque basis vector, then according to the result that turns to of incremental encoder feedback, judge the electrical degree sector that rotor is positioned at this moment, and provide the electrical degree initial value, can change conventional field orientation over to and control; Because the voltage vector sum that provides successively is zero, so rotor only can produce faint perturbation, the user almost is not aware of.
In the present embodiment, described servomotor starts does not need to adopt the hall element, determines that by the perturbation of rotor rotor-position carries out the startup to servomotor.
The above; it is only preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, every according to the technology of the present invention essence to any simple modification, change and equivalent structure transformation that above embodiment does, all still belong in the protection range of technical solution of the present invention.
Claims (4)
1. servomotor starting method without hall is characterized in that comprising the following steps:
Step 1, the method are by servomotor being perturbed, providing successively the basic vector of torque;
Step 2, according to the result that turns to of incremental encoder feedback, judge the electrical degree sector that rotor is positioned at this moment, and provide the electrical degree initial value, can change conventional field orientation over to and control; The method only need to be carried out small perturbation test during electrifying startup for the first time at motor, affects hardly any normal running of sewing machine, therefore has been adapted at a hall transducer and has damaged when causing sewing machine to use, as the method for emergency treatment.
2. according to a kind of servomotor starting method without hall claimed in claim 1, it is characterized in that concrete steps are:
1) motor is divided into 6 zones with initial position of rotor, provides successively 0,1 in stator winding, 2,3,4,5 corresponding voltage vectors, it is 6ms that delay time is set, record turning to of rotor according to the output of incremental encoder, can judge sector, rotor place according to turning to of rotor, be in 2. sector as rotor, 0 voltage vector will make the counterclockwise faint rotation of rotor so, and 2 voltage vectors will make the clockwise faint rotation of rotor;
When 2) powering on, to the servomotor test of perturbing, provide successively torque basis vector, then according to the result that turns to of incremental encoder feedback, judge the electrical degree sector that rotor is positioned at this moment, and provide the electrical degree initial value, can change conventional field orientation over to and control; Because the voltage vector sum that provides successively is zero, so rotor only can produce faint perturbation, the user almost is not aware of.
3. according to the described a kind of servomotor starting method without hall of claim 1 or 2, it is characterized in that: described servomotor starts does not need to adopt the hall element, determines that by the perturbation of rotor rotor-position carries out the startup to servomotor.
4. according to a kind of servomotor starting method without hall claimed in claim 1, it is characterized in that: described incremental encoder is a kind of rotating detector that swing offset is converted to a succession of digital pulse signal, be used for the pilot angle displacement by these pulses, incremental encoder provides the two-phase square wave, its phase difference is 90 degree, one of them passage provides the information relevant to rotating speed, carries out the order contrast by two channel signals simultaneously, obtains the information of direction of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104544684A CN103178759A (en) | 2011-12-20 | 2011-12-20 | Hall-free method for starting servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104544684A CN103178759A (en) | 2011-12-20 | 2011-12-20 | Hall-free method for starting servo motor |
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| CN103178759A true CN103178759A (en) | 2013-06-26 |
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| CN2011104544684A Pending CN103178759A (en) | 2011-12-20 | 2011-12-20 | Hall-free method for starting servo motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106817061A (en) * | 2015-11-27 | 2017-06-09 | 沈阳高精数控智能技术股份有限公司 | A kind of method for detecting initial position of rotor |
| CN109861617A (en) * | 2019-03-27 | 2019-06-07 | 上海新时达电气股份有限公司 | Permanent magnet synchronous motor magnetic pole initial position self-learning method |
-
2011
- 2011-12-20 CN CN2011104544684A patent/CN103178759A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106817061A (en) * | 2015-11-27 | 2017-06-09 | 沈阳高精数控智能技术股份有限公司 | A kind of method for detecting initial position of rotor |
| CN106817061B (en) * | 2015-11-27 | 2019-05-14 | 沈阳高精数控智能技术股份有限公司 | A method of detection initial position of rotor |
| CN109861617A (en) * | 2019-03-27 | 2019-06-07 | 上海新时达电气股份有限公司 | Permanent magnet synchronous motor magnetic pole initial position self-learning method |
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Application publication date: 20130626 |