CN105490609B - The method and its system of servo Self-tuning System motor encoder zero point - Google Patents
The method and its system of servo Self-tuning System motor encoder zero point Download PDFInfo
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- CN105490609B CN105490609B CN201510968205.3A CN201510968205A CN105490609B CN 105490609 B CN105490609 B CN 105490609B CN 201510968205 A CN201510968205 A CN 201510968205A CN 105490609 B CN105490609 B CN 105490609B
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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 present invention relates to motor fields, disclose the method and its system of a kind of servo Self-tuning System motor encoder zero point comprising the steps of: motor when first used, servomechanism according to the load of the motor, exports trimming moment to the motor under band-type brake state；Control contracting brake declutches；Under the state of declutching, to motor output torque, the relative position value of motor rotor position and encoder zero-crossing position is obtained；The relative position value that will acquire, the encoder deviation angle as motor.So that motor under with loading condition, can also complete encoder zero-crossing correction, the difficulty that servo manufacturer uses motor is reduced, improves the versatility and seamless interchangeability of driver and motor, realizes the compatibility that driver adjusts different brands encoder zero-crossing.
Description
Technical field
The present invention relates to motor fields, the in particular to method and its system of servo Self-tuning System motor encoder zero point.
Background technique
In SERVO CONTROL, encoder is the position of rotor and the detection device of revolving speed, for closing for servo-system
Ring control is most important.Especially in motor-field oriented control Field Oriented Control (abbreviation FOC), the moment is needed
Know the angle theta (usually using the angle between U phase and rotor) between motor stator UVW coil and rotor,
Make d axis excitation component and q axis go out force component rationally to decouple, to obtain optimal power output effect, i.e., " class DC characteristic ".This angle
Usually obtained by the feedback device encoder on rotor.However, accurately to know that a certain moment motor is fixed
Angle between subcoil U phase and rotor, it is necessary to know position (the i.e. position of encoder where rotor at this time
Feedback) and U phase and encoder zero-crossing position between angle.Wherein, the position where rotor can be real-time by encoder
Feedback obtains；Angle between U phase and encoder zero-crossing position just needs to obtain in advance by various methods.
In the prior art, the angle preparation method between motor stator U phase and encoder zero-crossing position has:
1, encoder zero-crossing and motor stator U phase coil are calibrated when servo motor produces.
2, before being installed in final equipment, motor encoder zero point is needed to be configured to watch after the completion of first unloaded correction
Take parameter.
Above method has the following problems:
1, the process and difficulty of encoder installation when increasing motor manufacturer production motor.
When encoder is installed, the relative position for needing for motor rotor position and encoder zero-crossing position to be adjusted to certain is closed
System is just capable of fixing, the position precision requirement with higher when this fixes encoder, increases motor manufacturer and carries out encoder
Process and difficulty when installation.
2, difficulty of the servo manufacturer using motor when is increased, the versatility and seamless exchange of driver and motor are reduced
Property.
Servo manufacturer is when using motor firstly the need of the motor rotor position and coding for knowing that motor manufacturer records
The relative position value of device zero point, however this relative position value of the motor of different motor manufacturer productions is often different, this
Servo manufacturer is required to need to know the position angle of different motors when using different motors；And in replacement motor or drive
When dynamic device, it is also necessary to reconfigure corresponding positional value, increase difficulty of the servo manufacturer using motor when, also reduce driving
The ease for use and seamless interchangeability of device and motor.
3, it unloaded can only adjust, for having installed, load-carrying motor is unable to complete encoder zero-crossing adjusting.
Since motor encoder zero point needs to be configured to servo parameter after the completion of first unloaded correction, can just be installed to final
In equipment.For the motor being already installed in equipment be unable to complete encoder zero-crossing correction (particularly with robot or
Lifting means etc. has the occasion of up rightness load), this adds increased the requirement of the system integration and difficulty.
4, drive compatibility is poor.
Single driver progress motor encoder zero correction is only effective to corresponding motor, cannot achieve to different brands
The compatibility of motor encoder zero point adjusting, reduces the versatility of driver.
Summary of the invention
The purpose of the present invention is to provide the methods and its system of a kind of servo Self-tuning System motor encoder zero point, so that i.e.
Make motor under with loading condition, can also complete encoder zero-crossing correction, reduce the difficulty that servo manufacturer uses motor, improves
The versatility and seamless interchangeability of driver and motor realize the compatibility that driver adjusts different brands encoder zero-crossing.
