CN105305921B - The position feedback adaptive bearing calibration of motor encoder and its servo-driver - Google Patents
The position feedback adaptive bearing calibration of motor encoder and its servo-driver Download PDFInfo
- Publication number
- CN105305921B CN105305921B CN201510772662.5A CN201510772662A CN105305921B CN 105305921 B CN105305921 B CN 105305921B CN 201510772662 A CN201510772662 A CN 201510772662A CN 105305921 B CN105305921 B CN 105305921B
- Authority
- CN
- China
- Prior art keywords
- data frame
- feedback
- servo
- driver
- cycle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to serve motor control technology field, position feedback adaptive bearing calibration and its servo-driver of a kind of motor encoder are disclosed.The method includes the steps of：Servo-driver periodically sends the request data frame for asking rotor current location to encoder；Whether the feedback information entrained by feedback data frame that servo-driver judges to receive is the data correctly transmitted；If the not data correctly to transmit, then according to top n cycle detection to rotor the motor rotor position that arrives of acceleration, speed and previous cycle detection, estimate current motor rotor-position, and the motor rotor position for detecting the position calculated as this cycle, wherein, N is the integer more than 2.So as to overcome due to closed-loop control precision problem caused by the request data frame of servo-driver caused by site environment and the feedback information mistake etc. of encoder, and then avoid over current of motor, mechanical failure etc. caused by closed-loop control precision is destroyed.
Description
Technical field
The present invention relates to serve motor control technology field, the position feedback adaptive of more particularly to a kind of motor encoder
Bearing calibration and its servo-driver.
Background technology
Permanent-magnet servo motor system has excellent dynamic quality and higher reliability, has vast potential for future development.
In the control process of servomotor, the control to the position of motor, rotating speed etc. is realized by closed-loop control, and servo-driver
Speed, position-force control are to form closed loop with encoder, are entered by given position with the actual position measured of encoder
Row compares, and self-correcting is then carried out inside servo-driver to reach accurate control.But conventional serial communication encoder exists
Scene is due to being radiated and Conduction Interference, and the request data and feedback data of encoder can make a mistake or admission control,
In the event of such case, then closed-loop control precision will be affected, and when serious over current of motor, mechanical failure etc. will be caused to ask
Topic.
The content of the invention
Position feedback adaptive bearing calibration and its servo it is an object of the invention to provide a kind of motor encoder are driven
Dynamic device, so as to overcome the feedback information mistake etc. of request data frame and encoder due to servo-driver caused by site environment
Caused by closed-loop control precision problem, and then avoid over current of motor, machinery caused by closed-loop control precision is destroyed
Damage etc..
In order to solve the above technical problems, the position feedback that embodiments of the present invention provide a kind of motor encoder is adaptive
Bearing calibration is answered, is comprised the steps of：Servo-driver is periodically sent for asking rotor present bit to encoder
The request data frame put；Whether the feedback information entrained by feedback data frame that the servo-driver judges to receive is correct
The data of transmission；If it is not the data correctly transmitted, the acceleration of the rotor arrived according to top n cycle detection, speed
Degree and the motor rotor position that arrives of previous cycle detection, estimate current motor rotor-position, and using the position calculated as
The motor rotor position that this cycle detects, wherein, the N is the integer more than 2.
Embodiments of the present invention additionally provide a kind of servo-driver, comprising：Sending module, for periodically to volume
Code device sends the request data frame for asking rotor current location；Judge module, for the feedback coefficient for judging to receive
Whether it is the data correctly transmitted according to the feedback information entrained by frame；Computing module, for not being in judge module judgement
During the data correctly transmitted, according to top n cycle detection to acceleration, speed and the previous cycle detection of rotor arrive
Motor rotor position, estimate current motor rotor-position, and the motor turn detected using the position calculated as this cycle
Sub- position, wherein, the N is the integer more than 2.
