CN105490609A - Method and system for self-tuning of encoder zero point of motor by a servo - Google Patents
Method and system for self-tuning of encoder zero point of motor by a servo Download PDFInfo
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- CN105490609A CN105490609A CN201510968205.3A CN201510968205A CN105490609A CN 105490609 A CN105490609 A CN 105490609A CN 201510968205 A CN201510968205 A CN 201510968205A CN 105490609 A CN105490609 A CN 105490609A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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Abstract
The invention relates to the field of motors, and discloses a method and a system for self-tuning of an encoder zero point of a motor by a servo. The method comprises the following steps: when the motor is used for the first time, outputting a balance torque to the motor by a servo in a band-type brake state according to a load of the motor; controlling a band-type brake to be released; and outputting the torque to the motor in a brake-releasing state and obtaining relative position values of a motor rotor position and an encoder zero point position; and taking the obtained relative position values as encoder deviation angles of the motor, so that the motor can also finish correction of the encoder zero point under the condition of the load; the difficulty that a servo manufacturer utilizes the motor is lowered; the universality and the seamless interchangeability of a driver and the motor are improved; and the compatibility for setting encoder zero points with different brands by the driver is achieved.
Description
Technical field
The present invention relates to machine field, particularly the method at servo Self-tuning System motor encoder zero point and system thereof.
Background technology
In SERVO CONTROL, encoder is the position of rotor and the checkout gear of rotating speed, and the closed-loop control for servo system is most important.Especially in motor-field oriented control FieldOrientedControl (being called for short FOC), the moment is needed to know angle theta (normally adopting the angle between U phase and rotor) between motor stator UVW coil with rotor, d axle excitation component and q axle is made to go out the reasonable decoupling zero of force component, to obtain best effect of exerting oneself, i.e. " class DC characteristic ".This angle is normally obtained by the feedback device encoder be contained on rotor.But, the angle between a certain moment coil of stator of motor U phase and rotor to be known accurately, just need to know the position (i.e. the position feedback of encoder) at now rotor place and the angle between U phase and encoder zero-crossing position.Wherein, the position at rotor place can be obtained by encoder Real-time Feedback; Angle between U phase and encoder zero-crossing position just needs to be obtained in advance by various method.
In prior art, the angle preparation method between motor stator U phase and encoder zero-crossing position has:
1, when servomotor is produced, encoder zero-crossing and motor stator U phase coil are calibrated.
2, before being installed on final equipment, first zero load is needed to be configured to servo parameter after having corrected zero point to motor encoder.
There is following problem in above method:
The operation that when 1, adding motor manufacturers produce motor, encoder is installed and difficulty.
When encoder is installed, need that motor rotor position and encoder zero-crossing position are adjusted to certain relative position relation could fix, positional precision when this fixes encoder has higher requirement, adds motor manufacturer and carries out operation and difficulty when encoder is installed.
2, add difficulty during servo manufacturer use motor, reduce the versatility of driver and motor and seamless interchangeability.
First servo manufacturer needs the relative position value of motor rotor position and the encoder zero-crossing knowing that motor manufacturer records when using motor, but this relative position value of the motor of different motor manufacturers produce is different often, this just requires that servo manufacturer needs to know the position angle of different motor when using different motors; And when changing motor or driver, also needing to reconfigure corresponding positional value, adding difficulty during servo manufacturer use motor, also reducing the ease for use of driver and motor and seamless interchangeability.
3, can only zero load adjust, for installing, load-carrying motor cannot complete encoder zero-crossing and adjust.
Because motor encoder needs first zero load to be configured to servo parameter after having corrected zero point, just can be installed on final equipment.The correction (especially robot or lifting means etc. being had to the occasion of up rightness load) of encoder zero-crossing cannot be completed for the motor be arranged on equipment, this adds increased requirement and the difficulty of the system integration.
4, drive compatibility is poor.
It is only effective to the motor of correspondence that single driver carries out motor encoder zero correction, cannot realize the compatibility of to adjust zero point to different brands motor encoder, reduce the versatility of driver.
Summary of the invention
The object of the present invention is to provide method and the system thereof at a kind of servo Self-tuning System motor encoder zero point, even if make motor have under loading condition, also can complete encoder zero-crossing to correct, reduce the difficulty that servo manufacturer uses motor, improve the versatility of driver and motor and seamless interchangeability, realize the compatibility that driver is adjusted to different brands encoder zero-crossing.