In order to solve the above technical problems, embodiments of the present invention provide a kind of servo Self-tuning System motor encoder zero point
Method comprising the steps of: motor when first used, servomechanism under band-type brake state according to the load of the motor, to this
Motor exports trimming moment；Control contracting brake declutches；Under the state of declutching, to motor output torque, rotor is obtained
The relative position value of position and encoder zero-crossing position；The relative position value that will acquire, the encoder deviation angle as motor.
Embodiments of the present invention additionally provide a kind of servo Self-tuning System motor encoder zero point system, comprising servomechanism,
Motor, contracting brake；Servomechanism be used for motor when first used, according to the load of the motor under band-type brake state, to this
Motor exports trimming moment；Driver is also used to after exporting trimming moment, and control contracting brake declutches；Servomechanism is also used to
Under the state of declutching, to motor output torque；Motor is used to obtain the opposite position of motor rotor position and encoder zero-crossing position
The relative position value setting value, and will acquire, the encoder deviation angle as motor.
Embodiment of the present invention in terms of existing technologies, due to obtaining deviation angle in adjusting motor encoder zero point
Contracting brake and band-type brake control logic are increased in the process, accordingly even when passing through band-type brake in the case where motor has load
Control logic closes band-type brake, locking motor, and servomechanism exports trimming moment to motor under band-type brake state, when load and torque
It after reaching balance, declutches, under the state of declutching, is passed through direct current, under the action of the torque that direct current generates, rotor is inhaled
It guides to and coincides position with stator U, the location feedback value of encoder is motor rotor position and encoder zero-crossing position at this time
Relative position value, which is the deviation angle of motor encoder.Due to whole at motor encoder zero migration angle
Band-type brake control logic is added during fixed, can satisfy the requirement of different application, realizes that motor bringing onto load is compiled online
Code device zero correction reduces without being installed in final system equipment again after the first unloaded correction for carrying out encoder zero-crossing
The requirement of the system integration, make motor using simpler, encoder is pacified when effectively reducing motor manufacturing manufacturer production motor
The process and difficulty of dress, for motor manufacturing, manufacturer provides convenience.
In addition, the relative position value is recorded in the encoder memory of motor after the step of obtaining relative position value,
For driving the servomechanism of the motor to read.Accordingly even when replacement motor or driver, do not need to reconfigure corresponding position yet
Value is set, it can be automatically from motor encoder memory Electrically Erasable Programmable when driver powers on
The deviation angle between motor rotor position and encoder zero-crossing is read in Read-Only Memory (abbreviation EEPROM), is improved
The interchangeability and versatility of driver and motor realize the compatibility that driver adjusts different brands motor encoder zero point,
Any matching for realizing motor and driver reduces motor manufacturer and uses difficulty.
In addition, to motor output torque, obtaining the phase of motor rotor position and encoder zero-crossing position under the state of declutching
Include following sub-step in the step of to positional value: to the stator coil input dc power of motor, controlling rotor and be attracted to
The position to coincide with stator U；The location feedback value of encoder when rotor is in overlapping positions with stator U phase, as
Relative position value.
In addition, being adjusted and being inputted according to the movement tendency of motor in the stator coil input dc power of motor the step of
Direct current assigned direction, guarantee rotor be attracted to stator U coincide position during, motor action is most
Small, i.e. the distance that turns over of motor is minimum.
In addition, judging pre- according to the assigned direction of the direct current of input when to the stator coil input dc power of motor
The rotation direction of the rotor of phase, it is whether consistent with the actual rotation direction of rotor, if it is inconsistent, adjustment driving
The three-phase connecting line of device and motor.During judging phase order, user can be prompted to carry out phase sequence replacement automatically according to judging result,
Fast and easy detects whether three phase connection connections of motor are correct, realizes motor Fast Installation.
In addition, in the relative position value that will acquire, the step of encoder deviation angle as motor after, to contracting brake
Band-type brake order is issued, and terminates the torque exported to motor.
In addition, after the preset duration for issuing band-type brake order, then being terminated defeated to motor if load is that up rightness is loaded
Torque out, it is ensured that when terminating output torque, motor by locking, avoids the occurrence of motor in no output torque because vertical negative
The effect of load and the case where generate violent rotation, ensure that the stability of motor.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the servo Self-tuning System motor encoder zero point of first embodiment according to the present invention；
Fig. 2 is the flow chart of the method for the servo Self-tuning System motor encoder zero point of second embodiment according to the present 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 of third embodiment servo Self-tuning System motor encoder zero point according to the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to each reality of the 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 to make the reader understand this application better, many technical details are proposed.But even if without these technical details and base
In the various changes and modifications of following embodiment, each claim of the application technical side claimed also may be implemented
Case.