Embodiment of the present invention in terms of existing technologies, taken by the feedback data frame that servo-driver judges to receive
Whether the feedback information of band is the data correctly transmitted, if being not the data correctly transmitted, is arrived according to top n cycle detection
Rotor the motor rotor position that arrives of acceleration, speed and previous cycle detection, estimate current motor rotor-position,
And the motor rotor position for detecting the position calculated as this cycle, so as to pass through the feedback data frame to receiving
Prejudge and ignore due to the data of incorrect transmission caused by the influence of site environment etc., and added according to the history of rotor
Position that speed, historical speed and historical position the calculate real time position current as rotor, so that servo system
System data transmission exception for caused by the interference of site environment has certain immunocompetence, and then ensures that servomotor is put down
Surely, reliably run.
Preferably, if the servo-driver judges that the feedback information entrained by the feedback data frame is correct transmission
Data, then determine whether the rotor that this cycle detects occurs position mutation；It is mutated in the event of position, then
The motor rotor speed in this cycle is fitted according to peak acceleration set in advance；Turned according to the motor in this cycle of the fitting
Sub- speed, the motor rotor position detected with upper a cycle calculate the motor rotor position in this cycle, and will calculate
The motor rotor position that position detects as this cycle.So as to avoid the output of servo-driver from larger fluctuation occur, ensure
The stable operation of servo-drive system.
Preferably, whether the feedback information entrained by feedback data frame that the servo-driver judges to receive is correct
In the step of data of transmission, following sub-step is included：The feedback data frame that the servo-driver judges to receive whether be
The feedback data frame of the request data frame sent for the last time；If it is determined that the number of request sent for the last time it is not
According to the feedback data frame of frame, then it is not the data correctly transmitted to judge the feedback information；Sent if for the last time
Request data frame feedback data frame, then judge described in the feedback data frame that receives whether error of transmission occurs；If not
Generation error of transmission, then it is the data correctly transmitted to judge the feedback information；If it is wrong that transmission occurs for the feedback data frame
By mistake, then data of the feedback information not correctly to transmit are judged.By judging whether feedback data frame is for the last time
The feedback data frame of the request data frame of transmission, so as to easily judge encoder feedback whether be rotor reality
When position；Whether servomechanism is correct transmission data by decision-feedback information, so as to adjust rotor according to result of determination
Position-force control process.
Preferably, the identification number for this request data frame of unique mark is carried in the request data frame；It is described to watch
Take driver judge the feedback data frame that receives whether be the request data frame sent for the last time feedback data frame
The step of in, include following sub-step：The servo-driver obtains the identification number carried in the feedback data frame；If
The identification number of acquisition is consistent with the identification number in the request data frame that the last time sends, then judges the feedback data frame received
For the feedback data frame of the request data frame sent for the last time.By identification number judge feedback data frame whether be for
The feedback data frame for the request data frame that the last time sends, there is the advantages of accuracy of judgement, efficiency high.
Preferably, in the step of whether the feedback data frame for judging to receive occurs error of transmission, following son is included
Step：According to the CRC CRC and parity check bit in the feedback data frame received, the feedback information is judged
Whether it is the data correctly transmitted；And/or the length according to the feedback data frame received, whether judge the feedback information
For the data correctly transmitted.So as to improve the accuracy of feedback data frame judgement.
Preferably, also comprise the steps of：The step of the request data frame is sent to encoder in the servo-driver
After rapid, monitor whether the request data frame receives feedback data frame after sending in preset duration；If not in preset duration
Feedback data frame is inside received, then decision request data frame sends mistake；The servo-driver is sent in decision request data frame
After mistake, according to top n cycle detection to rotor the rotor that arrives of acceleration, speed and previous cycle detection
Position, current motor rotor-position, and the motor rotor position that the position calculated is detected as this cycle are estimated, its
In, the N is the integer more than 2.It is thus possible to efficiently and accurately determine whether request data frame sends mistake, and accordingly
Adjust accuracy, the reliability of servo-drive system closed-loop control.