For solving the problems of the technologies described above, embodiments of the present invention provide the method at a kind of servo Self-tuning System motor encoder zero point, comprise following steps: when motor uses for the first time, server according to the load of this motor, exports trimming moment to this motor under band-type brake state; Control contracting brake declutches; Under the state of declutching, to motor output torque, obtain the relative position value of motor rotor position and encoder zero-crossing position; By the relative position value obtained, as the encoder deviation angle of motor.
Embodiments of the present invention additionally provide a kind of servo Self-tuning System motor encoder system at zero point, comprise server, motor, contracting brake; Server is used for when motor uses for the first time, according to the load of this motor under band-type brake state, exports trimming moment to this motor; Driver also for after output trimming moment, controls contracting brake and declutches; Server also under the state of declutching, to motor output torque; Motor is for obtaining the relative position value of motor rotor position and encoder zero-crossing position, and the relative position value that will obtain, as the encoder deviation angle of motor.
Embodiment of the present invention in terms of existing technologies, contracting brake and band-type brake control logic is added owing to obtain in the process of deviation angle zero point at motor encoder of adjusting, even if like this in the loaded situation of motor tool, by band-type brake control logic, close band-type brake, locking motor, server exports trimming moment to motor under band-type brake state, after load and moment reach balance, declutch, under the state of declutching, pass into direct current, under the effect of the moment of direct current generation, rotor is attracted to the position that to coincide with stator U, now the location feedback value of encoder is the relative position value of motor rotor position and encoder zero-crossing position, this relative position value is the deviation angle of motor encoder.Owing to adding band-type brake control logic in the tuning process of motor encoder zero migration angle, the requirement of different application occasion can be met, realize motor belt motor load and carry out encoder zero-crossing correction online, and need not first zero load carry out the correction of encoder zero-crossing after be installed on final system equipment again, decrease the requirement of the system integration, the use making motor is more simple, and the operation that when effectively reducing motor manufacturing manufacturers produce motor, encoder is installed and difficulty, for motor manufacturing manufacturer provides convenient.
In addition, after the step obtaining relative position value, this relative position value being recorded in the encoder internal memory of motor, reading for driving the server of this motor.Even if change motor or driver like this, do not need to reconfigure corresponding positional value yet, automatically can read the deviation angle between motor rotor position and encoder zero-crossing from motor encoder internal memory ElectricallyErasableProgrammableRead-OnlyMemory (being called for short EEPROM) when driver powers on, improve interchangeability and the versatility of driver and motor, realize the compatibility that driver to be adjusted to different brands motor encoder zero point, realize any coupling of motor and driver, reduce motor manufacturer and use difficulty.
In addition, under the state of declutching, to motor output torque, obtain in the step of the relative position value of motor rotor position and encoder zero-crossing position, comprise following sub-step: to the stator coil input dc power of motor, control rotor and be attracted to the position coincided with stator U; Rotor and stator U phase are in the location feedback value of encoder during overlapping positions, as relative position value.
In addition, in the step of the stator coil input dc power to motor, according to the galvanic assigned direction of the movement tendency adjustment input of motor, ensure to be attracted at rotor to coincide in the process of position with stator U, motor action is minimum, and namely the distance that turns over of motor is minimum.
In addition, when to the stator coil input dc power of motor, judge the rotation direction of the rotor of the galvanic assigned direction expection according to input, whether consistent with the actual rotation direction of rotor, if inconsistent, then adjust the three-phase connecting line of driver and motor.In judging phase order process, automatically can carry out phase sequence replacing according to judged result prompting user, fast and easy detects that whether three phase connection connections of motor are correct, realizes motor Fast Installation.
In addition, in the relative position value that will obtain, after the step as the encoder deviation angle of motor, send band-type brake order to contracting brake, and stop the moment to motor output.
In addition, if load is up rightness load, then after the preset duration sending band-type brake order, stop the moment that motor is exported again, guarantee when stopping output torque, motor, by locking, is avoided occurring that motor produces violent situation of rotating because of the effect of normal load when no-output moment, be ensure that the stability of motor.