The first embodiment of the present invention is related to a kind of methods of servo Self-tuning System motor encoder zero point, and detailed process is such as
Shown in Fig. 1.
In a step 101, driver is powered on and initialized.
Then, in a step 102, judge whether motor uses for the first time.In the present embodiment, motor is used for the first time
When, not yet the angle between the U phase and encoder zero-crossing position of acquisition motor stator then illustrates if not first use
Obtain the angle.Therefore, in this step, whether the encoder deviation angle of the motor will have been obtained, it is whether first as motor
The judgment basis used.Such as encoder deviation angle is read from motor encoder memory by servomechanism, if read less than
Encoder deviation angle is then considered as first use, can read encoder deviation angle and then be considered as non-first use, at this point, directly into
Enter step 116, servomechanism reads encoder deviation angle from encoder memory.
When judging result be motor when first used, enter step 103, start band-type brake control logic, servomechanism control is embraced
Lock brake, fixes motor.Specifically, the band-type brake control logic in present embodiment is as shown in figure 3, in Fig. 3
Servo_En=1 is represented and is enabled in servo, and it is disconnected enabled that Servo_En=0 represents servo；PWM=1 represents PWM (pulse width tune
Section) there is output, i.e. moment exports, and PWM=0 represents PWM and exports without output i.e. non-moment；Brake=1 represents band-type brake release,
It declutches, Brake=0 represents band-type brake locking, i.e. band-type brake.In the present embodiment, in servomechanism to before motor output torque,
Control contracting brake is in band-type brake state always.
Then, at step 104, under band-type brake state, servomechanism exports equilibrant force according to motor load situation, to motor
Square.The trimming moment and motor load for exporting servomechanism reach equilibrium state.Specifically, servomechanism is in motor internal contracting brake state
(Brake=0) under, according to motor load size, the direct current of a certain size and direction is persistently inputted to motor stator coil.It should
The direct current of size and Orientation is passed through in coil, and the torque of generation can be loaded with balance motor, at this point, Brake=0；PWM=1；
Servo_En=1.
Then, in step 105, controller control contracting brake declutches.At this time under the action of trimming moment, motor
In stable state, the stable state of motor is unaffected after declutching.At this point, Brake=1；PWM=1；Servo_En
=1.
Then, in step 106, under the state of declutching, to motor stator coil input dc power.Such as with one
DC power supply leads to a direct current for being less than rated current to the UV winding of motor.
Then, in step 107, according to the movement tendency of motor, given value of current direction is adjusted, to guarantee in encoder zero
During point adjusting, rotor be attracted to stator U coincide position when, motor action is minimum, and (distance turned over is most
It is few).
Then, in step 108, judge whether rotation direction expected from rotor is consistent with actual rotation direction.In advance
The rotor rotation direction of phase can be according to the walking direction for the direct current being passed through.This step is judging phase order, in judging phase order
In the process, user can be prompted to carry out phase sequence replacement automatically according to judging result, fast and easy detects that three phase connections of motor connect
Whether method is correct, so that motor installation is simple and quick.
When the rotation direction that judging result is expected rotor is consistent with actual rotation direction, 110 are entered step,
Under the action of direct current, rotor is attracted to coincide position with stator U.
If judging result be it is no, i.e., when the rotation direction of expected rotor and inconsistent actual rotation direction, enter
Step 109, the three-phase connecting line of adjust drivers and motor, makes rotation direction expected from rotor and actual rotation direction one
It causes.
Then, 110 are entered step, under the action of direct current, control rotor is attracted to coincide position with stator U
It sets, the location feedback value of encoder when record rotor and stator U coincide, this value is motor rotor position and encoder
The relative position value of dead-center position.
Then, 111 are entered step, the relative position value that will acquire is stored in encoder memory as encoder deviation angle,
For driving the servomechanism of the motor to read.Accordingly even when replacement driver, does not need to reconfigure corresponding deviation angle yet, drive
Device can mention when powering on automatically from the deviation angle read between motor rotor position and encoder zero-crossing in motor encoder EEPROM
The interchangeability and versatility of high driver and motor realize the compatibility that driver adjusts different brands motor encoder zero point
Property, it realizes any matching of motor and driver, reduces motor manufacturer and use difficulty.