Brief description of the drawings
Fig. 1 is the flow according to the position feedback adaptive bearing calibration of the motor encoder of first embodiment of the invention
Figure；
Fig. 2 is the servo according to the position feedback adaptive bearing calibration of the motor encoder of first embodiment of the invention
The subflow for the step of whether feedback information entrained by feedback data frame that driver judges to receive is the data correctly transmitted
Cheng Tu；
Fig. 3 is the structured flowchart according to the servo-driver of second embodiment of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, each reality below in conjunction with accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order that reader more fully understands the application and proposes many ins and outs.But even if without these ins and outs and base
Many variations and modification in following embodiment, each claim of the application technical side claimed can also be realized
Case.
The first embodiment of the present invention is related to a kind of position feedback adaptive bearing calibration of motor encoder.Specific stream
Journey is as shown in figure 1, this method comprises the following steps 10- steps 18.
Step 10：Judge currently whether need to send request data frame.If being currently needed for sending request data frame, hold
Row step 11；Conversely, then return to step 10.I.e. in the closed loop control process of servomotor position, servo-driver is periodically
Ground sends the signal for asking rotor current location to motor encoder.The power that motor is arranged at due to encoder is defeated
Go out end, so detecting the position of rotor by the encoder, and exported according to the request data frame and represent that rotor is worked as
The position data of front position,
Step 11：Send request data frame.The each request data frame that servo-driver is sent is adopted corresponding to encoder
The motor position collected.Requested position data is fed back to servo-driver by encoder by serial communication mode,
Because the site environment interference of servo-drive system work is larger, cause the data transfer between motor encoder and servo-driver can
The problem of asynchronous, packet loss etc. can occur, thereby result in servo-driver and get inconsistent or wrong motor position
As feedback.
Step 12：Judge whether to receive feedback data frame in preset duration.Being sent in servo-driver to encoder please
After the step of seeking data frame, whether monitoring request data frame receives feedback data frame after sending in preset duration.If pre-
If receiving feedback data frame in duration, then step 13 is performed；, whereas if feedback data frame is not received in preset duration, then
Decision request data frame sends mistake, and enters step 14.
Step 13：Whether the feedback information entrained by feedback data frame that servo-driver judges to receive is correctly to transmit
Data.If it is not the data correctly transmitted, into step 14；Conversely, then enter step 15.Specifically, such as Fig. 2 institutes
Show, step 13 includes following sub-step：Sub-step 130- sub-steps 133.
Sub-step 130：Whether the feedback data frame that servo-driver judges to receive is asking for the last time transmission
Seek the feedback data frame of data frame.If the feedback data frame of the request data frame sent for the last time, then son is performed
Step 131；, whereas if it is not the feedback data frame for the request data frame of the last time transmission to judge, then sub-step is performed
Rapid 133.
Specifically, the identification number for this request data frame of unique mark, servo-drive are carried in request data frame
Device obtains the identification number carried in feedback data frame, if in the request data frame that the identification number obtained is sent with the last time
Identification number it is consistent, then judge the feedback data that the feedback data frame that receives is the request data frame sent for the last time
Frame.For example carry sequence number etc. in every request data frame of servo-driver transmission and be used as identification number, and encoder should
Identification number is added in motor position data and feeds back to servo-driver in the lump as feedback information, as long as servo-driver compares
Whether the identification number in the identification number and feedback information in request data frame that the last time sends unanimously can determine whether that both are
No matching, so as to which whether the feedback data frame efficiently and accurately judging to receive is feedback coefficient for the request data frame
According to frame, and then avoid harmful effect of the data mode mistake to servo-drive system caused by site environment interference.
Sub-step 131：Whether the feedback data frame for judging to receive occurs error of transmission.If error of transmission does not occur,
Then perform step 132；, whereas if error of transmission occurs for feedback data frame, then sub-step 133 is performed.
