CN106330016B - A kind of speed detection method and system of AC servo motor - Google Patents
A kind of speed detection method and system of AC servo motor Download PDFInfo
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a kind of speed detection methods of AC servo motor, including step：S1 starts AC servo motor, reads and preserve the initial position for being installed on the absolute type encoder on AC servo motor；S2 reads and preserves the current location of absolute type encoder every preset interval time t, obtains k test position；S3 obtains the value of 1 position k for the AC servo motor rotation for corresponding to k test position；The detection number k of AC servo motor speed is compared with preset sliding parameter x, obtains comparison result by S4；The speed of AC servo motor is calculated according to the value and sliding parameter x of 1 position k that detection number, the AC servo motor of comparison result, interval time t, AC servo motor speed rotate in S5.The beneficial effects of the invention are as follows：In motor low-speed running, the accuracy of detection of system is improved, obtains ideal speed characteristics and servo performance.
Description
Technical field
The present invention relates to AC servo motor technical field more particularly to a kind of speed detection methods of AC servo motor
And system.
Background technology
AC permanent magnet synchronous motor is in low-speed running, it may appear that the unstable phenomenon of low speed.So-called low speed is unstable, refers to
When motor running speed be less than a certain critical value when, running speed be in pulsation phenomenon, this phenomenon be also known as low jitter or
Low speed jerking motion.It removes outside motor performance itself, it is fixed in absolute type encoder digit (resolution ratio) for context of detection
In the case of, in low-speed running, the precision and dynamic property of velocity measuring are all greatly limited motor.Therefore, motor
It is often in irregular turn and stops state, speed is difficult control, and then influences the low-speed performance index of entire servo-drive system.
AC servo completes position detection by absolute type encoder, and motor speed is obtained according to location information.It is passing
In the method for detecting motor speed of system, it is spaced acquisition position information at the same time by controller, each sampling interval uses
Differential mode calculates, and by the difference divided by sampling time interval at the motor rotor position angle of adjacent double sampling time, obtains motor
Speed.The motor rotor position angle of adjacent double sampling time is corresponding with digit (resolution ratio) of absolute type encoder, unit
For rev/min, this method is known as K methods.
Traditional method for detecting motor speed is able to detect that minimum speed is (ωIt is minimum).Calculation formula is ωIt is minimum=
60f/2n, wherein f is the detection frequency of motor speed, and n is the digit of absolute type encoder.
For example, using 17 absolute type encoders, the detection frequency of motor speed is 8000Hz, can detect one every time
The increasing (subtracting) of a numerical value is measured, then the minimum speed being able to detect that is 3.6621 revs/min.If motor rotations are less than this
Value, absolute type encoder output data be maintained for it is constant, motor speed just be 0 rev/min.
When motor low-speed running, the output data difference of absolute type encoder reduces in equal time, to ensure detection essence
Degree, i.e., every time can there are one with the unequal detection data of preceding value, it is necessary to the sampling interval duration for extending K methods increases
The detection cycle of motor speed makes the dynamic characteristic of motor speed and is deteriorated to the rejection ability of disturbing moment, to influencing
The stability of entire servo-drive system, system is even resulted in when serious can not stable operation.Thus, traditional motor speed detection side
Method, it is difficult to which system is made to obtain ideal speed characteristics and servo performance in low speed.
Invention content
Technical problem to be solved by the invention is to provide can get ideal speed when a kind of AC servo motor low-speed running
Spend the speed detection method of characteristic and servo performance.
The technical solution that the present invention solves above-mentioned technical problem is as follows：
A kind of speed detection method of AC servo motor, including step：
S1 starts AC servo motor, reads and preserve the absolute type encoder being installed on the AC servo motor
Initial position；
S2 reads and preserves the current location of the absolute type encoder every preset interval time t, obtains k inspection
Location is set, and k is the detection number of the AC servo motor speed, and k is the integer more than or equal to 2, and t is positive number；
S3 is obtained according to the initial position of the absolute type encoder and the test position and is corresponded to the k
The value of k-1 position of the AC servo motor rotation of test position；
The detection number k of the AC servo motor speed is compared with preset sliding parameter x, is compared by S4
Compared with as a result, x is positive integer；
S5, according to the comparison result, the detection number, described of the interval time t, the AC servo motor speed
The value and sliding parameter x of k-1 position of AC servo motor rotation, are calculated the speed of the AC servo motor.