Then, 112 are entered step, servomechanism reads encoder deviation angle from encoder memory.Obtain the inclined of encoder
It moves after angle, the FOC control to motor can be carried out.
Then, 113 are entered step, servomechanism issues band-type brake order to contracting brake.Motor is fixed by band-type brake mode,
Output torque is terminated for subsequent servo device to prepare, and prevents motor from rotating under the action of load.
Then, 114 are entered step, in preset duration, under band-type brake state, the output of servomechanism holding torque.At this point,
Brake=0；PWM=1；Servo_En=0.Guarantee that motor is by band-type brake locking, Bu Huiyin when terminating output torque
For load-reason, violent rotation occurs for motor, it is ensured that the stabilization of motor.
Then, 115 are entered step, is terminated to motor output torque.At this point, Brake=0；PWM=0；Servo_En=0.
It is not difficult to find that in the present embodiment, due to increasing during adjusting motor encoder zero point and obtaining deviation angle
Contracting brake and band-type brake control logic are added, accordingly even when also can be carried out motor encoder in the case where motor has load
Device zero point self-adjustment, so that motor is in the encoder deviation angle that can get motor by self-setting function when first used,
The process and difficulty of encoder installation when effectively reducing motor manufacturing manufacturer production motor, for motor manufacturing, manufacturer is provided just
Benefit.
Second embodiment of the present invention is related to a kind of method of servo Self-tuning System motor encoder zero point.Second embodiment party
Formula is roughly the same with first embodiment, is in place of the main distinction: in the first embodiment, in servomechanism to brake sticking brake
After device issues band-type brake order, regardless of whether motor has loading condition, all there is a preset duration, and watch in preset duration
It takes device and keeps output torque, servomechanism terminates again to motor and exports trimming moment after preset duration.And it is real in the present invention second
It applies in mode, servomechanism judges whether to need to extend the output duration of torque according to loading condition, it is more flexible after improvement,
And it can be reduced unnecessary energy waste.
Specifically, in second embodiment step 201 to step 213 and step 101 corresponding in first embodiment to
Step 113 is identical, for example, step 201 correspond to step 101, step 202 correspond to step 102, and so on to step 213 it is right
Should be in step 113, details are not described herein.
214 are entered step, judges whether the output duration for needing to extend torque according to loading condition.This judgement is mainly to be
Whether confirmation motor is up rightness load motor, and the loadtype of motor is different, and the duration of servomechanism output torque is also different.
When judging result is no, it is directly entered step 216, is terminated to motor output torque.Brake=0 at this time；PWM=
0；Servo_En=0.Band-type brake control logic when for non-perpendicularity load motor is as shown in Figure 4.
When the judgment result is yes, i.e., motor is loaded with up rightness, enters step 215, and in preset duration, servomechanism is protected
Hold output torque.At this point, Brake=0；PWM=1；Servo_En=0.Ensure that motor is embraced when terminating output torque
Extremely, the case where motor generates violent rotation because of the effect of normal load in no output torque is avoided the occurrence of, ensure that motor
Stability.
Then, 216 are entered step, terminates to motor and exports trimming moment.At this point, Brake=0；PWM=0；Servo_En
=0.
It is worth noting that the present embodiment, which relates generally to motor, has the case where up rightness load, for there are up rightness
The occasion of load needs to select the band-type brake logical sequence for meeting the load characteristic, and motor first enables to open band-type brake again, first closes and embrace
Lock disconnects motor again and enables, and band-type brake logical sequence is as shown in Figure 3.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Third embodiment of the present invention is related to a kind of system of servo Self-tuning System motor encoder zero point, as shown in figure 5,
Include servomechanism, motor, contracting brake；Servomechanism be used for motor when first used, according to the motor under band-type brake state
Load, to the motor export trimming moment；Servomechanism is used for after exporting trimming moment, and control contracting brake declutches；It watches
It takes device to be also used under the state of declutching, to motor output torque；Motor is for obtaining motor rotor position and encoder zero-crossing position
The relative position value set, and the relative position value that will acquire, the encoder deviation angle as motor.
Further, the relative position value that motor will acquire is recorded in the encoder memory of motor, for driving the motor
Servomechanism read.
Further, servomechanism is also used to after obtaining the encoder deviation angle of motor, issues band-type brake to contracting brake
Order；Servomechanism is also used to after issuing band-type brake order to contracting brake, terminates the torque exported to motor.