Specifically, servo-driver is according to the CRC CRC in the feedback data frame received and odd even school
Position is tested, judges whether feedback information is the data correctly transmitted.In addition, servo-driver can also be according to the feedback coefficient received
According to the length of frame, judge whether feedback information is the data correctly transmitted.Or while according to CRC, parity check bit and anti-
The length of feedback data frame judges whether feedback information is the data correctly transmitted.It is thus possible to efficiently and accurately judge to feed back
Whether information is the data correctly transmitted.
Sub-step 132：Decision-feedback information is the data correctly transmitted, then performs step 15.
Sub-step 133：Decision-feedback information is not the data correctly transmitted, and perform step 14.
It should be noted that in other embodiment, the feedback data that servo-driver receives can also be first judged
Whether frame occurs error of transmission, then whether the feedback data frame for judging to receive is the request data frame sent for the last time
Feedback data frame.Present embodiment is not restricted for both orders.
Step 14：Then according to top n cycle detection to acceleration, speed and the previous cycle detection of rotor arrive
Motor rotor position, estimate current motor rotor-position, and the motor turn detected using the position calculated as this cycle
Sub- position.Wherein, N is the integer more than 2, and N value is bigger, and the history acceleration and speed of obtained rotor are more,
More be advantageous to driver and understand rotor laws of motion；And N value is smaller, the data processing amount of driver is smaller, place
It is faster to manage speed, in practical application, N value can be set according to concrete scene.As can be seen here, for not transmitting correctly
Data, servo-driver, which is taken, ignores the data and separately according to the history acceleration of rotor, historical speed and previous
The position for the motor rotor position estimation current period rotor that the individual cycle obtains.Due to not being to be directed to current request data frame
Or motor position data that error of transmission occurs differed greatly with currently practical motor position, by comparison, according to going through
The current period motor rotor position that the motor rotor position that history acceleration, speed and previous cycle obtain is calculated more accords with
The real-world operation situation of motor is closed, the latter's motor position feedback information actual as current period can be avoided into servo-driver
Output there is larger fluctuation, ensure the reliability service of servo-drive system.
Step 15：Judge whether the rotor that this cycle detects occurs position mutation.If undetected motor
Position mutation occurs for rotor, then into step 16；Conversely, then perform step 17.In the servo-drive system course of work, due to CRC and
The reason for even-odd check failure and mechanical breakdown etc., motor operating may occur exception, cause position and the use of current motor
Difference is larger between the desired position in family, when servo-driver is directly controlled according to the position data of the mutation, can influence
To the reliability of servo-drive system.The detection method whether undergone mutation to current motor rotor-position such as can be to pass through ratio
The motor speed in more previous cycle judges that the computational methods are such as by right with the motor speed of current period is calculated
Tried to achieve as differential the position of current period.
Step 16：Then servo-driver completes the closed-loop control of current period according to the feedback information received.
Step 17：The motor rotor speed in this cycle is fitted according to peak acceleration set in advance.So as to avoid motor
Velocity jump causes failure to occur or reduce system service life.
Step 18：According to the motor rotor speed in this cycle of fitting, the rotor position detected with upper a cycle
Put, calculate the motor rotor position in this cycle, and the motor rotor position that the position calculated is detected as this cycle, from
And ensure the reliability service of servo-drive system.
Embodiment of the present invention in terms of existing technologies, taken by the feedback data frame that servo-driver judges to receive
Whether the feedback information of band is the data correctly transmitted, if being not the data correctly transmitted, is arrived according to top n cycle detection
Rotor the motor rotor position that arrives of acceleration, speed and previous cycle detection and speed, estimation obtains current electricity
Machine rotor position, and the motor rotor position that the position is detected as this cycle, so as to pass through the feedback coefficient to receiving
Prejudge and ignore incorrect due to what is easily had undesirable effect caused by the influence of site environment etc. to servo-drive system according to frame
The data of transmission, so that servo-drive system data transmission exception for caused by the interference of site environment has certain be immunized
Ability, and then ensure that servomotor is steady, reliably run.