The beneficial effects of the invention are as follows：In motor low-speed running, it is ensured that original motor speed detects (control)
Period is constant, improves the accuracy of detection of system, obtains ideal speed characteristics and servo performance.
Based on the above technical solution, the present invention can also be improved as follows.
Further, when the comparison result is that the detection number k subtracts 1 less than or equal to the sliding parameter x, according to
Following formula calculates the speed of the AC servo motor：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the friendship corresponding to i-th of test position
The value of the position of flow servo motor rotation, i is positive integer.
Advantageous effect using above-mentioned further scheme is：It is less than or equal to sliding ginseng when the detection number k subtracts 1
When number x, motor speed is the average value of preceding k-1 motor rotation position speed.
Based on the above technical solution, the present invention can also be improved as follows.
Further, when the comparison result is that the detection number k subtracts 1 more than the sliding parameter x, according to following public affairs
Formula calculates the speed of the AC servo motor：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the friendship corresponding to i-th of test position
The value of the position of flow servo motor rotation, i is positive integer.
Advantageous effect using above-mentioned further scheme is：When the detection number k, which subtracts 1, is more than the sliding parameter x,
Motor speed is the average value of x continuous motor rotation position speed, in the identical motor speed sampling period, Ke Yijian
Measure smaller accurate velocity amplitude.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the step S3 includes：
S31, it is poor that the k test position is made with the initial position of the absolute type encoder respectively, obtains k
Difference；
S32, it is poor that other differences in the k difference in addition to the 1st difference are made with -1 difference of kth respectively, obtains
Corresponding to the value of k-1 position of the AC servo motor rotation of the k test position.
Advantageous effect using above-mentioned further scheme is：According to the initial position of absolute type encoder and in each detection
The current location detected in period obtains the value of motor rotation position, for calculating the speed of motor rotation.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the AC servo motor includes AC permanent magnet synchronous motor.
Advantageous effect using above-mentioned further scheme is：Compared to asynchronous type AC servo motor, AC synchronous servo
The power bracket bigger of motor, under power have smaller volume and weight.
A kind of speed detection system of AC servo motor, the speed detection system include：
First read module reads and preserves and be installed on the AC servo motor for starting AC servo motor
Absolute type encoder initial position；
Second read module, for every preset interval time t, reading and preserving the current of the absolute type encoder
Position obtains k test position, and k is the detection number of the AC servo motor speed, and k is the integer more than or equal to 2, and t is
Positive number；
First obtains module, connects first read module and second read module, for according to described absolute
The initial position of formula encoder and the k test position, the exchange obtained corresponding to the k test position are watched
Take the value of k-1 position of motor rotation；
Comparison module connects second read module, for by the detection number k of the AC servo motor speed with
Preset sliding parameter x is compared, and obtains comparison result, and x is positive integer；
Computing module connects second read module, and described first obtains module and the comparison module, is used for basis
The comparison result, the interval time t, the detection number of the AC servo motor speed, the AC servo motor turn
The value and sliding parameter x of k-1 dynamic position, are calculated the speed of the AC servo motor.
Based on the above technical solution, the present invention can also be improved as follows.
Further, described when the comparison result is that the detection number k subtracts 1 less than or equal to the sliding parameter x
Computing module calculates the speed of the AC servo motor according to following formula：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the friendship corresponding to i-th of test position
The value of the position of flow servo motor rotation, i is positive integer.
Based on the above technical solution, the present invention can also be improved as follows.