Accompanying drawing explanation
Fig. 1 is the flow chart of the method at servo Self-tuning System motor encoder zero point according to first embodiment of the invention;
Fig. 2 is the flow chart of the method at servo Self-tuning System motor encoder zero point according to second embodiment of the invention;
Fig. 3 is the band-type brake logic control schematic diagram in first embodiment of the invention;
Band-type brake logic control schematic diagram when Fig. 4 is non-perpendicularity load motor in second embodiment of the invention;
Fig. 5 is the structure chart of the system according to third embodiment of the invention servo Self-tuning System motor encoder zero point.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each execution mode of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following execution mode and amendment, each claim of the application technical scheme required for protection also can be realized.
First execution mode of the present invention relates to the method at a kind of servo Self-tuning System motor encoder zero point, and idiographic flow as shown in Figure 1.
In a step 101, driver power-up initializing.
Then, in a step 102, judge whether motor uses for the first time.In the present embodiment, motor, when using for the first time, not yet obtains the angle between the U phase of motor stator and encoder zero-crossing position, if not first use, then illustrates and has obtained this angle.Therefore, in this step, by whether having obtained the encoder deviation angle of this motor, as the basis for estimation whether motor uses for the first time.Such as, from motor encoder internal memory, encoder deviation angle is read by server, if read less than encoder deviation angle, then be considered as first use, encoder deviation angle can be read and be then considered as non-first use, now, directly enter step 116, server reads encoder deviation angle from encoder internal memory.
When judged result be motor use for the first time time, enter step 103, start band-type brake control logic, server controls contracting brake band-type brake, fixes motor.Specifically, as shown in Figure 3, in Fig. 3, Servo_En=1 represents in servo enable the band-type brake control logic in present embodiment, and Servo_En=0 represents servo and breaks enable; PWM=1 represents PWM (pulse width modulation) output, namely has moment to export, and PWM=0 represents PWM no-output and non-moment exports; Brake=1 represents band-type brake and unclamps, and namely declutches, and Brake=0 represents band-type brake locking, i.e. band-type brake.In the present embodiment, at server to before motor output torque, control contracting brake and be in band-type brake state all the time.
Then, at step 104, under band-type brake state, server, according to motor load situation, exports trimming moment to motor.The trimming moment that server is exported and motor load reach poised state.Specifically, server, under motor internal contracting brake state (Brake=0), according to motor load size, continues to input the direct current in a certain size and direction to coil of stator of motor.The direct current of this size and Orientation passes in coil, and the moment of generation can balance motor load, now, and Brake=0; PWM=1; Servo_En=1.
Then, in step 105, controller control contracting brake declutches.Now under the effect of trimming moment, motor is in stable state, and the stable state of the rear motor declutched can not be affected.Now, Brake=1; PWM=1; Servo_En=1.
Then, in step 106, under the state of declutching, to coil of stator of motor input dc power.Such as, lead to the direct current that is less than rated current to the UV winding of motor by a DC power supply.
Then, in step 107, according to the movement tendency of motor, adjustment given value of current direction, to ensure in encoder zero-crossing tuning process, when rotor is attracted to and coincides position with stator U, motor action minimum (distance namely turned over is minimum).
Then, in step 108, judge that whether the rotation direction that rotor is expected is consistent with actual rotation direction.The rotor rotation direction of expection can according to the galvanic walking direction passed into.This step is judging phase order, in judging phase order process, automatically can carry out phase sequence replacing according to judged result prompting user, and fast and easy detects that whether three phase connection connections of motor are correct, motor is installed simple and quick.
When judged result be the rotation direction of rotor of expection consistent with actual rotation direction time, enter step 110, under galvanic effect, rotor is attracted to the position that to coincide with stator U.
If judged result is no, the rotation direction of the rotor of namely expecting and actual rotation direction inconsistent time, enter step 109, adjustment driver and the three-phase connecting line of motor, the rotation direction that rotor is expected is consistent with actual rotation direction.
Then, enter step 110, under galvanic effect, control rotor and be attracted to the position that to coincide with stator U, the location feedback value of encoder when record rotor and stator U coincide, this value is the relative position value of motor rotor position and encoder zero-crossing position.
Then, entering step 111, by the relative position value obtained, as encoder deviation angle stored in encoder internal memory, reading for driving the server of this motor.Even if change driver like this, do not need to reconfigure corresponding deviation angle yet, automatically can read the deviation angle between motor rotor position and encoder zero-crossing from motor encoder EEPROM when driver powers on, improve interchangeability and the versatility of driver and motor, realize the compatibility that driver to be adjusted to different brands motor encoder zero point, realize any coupling of motor and driver, reduce motor manufacturer and use difficulty.