The step of various methods divide above, be intended merely to describe it is clear, can be merged into when realizing a step or
Some steps are split, are decomposed into multiple steps, as long as including identical logical relation, all protection domain in this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Second embodiment of the invention is related to a kind of servo-driver, as shown in figure 3, comprising：Sending module, judge mould
Block, computing module, position abrupt climatic change module.
Sending module, for periodically sending the request data for asking rotor current location to encoder
Frame.
Whether judge module, the feedback information entrained by feedback data frame received for judgement are the number correctly transmitted
According to.Specifically, judge module includes：Request data frame judging submodule and feedback data frame judging submodule.Request data frame
Judging submodule, for judge the feedback data frame that receives whether be the request data frame sent for the last time feedback
Data frame, and when it is not the feedback data frame of the request data frame sent for the last time to judge, decision-feedback information is not
For the data correctly transmitted.It is preferred that request data frame judging submodule includes：Identification number obtains subelement and more sub- list
Member.Identification number obtains subelement and is used to obtain the identification number carried in the feedback data frame, and comparing subunit is used to compare
Whether the identification number in request data frame that the identification number of acquisition is sent with the last time is consistent, and sentences when comparative result is consistent
Surely the feedback data frame received is the feedback data frame of the request data frame sent for the last time.Feedback data frame judges
Submodule is used to, when comparing subunit is determined as the feedback data frame for the last request data frame sent, judge to connect
Whether the feedback data frame received occurs error of transmission, and when judging error of transmission does not occur, output feedback information is correct
The testing result of the data of transmission；When error of transmission occurs for decision-feedback data frame, output feedback information is not correct transmission
Data testing result.
Position abrupt climatic change module, for when judge module is determined as the data correctly transmitted, judging this cycle detection
To rotor whether occur position mutation.
Computing module, for when it is not the data correctly transmitted that judge module, which judges, being arrived according to top n cycle detection
The motor rotor position that acceleration, speed and the previous cycle detection of rotor are arrived, current motor rotor-position is estimated, and
The motor rotor position that the position calculated is detected as this cycle, wherein, N is the integer more than 2, and in judge module
Be determined as the data correctly transmitted and when position abrupt climatic change module judges to occur position mutation, according to it is set in advance most greatly
The motor rotor speed in this cycle of velocity fitting, according to the motor rotor speed in this cycle of fitting, detected with upper a cycle
The motor rotor position arrived, the motor rotor position in this cycle is calculated, and the position calculated is detected as this cycle
Motor rotor position.
In terms of existing technologies, servo-driver judges that sending module is sent out to embodiment of the present invention by judge module
Whether the request data frame sent is the data correctly transmitted, and when it is not the data correctly transmitted to determine, neglects this not
For the data correctly transmitted, replace, servo-drive is used as by the position for the rotor being calculated using computing module
Device closed-loop control institute is according to motor rotor position real-time feedback data, so as to avoid the control of site environment interference servo-drive system
Precision processed, ensure the reliability of servo-drive system work.
It is seen that present embodiment is the system embodiment corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It is noted that each module involved in present embodiment is logic module, and in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude the innovative part of the present invention, will not be with solving institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close introduces, but this is not intended that in present embodiment and other lists are not present
Member.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. the position feedback adaptive bearing calibration of a kind of motor encoder, it is characterised in that comprise the steps of：
Servo-driver periodically sends the request data frame for asking rotor current location to encoder；
Whether the feedback information entrained by feedback data frame that the servo-driver judges to receive is the data correctly transmitted；
If being not the data correctly transmitted, the acceleration of the rotor arrived according to top n cycle detection, speed and previous
The motor rotor position that individual cycle detection is arrived, current motor rotor-position is estimated, and examined the position calculated as this cycle
The motor rotor position measured, wherein, the N is the integer more than 2.