Further, when the comparison result is that the detection number k subtracts 1 more than the sliding parameter x, the calculating mould
Root tuber calculates the speed of the AC servo motor according to following formula：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the friendship corresponding to i-th of test position
The value of the position of flow servo motor rotation, i is positive integer.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the first acquisition module includes：
First obtain submodule, for by the k test position respectively with the starting of the absolute type encoder
It is poor that position is made, and obtains k difference；
Second obtains submodule, and connection described first obtains submodule, for will remove the 1st difference in the k difference
It is poor that other outer differences are made with -1 difference of kth respectively, obtains the AC servo motor corresponding to the k test position
The value of k-1 position of rotation.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the AC servo motor includes AC permanent magnet synchronous motor.
Description of the drawings
Fig. 1 is a kind of flow diagram of the speed detection method of AC servo motor of the present invention；
Fig. 2 is the worth computational methods schematic diagram of the motor rotation position of the present invention；
Fig. 3 is the schematic diagram of the motor rotation position of the present invention；
Fig. 4 is that the motor speed of the present invention detects computational methods schematic diagram；
Fig. 5 is a kind of structural schematic diagram of the speed detection system of AC servo motor of the present invention.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, speed detection method when a kind of AC permanent magnet synchronous motor low-speed running, including step：
S1 starts AC servo motor, reads and preserves rising for the absolute type encoder being installed on AC servo motor
Beginning position；
S2 reads and preserves the current location of absolute type encoder every preset interval time t, obtains k check bit
It sets, k is the detection number of AC servo motor speed, and k is the integer more than or equal to 2, and t is positive number；
S3, according to the initial position of absolute type encoder and test position, the exchange obtained corresponding to k test position is watched
Take the value of k-1 position of motor rotation；
The detection number k of AC servo motor speed is compared with preset sliding parameter x, obtains comparing knot by S4
Fruit, x are positive integer；
S5 is rotated according to comparison result, interval time t, the detection number of AC servo motor speed, AC servo motor
K-1 position value and sliding parameter x, the speed of AC servo motor is calculated.
In motor low-speed running, it is ensured that original motor speed detection (control) period is constant, is to improve
The accuracy of detection of system obtains ideal speed characteristics and servo performance.
When comparison result is that detection number k subtracts 1 less than or equal to sliding parameter x, exchange is calculated according to following formula and is watched
Take the speed of motor：
Wherein, ωkFor the speed of AC servo motor, Δ θ (i) is the AC servo electricity corresponding to i-th of test position
The value of the position of machine rotation, i is positive integer.
When detection number k, which subtracts 1, is less than or equal to sliding parameter x, motor speed is preceding k-1 motor rotation position speed
Average value.
When comparison result is that detection number k subtracts 1 more than sliding parameter x, AC servo motor is calculated according to following formula
Speed：
Wherein, ωkFor the speed of AC servo motor, Δ θ (i) is the AC servo electricity corresponding to i-th of test position
The value of the position of machine rotation, i is positive integer.
When detection number k, which subtracts 1, is more than sliding parameter x, motor speed is the flat of a continuously motor rotation position speed of x
Mean value can detect smaller accurate velocity amplitude in the identical motor speed sampling period.
As shown in Fig. 2, step S3 includes：
S31, it is poor which is made with the initial position of absolute type encoder respectively, obtains k difference；
Other differences in the k difference in addition to the 1st difference are made poor, acquisition pair by S32 with -1 difference of kth respectively
It should be in the value of k-1 position of the AC servo motor rotation of k test position.
According to the initial position of absolute type encoder and the current location detected in each detection cycle, motor is obtained
The value of turned position, for calculating the speed of motor rotation.
AC servo motor includes AC permanent magnet synchronous motor.
Compared to asynchronous type AC servo motor, the power bracket bigger of AC synchronous servo motor, with having under power
Smaller volume and weight.