In present embodiment, installed situation that there are motors before carrying out the adjusting of encoder deviation angle, in motor
In the case where with load, the adjusting of motor bringing onto load can be realized by the band-type brake control logic in present embodiment.Motor will
The encoder deviation angle of acquisition is stored in encoder memory, if the case where replacement driver, the servomechanism of driving motor occurs in the later period
The encoder deviation angle that storage can be directly read from encoder memory, without re-starting encoder zero-crossing adjusting.Cause
This, improves the interchangeability and versatility of driver and motor, realizes that driver adjusts different brands motor encoder zero point
Compatibility, realize motor and driver any matching.
It is not difficult to find that present embodiment is 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, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical 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 (8)
1. a kind of method of servo Self-tuning System motor encoder zero point, which is characterized in that comprise the steps of:
Motor when first used, servomechanism according to the load of the motor, exports trimming moment to the motor under band-type brake state；
Control contracting brake declutches；
Under the state of declutching, to the motor output torque, the opposite position of motor rotor position and encoder zero-crossing position is obtained
Set value；
Encoder deviation angle by the relative position value of the acquisition, as the motor；
Wherein, described to motor output torque, obtain the step of the relative position value of motor rotor position and encoder zero-crossing position
Include following sub-step in rapid:
To the stator coil input dc power of the motor, controls rotor and be attracted to the position to coincide with stator U；
The location feedback value of encoder when the rotor is in overlapping positions with stator U phase, as the relative position
Value；
Wherein, it in the stator coil input dc power of the motor the step of, is adjusted according to the movement tendency of the motor
The assigned direction of the direct current of the input.
2. the method for servo Self-tuning System motor encoder zero point according to claim 1, which is characterized in that also comprising following
Step:
After the step of obtaining the relative position value, which is recorded in the encoder memory of the motor,
For driving the servomechanism of the motor to read.
3. the method for servo Self-tuning System motor encoder zero point according to claim 1, which is characterized in that also include:
When to the stator coil input dc power of the motor, the institute according to expected from the assigned direction of the direct current of input is judged
The rotation direction for stating rotor, it is whether consistent with the actual rotation direction of the rotor, if it is inconsistent, adjustment institute
State the three-phase connecting line of driver Yu the motor.
4. the method for servo Self-tuning System motor encoder zero point according to any one of claim 1 to 3, feature exist
In also comprising the steps of:
By the relative position value of the acquisition, the step of encoder deviation angle as the motor after, to the band-type brake system
Dynamic device issues band-type brake order, and terminates to the motor output torque.
5. the method for servo Self-tuning System motor encoder zero point according to claim 4, which is characterized in that
If the load is that up rightness loads, after the preset duration for issuing the band-type brake order, then terminate to the electricity
Machine output torque.
6. a kind of system of servo Self-tuning System motor encoder zero point, which is characterized in that include servomechanism, motor, brake sticking brake
Device；
The servomechanism be used for the motor when first used, according to the load of the motor under band-type brake state, to the motor
Export trimming moment；
The servomechanism is also used to after exporting trimming moment, is controlled the contracting brake and is declutched；
The servomechanism is also used under the state of declutching, to the motor output torque；
The motor is used to obtain the relative position value of motor rotor position and encoder zero-crossing position, and by the phase of the acquisition
Encoder deviation angle to positional value, as the motor；
Wherein, the servomechanism is specifically used for: to the stator coil input dc power of the motor, controlling rotor and is attracted to
The position to coincide with stator U；The location feedback value of encoder when the rotor is in overlapping positions with stator U phase,
As the relative position value；Wherein, in the stator coil input dc power of the motor the step of, according to the motor
Movement tendency adjust the input direct current assigned direction.
7. the system of servo Self-tuning System motor encoder zero point according to claim 6, which is characterized in that
The relative position value of the acquisition is recorded in the encoder memory of the motor by the motor, for driving the motor
Servomechanism read.
8. the system of servo Self-tuning System motor encoder zero point according to claim 6, which is characterized in that the servomechanism
It is also used to after obtaining the encoder deviation angle of the motor, issues band-type brake order to the contracting brake；
The servomechanism is also used to after issuing band-type brake order to the contracting brake, is terminated to the motor output torque.
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| JP6705782B2 (en) * | 2017-08-07 | 2020-06-03 | ファナック株式会社 | Synchronous motor magnetic pole position detection device and synchronous motor magnetic pole position detection method |
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| CN201557032U (en) * | 2009-10-26 | 2010-08-18 | 水利部杭州机械设计研究所 | Variable frequency motor and potential energy loading high-speed-ratio frequency conversion system for hoisting machinery |
| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
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