2. the position feedback adaptive bearing calibration of motor encoder according to claim 1, it is characterised in that also include
Following steps：
If the servo-driver judges that the feedback information entrained by the feedback data frame is the data correctly transmitted, enter
One step judges whether the rotor that this cycle detects occurs position mutation；
It is mutated in the event of position, then the motor rotor speed in this cycle is fitted according to peak acceleration set in advance；
According to the motor rotor speed in this cycle of the fitting, the motor rotor position detected with upper a cycle, calculate
The motor rotor position in this cycle, and the motor rotor position that the position calculated is detected as this cycle.
3. the position feedback adaptive bearing calibration of motor encoder according to claim 1, it is characterised in that described to watch
In the step of whether feedback information taken entrained by the feedback data frame that driver judges to receive is the data correctly transmitted, bag
Containing following sub-step：
Whether the feedback data frame that the servo-driver judges to receive is the request data frame sent for the last time
Feedback data frame；
If it is determined that not being the feedback data frame of the request data frame sent for the last time, then the feedback information is judged not
For the data correctly transmitted；
If the feedback data frame of the request data frame sent for the last time, then the feedback data received described in judgement
Whether frame occurs error of transmission；
If error of transmission does not occur, it is the data correctly transmitted to judge the feedback information；If the feedback data frame
Generation error of transmission, then it is not the data correctly transmitted to judge the feedback information.
4. the position feedback adaptive bearing calibration of motor encoder according to claim 3, it is characterised in that described to ask
Seek the identification number carried in data frame for this request data frame of unique mark；
Whether the feedback data frame that the servo-driver judges to receive is the request data frame sent for the last time
In the step of feedback data frame, following sub-step is included：
The servo-driver obtains the identification number carried in the feedback data frame；
If the identification number obtained is consistent with the identification number in the request data frame of the last transmission, judge to receive anti-
Present the feedback data frame that data frame is the request data frame sent for the last time.
5. the position feedback adaptive bearing calibration of motor encoder according to claim 3, it is characterised in that described to sentence
In the step of whether the feedback data frame that disconnecting receives occurs error of transmission, following sub-step is included：
According to the CRC CRC and parity check bit in the feedback data frame received, the feedback information is judged
Whether it is the data correctly transmitted；And/or
According to the length of the feedback data frame received, judge whether the feedback information is the data correctly transmitted.
6. the position feedback adaptive bearing calibration of motor encoder according to claim 1, it is characterised in that also include
Following steps：
After the step of servo-driver sends the request data frame to encoder, monitor that the request data frame is sent
Whether feedback data frame is received in preset duration afterwards；
If not receiving feedback data frame in preset duration, decision request data frame sends mistake；
The servo-driver after decision request data frame sends mistake, the rotor that is arrived according to top n cycle detection
Motor rotor position that acceleration, speed and previous cycle detection are arrived, current motor rotor-position is estimated, and will calculated
The motor rotor position that position detects as this cycle, wherein, the N is the integer more than 2.
7. a kind of servo-driver, it is characterised in that include：
Sending module, for periodically sending the request data frame for asking rotor current location to encoder；
Whether judge module, the feedback information entrained by feedback data frame received for judgement are the data correctly transmitted；
Computing module, for when it is not the data correctly transmitted that the judge module, which judges, being arrived according to top n cycle detection
The motor rotor position that acceleration, speed and the previous cycle detection of rotor are arrived, current motor rotor-position is estimated, and
The motor rotor position that the position calculated is detected as this cycle, wherein, the N is the integer more than 2.