Then, enter step 112, server reads encoder deviation angle from encoder internal memory.After obtaining the deviation angle of encoder, can carry out controlling the FOC of motor.
Then, enter step 113, server sends band-type brake order to contracting brake.By band-type brake mode fixed electrical machinery, prepare for subsequent servo device stops output torque, prevent motor from rotating under the effect of load.
Then, enter step 114, in preset duration, under band-type brake state, server holding torque exports.Now, Brake=0; PWM=1; Servo_En=0.Ensure that motor, can not because of load-reason by band-type brake locking, and violent rotation occurs motor when termination output torque, guarantee the stable of motor.
Then, enter step 115, stop to motor output torque.Now, Brake=0; PWM=0; Servo_En=0.
Be not difficult to find, in the present embodiment, contracting brake and band-type brake control logic is added owing to obtain in the process of deviation angle zero point at motor encoder of adjusting, even if like this in the loaded situation of motor tool, also motor encoder zero point self-adjustment can be carried out, make motor get the encoder deviation angle of motor by self-setting function when first use, the operation that when effectively reducing motor manufacturing manufacturers produce motor, encoder is installed and difficulty, for motor manufacturing manufacturer provides convenient.
Second execution mode of the present invention relates to the method at a kind of servo Self-tuning System motor encoder zero point.Second execution mode is roughly the same with the first execution mode, main distinction part is: in the first embodiment, after server sends band-type brake order to contracting brake, no matter whether motor has loading condition, all there is a preset duration, and server keeps output torque in preset duration, after preset duration, server stops exporting trimming moment to motor again.And in second embodiment of the invention, server judges whether according to loading condition after improvement, more flexibly, and can reduce unnecessary energy waste by the output duration needing to extend moment.
Specifically, in second embodiment, step 201 is identical to step 113 with step 101 corresponding in the first embodiment to step 213, and such as step 201 corresponds to step 101, and step 202 corresponds to step 102, arrive step 213 by that analogy and correspond to step 113, do not repeat them here.
Enter step 214, judge whether the output duration needing to extend moment according to loading condition.This judges mainly in order to confirm whether motor is up rightness load motor, and the loadtype of motor is different, and the duration of server output torque is also different.
When judged result is no, directly enter step 216, stop to motor output torque.Now Brake=0; PWM=0; Servo_En=0.When for band-type brake control logic during non-perpendicularity load motor as shown in Figure 4.
When judged result is for being, namely motor has up rightness load, enters step 215, and in preset duration, server keeps output torque.Now, Brake=0; PWM=1; Servo_En=0.Guarantee when stopping output torque, motor, by locking, is avoided occurring that motor produces violent situation of rotating because of the effect of normal load when no-output moment, be ensure that the stability of motor.
Then, enter step 216, stop exporting trimming moment to motor.Now, Brake=0; PWM=0; Servo_En=0.
What deserves to be explained is, the present embodiment relates generally to the situation that motor has up rightness load, for the occasion that there is up rightness load, need to select the band-type brake logical sequence meeting this load characteristic, motor is first enable opens band-type brake again, first closing band-type brake, to disconnect motor more enable, and band-type brake logical sequence as shown in Figure 3.
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection range of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection range of this patent.
3rd execution mode of the present invention relates to the system at a kind of servo Self-tuning System motor encoder zero point, as shown in Figure 5, comprises server, motor, contracting brake; Server is used for when motor uses for the first time, according to the load of this motor under band-type brake state, exports trimming moment to this motor; Server is used for, after output trimming moment, controlling contracting brake and declutching; Server also under the state of declutching, to motor output torque; Motor is for obtaining the relative position value of motor rotor position and encoder zero-crossing position, and the relative position value that will obtain, as the encoder deviation angle of motor.
Further, the relative position value that motor will obtain, is recorded in the encoder internal memory of motor, reads for driving the server of this motor.
Further, server also for after obtaining the encoder deviation angle of motor, sends band-type brake order to contracting brake; Server, also for after sending band-type brake order to contracting brake, stops the moment exported motor.