As shown in figure 3, first difference is θ (1), second difference is θ (2), and so on θ (3), θ (4), θ
(5) ..., θ (k), correspondingly, value △ θ (2)=θ (2)-θ (1) of first motor rotation position, and so on △ θ (3), △ θ
(k-1)。
Embodiment 1, it is assumed that sliding parameter x is 3, the value of motor rotation position is followed successively by △ θ (2), △ θ
(3) ..., △ θ (k), then when detection number k subtracts 1 and is less than or equal to sliding parameter x, i.e. k-1<When=3：
A. when detection number k is 2, k-1=1,
B. when detection number k is 3, k-1=2,
C. when detection number k is 4, k-1=3,
When detecting number k-1 more than sliding parameter x, i.e. k-1>When 3：
D. when detection number is 5, k-1>3,
E. when detection number is k, k-1>3,
As shown in figure 5, a kind of speed detection system of AC servo motor, speed detection system include：
First read module 1, for starting AC servo motor, read and preserve be installed on it is exhausted on AC servo motor
To the initial position of formula encoder；
Second read module 2, for every preset interval time t, reading and preserving the present bit of absolute type encoder
It sets, obtains k test position, k is the detection number of AC servo motor speed, and k is the integer more than or equal to 2, and t is positive number；
First obtains module 3, connects the first read module 1 and the second read module 2, for according to absolute type encoder
Initial position and k test position obtain the value of k-1 position of the AC servo motor rotation for corresponding to k test position；
Comparison module 4, connect the second read module 2, for by the detection number k of AC servo motor speed with it is preset
Sliding parameter x is compared, and obtains comparison result, x is positive integer；
Computing module 5 connects the second read module 2, and first obtains module 3 and comparison module 4, for according to comparing knot
Fruit, interval time t, AC servo motor speed detection number, AC servo motor rotation k-1 position value and cunning
Dynamic parameter x, is calculated the speed of AC servo motor.
When comparison result is that detection number k-1 is less than or equal to sliding parameter x, the computing module 5 is according to following public affairs
Formula calculates the speed of AC servo motor：
Wherein, ωkFor the speed of AC servo motor, Δ θ (i) is the AC servo electricity corresponding to i-th of test position
The value of the position of machine rotation, i is positive integer.
When comparison result is that detection number k-1 is more than sliding parameter x, the computing module 5 is calculated according to following formula
The speed of AC servo motor：
Wherein, ωkFor the speed of AC servo motor, Δ θ (i) is the AC servo electricity corresponding to i-th of test position
The value of the position of machine rotation, i is positive integer.
First, which obtains module 3, includes：
First obtains submodule 31, poor for making k test position with the initial position of absolute type encoder respectively, obtains
Obtain k difference；
Second obtain submodule 32, connection first obtain submodule 31, for by k difference in addition to the 1st difference
It is poor that other differences are made with -1 difference of kth respectively, obtains k-1 of the AC servo motor rotation for corresponding to k test position
The value of position.
AC servo motor includes AC permanent magnet synchronous motor.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of speed detection method of AC servo motor, which is characterized in that including step：
S1 starts AC servo motor, reads and preserves rising for the absolute type encoder being installed on the AC servo motor
Beginning position；
S2 reads and preserves the current location of the absolute type encoder every preset interval time t, obtains k check bit
It sets, k is the detection number of the AC servo motor speed, and k is the integer more than or equal to 2, and t is positive number；
S3 is obtained according to the initial position of the absolute type encoder and the test position and is corresponded to described k detection
The value of k-1 position of the AC servo motor rotation of position；
The detection number k of the AC servo motor speed is compared with preset sliding parameter x, obtains comparing knot by S4
Fruit, x are positive integer；
S5, according to the comparison result, the interval time t, the detection number of the AC servo motor speed, the exchange
The value and sliding parameter x of k-1 position of servo motor rotation, are calculated the speed of the AC servo motor；
When the comparison result is that the detection number k subtracts 1 less than or equal to the sliding parameter x, according to following formula meter
Calculate the speed of the AC servo motor：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the AC servo corresponding to i-th of test position
The value of the position of motor rotation, i is positive integer；
When the comparison result is that the detection number k subtracts 1 more than the sliding parameter x, calculated according to following formula described in
The speed of AC servo motor：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the AC servo corresponding to i-th of test position
The value of the position of motor rotation, i is positive integer.