8. servo-driver according to claim 7, it is characterised in that also include：
Position abrupt climatic change module, for when the judge module is determined as the data correctly transmitted, judging this cycle detection
To rotor whether occur position mutation；
The computing module is additionally operable to when the position abrupt climatic change module judges to occur position mutation, according to set in advance
Peak acceleration is fitted the motor rotor speed in this cycle, according to the motor rotor speed in this cycle of the fitting, with upper one
The motor rotor position that individual cycle detection is arrived, the motor rotor position in this cycle is calculated, and using the position calculated as this week
The motor rotor position that phase detects.
9. servo-driver according to claim 7, it is characterised in that the judge module includes following submodule：
Request data frame judging submodule, whether the feedback data frame for judging to receive is asking for the last time transmission
The feedback data frame of data frame is sought, and when it is not the feedback data frame of the request data frame sent for the last time to judge,
It is not the data correctly transmitted to judge the feedback information；
Feedback data frame judging submodule, for being judged to sending for the last in the request data frame judging submodule
Request data frame feedback data frame when, whether the feedback data frame received described in judgement occurs error of transmission, and is sentencing
When determining error of transmission does not occur, the testing result that the feedback information is the data correctly transmitted is exported；Judging the feedback
When error of transmission occurs for data frame, it is not the testing result for the data correctly transmitted to export the feedback information.
10. servo-driver according to claim 9, it is characterised in that carried in the request data frame for only
One identifies the identification number of this request data frame；
The request data frame judging submodule includes：
Identification number obtains subelement, for obtaining the identification number carried in the feedback data frame；
Comparing subunit, the identification number in request data frame that the identification number for the acquisition is sent with the last time are
It is no consistent, and judge that the feedback data frame received is the request data frame sent for the last time when comparative result is consistent
Feedback data frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772662.5A CN105305921B (en) | 2015-11-12 | 2015-11-12 | The position feedback adaptive bearing calibration of motor encoder and its servo-driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772662.5A CN105305921B (en) | 2015-11-12 | 2015-11-12 | The position feedback adaptive bearing calibration of motor encoder and its servo-driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105305921A CN105305921A (en) | 2016-02-03 |
| CN105305921B true CN105305921B (en) | 2018-03-06 |
Family
ID=55202788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510772662.5A Active CN105305921B (en) | 2015-11-12 | 2015-11-12 | The position feedback adaptive bearing calibration of motor encoder and its servo-driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105305921B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983762A (en) * | 2017-06-02 | 2018-12-11 | 北京京东尚科信息技术有限公司 | Control method, device and the automated guided vehicle of automated guided vehicle |
| CN107239071B (en) * | 2017-08-01 | 2024-03-15 | 深圳市恒科通机器人有限公司 | Monitoring system and mechanical arm |
| CN108663080B (en) * | 2018-05-21 | 2020-06-09 | 广东伊莱斯电机有限公司 | Fault diagnosis method for absolute value encoder in servo drive system |
| CN109164754B (en) * | 2018-08-06 | 2021-01-15 | 大族激光科技产业集团股份有限公司 | Smoothing method for servo driver position command and control device thereof |
| CN109737994A (en) * | 2019-01-07 | 2019-05-10 | 上海自动化仪表有限公司 | The multiple circles absolute value encoder and measurement method of MODBUS-RTU |
| CN111446890B (en) * | 2020-03-25 | 2022-02-11 | 武汉迈信电气技术有限公司 | Encoder with current detection function and current detection method |
| CN112197802A (en) * | 2020-09-27 | 2021-01-08 | 深圳市微秒控制技术有限公司 | Communication fault processing method for absolute value encoder |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101197555A (en) * | 2006-12-05 | 2008-06-11 | 比亚迪股份有限公司 | Electric car motor control method and fault-tolerance processing method for its rotor position detection |