In present embodiment, there is motor in the situation of carrying out having installed before encoder deviation angle is adjusted, in the loaded situation of motor tool, by the band-type brake control logic in present embodiment, motor belt motor load can be realized and adjust.Motor is by the encoder deviation angle of acquisition stored in encoder internal memory, if the situation changing driver appears in the later stage, the server of drive motors directly can read the encoder deviation angle of storage from encoder internal memory, and adjusts without the need to re-starting encoder zero-crossing.This improves interchangeability and the versatility of driver and motor, realize the compatibility that driver to be adjusted to different brands motor encoder zero point, realize any coupling of motor and driver.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first execution mode, and present embodiment can be worked in coordination with the first execution mode and be implemented.The relevant technical details mentioned in first execution mode is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first execution mode.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1. the method at servo Self-tuning System motor encoder zero point, is characterized in that, comprise following steps:
When motor uses for the first time, server according to the load of this motor, exports trimming moment to this motor under band-type brake state;
Control contracting brake declutches;
Under the state of declutching, to described motor output torque, obtain the relative position value of motor rotor position and encoder zero-crossing position;
By the relative position value of described acquisition, as the encoder deviation angle of described motor.
2. the method at servo Self-tuning System motor encoder according to claim 1 zero point, is characterized in that, also comprise following steps:
After the step obtaining described relative position value, this relative position value being recorded in the encoder internal memory of described motor, reading for driving the server of this motor.
3. the method at servo Self-tuning System motor encoder according to claim 1 zero point, is characterized in that, described to motor output torque, obtains in the step of the relative position value of motor rotor position and encoder zero-crossing position, comprises following sub-step:
To the stator coil input dc power of described motor, control rotor and be attracted to the position coincided with stator U;
Described rotor and stator U phase are in the location feedback value of encoder during overlapping positions, as described relative position value.
4. the method at servo Self-tuning System motor encoder according to claim 3 zero point, is characterized in that,
In the step of the stator coil input dc power to described motor, adjust the galvanic assigned direction of described input according to the movement tendency of described motor.
5. the method at servo Self-tuning System motor encoder according to claim 4 zero point, is characterized in that, also comprise:
When to the stator coil input dc power of described motor, judge the rotation direction of the described rotor of the galvanic assigned direction expection according to input, whether consistent with the actual rotation direction of described rotor, if inconsistent, then adjust the three-phase connecting line of described driver and described motor.
6. the method at servo Self-tuning System motor encoder according to any one of claim 1 to 5 zero point, is characterized in that, also comprise following steps:
In the relative position value by described acquisition, after the step as the encoder deviation angle of described motor, send band-type brake order to described contracting brake, and stop described motor output torque.
7. the method at servo Self-tuning System motor encoder according to claim 6 zero point, is characterized in that,
If described load is up rightness load, then after the preset duration sending described band-type brake order, then stop described motor output torque.
8. the system at servo Self-tuning System motor encoder zero point, is characterized in that, comprise server, motor, contracting brake;
Described server is used for when described motor uses for the first time, according to the load of this motor under band-type brake state, exports trimming moment to this motor;
Described server also for after output trimming moment, controls described contracting brake and declutches;
Described server also under the state of declutching, to described motor output torque;
Described motor for obtaining the relative position value of motor rotor position and encoder zero-crossing position, and by the relative position value of described acquisition, as the encoder deviation angle of described motor.
9. the system at servo Self-tuning System motor encoder according to claim 8 zero point, is characterized in that,
Described motor, by the relative position value of described acquisition, is recorded in the encoder internal memory of described motor, reads for driving the server of this motor.
10. the system at servo Self-tuning System motor encoder according to claim 8 zero point, it is characterized in that, described server also for after obtaining the encoder deviation angle of described motor, sends band-type brake order to described contracting brake;
Described server, also for after sending band-type brake order to described contracting brake, stops described motor output torque.
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| CN112104291A (en) * | 2020-08-27 | 2020-12-18 | 深圳市显控科技股份有限公司 | Servo driver power line pulse output control method, system and storage medium |
| CN114123885A (en) * | 2020-08-28 | 2022-03-01 | 威刚科技股份有限公司 | Calibration system for motor |
| WO2022041100A1 (en) * | 2020-08-28 | 2022-03-03 | 威刚科技股份有限公司 | Motor correction system |
| CN114002997A (en) * | 2021-09-30 | 2022-02-01 | 武汉钢铁有限公司 | Control system and maintenance method thereof |
| CN114002997B (en) * | 2021-09-30 | 2023-08-08 | 武汉钢铁有限公司 | Control system and overhauling method thereof |
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