2. speed detection method according to claim 1, which is characterized in that the step S3 includes：
S31, it is poor that the k test position is made with the initial position of the absolute type encoder respectively, obtains k difference
Value；
S32, it is poor that other differences in the k difference in addition to the 1st difference are made with -1 difference of kth respectively, is corresponded to
Value in the k-1 position that the AC servo motor of the k test position rotates.
3. speed detection method according to claim 1, which is characterized in that the AC servo motor includes AC permanent-magnet
Synchronous motor.
4. a kind of speed detection system of AC servo motor, which is characterized in that the speed detection system includes：
First read module, for starting AC servo motor, read and preserve be installed on it is exhausted on the AC servo motor
To the initial position of formula encoder；
Second read module, for every preset interval time t, reading and preserving the present bit of the absolute type encoder
It sets, obtains k test position, k is the detection number of the AC servo motor speed, and k is the integer more than or equal to 2, and t is just
Number；
First obtains module, connects first read module and second read module, for being compiled according to the absolute type
The initial position of code device and the k test position obtain the AC servo electricity corresponding to the k test position
The value of k-1 position of machine rotation；
Comparison module connects second read module, is used for the detection number k of the AC servo motor speed and presets
Sliding parameter x be compared, obtain comparison result, x is positive integer；
Computing module connects second read module, and described first obtains module and the comparison module, for according to
Comparison result, the interval time t, the AC servo motor speed detection number, the AC servo motor rotation
The value and sliding parameter x of k-1 position, are calculated the speed of the AC servo motor；
When the comparison result is that the detection number k subtracts 1 less than or equal to the sliding parameter x, the computing module root
The speed of the AC servo motor is calculated according to following formula：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the AC servo corresponding to i-th of test position
The value of the position of motor rotation, i is positive integer；
When the comparison result is that the detection number k subtracts 1 more than the sliding parameter x, the computing module is according to following
Formula calculates the speed of the AC servo motor：
Wherein, ωkFor the speed of the AC servo motor, Δ θ (i) is the AC servo corresponding to i-th of test position
The value of the position of motor rotation, i is positive integer.
5. speed detection system according to claim 4, which is characterized in that described first, which obtains module, includes：
First obtain submodule, for by the k test position respectively with the initial position of the absolute type encoder
It is poor to make, and obtains k difference；
Second obtain submodule, connection it is described first obtain submodule, for by the k difference in addition to the 1st difference
It is poor that other differences are made with -1 difference of kth respectively, and the AC servo motor obtained corresponding to the k test position rotates
K-1 position value.
6. speed detection system according to claim 4, which is characterized in that the AC servo motor includes AC permanent-magnet
Synchronous motor.
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| CN1300590C (en) * | 2004-05-18 | 2007-02-14 | 桂林星辰电力电子有限公司 | Method for measuring motor speed at low-speed operation by using pulse coder |
| JP2007010461A (en) * | 2005-06-30 | 2007-01-18 | Yaskawa Electric Corp | Rotational frequency detection device, motor with absolute value encoder, and rotation driving device |
| JP4835606B2 (en) * | 2008-02-20 | 2011-12-14 | 株式会社明電舎 | Rotating body phase / speed detector |
| JP6051510B2 (en) * | 2011-11-02 | 2016-12-27 | 株式会社リコー | Detection device, drive device |
| CN103048484B (en) * | 2012-12-03 | 2014-10-29 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN103048486B (en) * | 2012-12-28 | 2014-10-29 | 东南大学 | Device and method for measuring rotation speeds and positions of rotors of birotor permanent magnet wind-driven generator |
| CN103033639B (en) * | 2012-12-28 | 2015-01-07 | 北京航空航天大学 | Measuring method of rotating speed of self-adaption motor for switching hysteresis loop |
| CN103424566A (en) * | 2013-08-20 | 2013-12-04 | 杭州日鼎控制技术有限公司 | Motor speed detection device and motor speed detection method |
| CN104218865B (en) * | 2014-09-09 | 2017-01-18 | 东南大学 | Permanent magnet motor rotor position calculation method |
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Granted publication date: 20180814 |