| CN101561263A (en) * | 2009-05-18 | 2009-10-21 | 奇瑞汽车股份有限公司 | Permanent magnet synchronous motor rotor position detection method and rotary transformer used by the method |
| JP2010148271A (en) * | 2008-12-19 | 2010-07-01 | Honda Motor Co Ltd | Controller for permanent magnet type rotating electrical machine |
| CN103441712A (en) * | 2013-07-29 | 2013-12-11 | 武汉迈信电气技术有限公司 | Fault self-diagnosis method for encoder in servo driving system |
| CN104482946A (en) * | 2014-12-18 | 2015-04-01 | 南京科远自动化集团股份有限公司 | Sensor collection processing method |
| CN104639288A (en) * | 2015-01-22 | 2015-05-20 | 广东省自动化研究所 | CAN (Controller Area Network) bus-based multi-sensor correction communication method |
-
2015
- 2015-11-12 CN CN201510772662.5A patent/CN105305921B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101197555A (en) * | 2006-12-05 | 2008-06-11 | 比亚迪股份有限公司 | Electric car motor control method and fault-tolerance processing method for its rotor position detection |
| JP2010148271A (en) * | 2008-12-19 | 2010-07-01 | Honda Motor Co Ltd | Controller for permanent magnet type rotating electrical machine |
| CN101561263A (en) * | 2009-05-18 | 2009-10-21 | 奇瑞汽车股份有限公司 | Permanent magnet synchronous motor rotor position detection method and rotary transformer used by the method |
| CN103441712A (en) * | 2013-07-29 | 2013-12-11 | 武汉迈信电气技术有限公司 | Fault self-diagnosis method for encoder in servo driving system |
| CN104482946A (en) * | 2014-12-18 | 2015-04-01 | 南京科远自动化集团股份有限公司 | Sensor collection processing method |
| CN104639288A (en) * | 2015-01-22 | 2015-05-20 | 广东省自动化研究所 | CAN (Controller Area Network) bus-based multi-sensor correction communication method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105305921A (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105305921B (en) | The position feedback adaptive bearing calibration of motor encoder and its servo-driver | |
| US10819792B2 (en) | Device and method for extracting data from a communication bus of a motor vehicle | |
| KR101110975B1 (en) | Transmitter apparatus and communication system | |
| US11054803B2 (en) | Motor drive, production system and method thereof with quality measuring and mechanism diagnosing functions using real and virtual system modules | |
| CN103428426B (en) | Machine vision systems and methods with predictive motion control | |
| CN104698974A (en) | Numeric control machine tool and debugging method thereof | |
| CN110716509B (en) | Production system with quality measurement and mechanism diagnosis functions, driver and method thereof | |
| CN104104288B (en) | Detection device and processing method of high-speed motor rotor position | |
| EP3023338A2 (en) | Control apparatus, system, and program library | |
| US20240062072A1 (en) | Federated learning system and federated learning method | |
| CN112418455A (en) | Equipment failure prediction and health management system | |
| CN112413107B (en) | ECU-based whole vehicle signal analysis simulation system and working method thereof | |
| CN107797493A (en) | Servo-driver, servo drive system and its automatic testing method | |
| CN102735196B (en) | For verifying method and the monitoring unit of locator value | |
| CN110311848A (en) | A kind of method that Modbus RTU communications protocol improves communication efficiency | |
| CN102033541A (en) | System for testing automobile instrument with controller area network (CAN) bus and testing method thereof | |
| CN110174921A (en) | The output calibration method, apparatus and system of position control | |
| ZUO et al. | Application of fractional partial differential in fault diagnosis of industrial robots | |
| CN109661620A (en) | For monitoring the method and production unit of at least one lathe | |
| Lei et al. | DeviceNet reliability assessment using physical and data link layer parameters | |
| KR102585246B1 (en) | Method of diagnosing process abnormality using virtual processing | |
| CN110829911A (en) | Driving method and driving equipment for stepping motor | |
| Kim et al. | An indirect estimation of machine parameters for serial production lines with Bernoulli reliability model | |
| CN114323718B (en) | Robot fault prediction method and device | |
| CN116910009A (en) | Log processing method, device, equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |