CN106787463B - A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method - Google Patents
A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method Download PDFInfo
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- CN106787463B CN106787463B CN201611235234.XA CN201611235234A CN106787463B CN 106787463 B CN106787463 B CN 106787463B CN 201611235234 A CN201611235234 A CN 201611235234A CN 106787463 B CN106787463 B CN 106787463B
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- motor
- brshless
- encoder
- driving plate
- magnetic pole
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
Abstract
The present invention relates to a kind of unmanned plane brshless DC motor encoders and rotor magnetic pole phase alignment method, comprising: step 1, airborne tripod head brshless DC motor driving plate is installed on motor shaft；Step 2, by airborne tripod head brshless DC motor driving plate, the clock line and data line of motor burning program mouth are shorted；Step 3, the power interface in airborne tripod head brshless DC motor driving plate is accessed into 4S, that is, 15V power supply；Be sure to before powering on it is noted that motor and encoder want can smooth rotation cannot have obstruction, and while powering on, should not be near encoder dead zone；The present invention is not in the case where changing external hardware circuit, make full use of existing resource, the realization of main function is put into motor drive software, it detected automatically by driver, record the initial phase of motor electrical angle into motor drive ic, therefore, in after services of product, maintenance time can be effectively reduced, reduce maintenance cost.
Description
Technical field
The present invention relates to the starting of brshless DC motor used in airborne tripod head calibration and control fields.More particularly to it is a kind of nobody
Machine brshless DC motor encoder and rotor magnetic pole phase alignment method.Suitable for brshless DC motor control field, for pair
The phase of absolute type encoder is aligned, to reach the target for carrying out FOC vector controlled to brshless DC motor.
Background technique
The features such as multi-rotor unmanned aerial vehicle is with its structure maneuverability, so that in photography of taking photo by plane, ground mapping, reconnaissance and surveillance etc.
The application of industry is increasingly extensive.In application of taking photo by plane, the height for quality of taking photo by plane depends on the control precision of airborne tripod head.And it is airborne
The control precision of holder depends on collected camera attitude data precision again.And to guarantee the precision of camera attitude measurement, one
It is necessary for covering good brshless DC motor control program.And in motor control algorithms, FOC algorithm with its control precision it is high,
Dynamic response is good and is more and more used.It realizes and vector controlled is carried out to brshless DC motor with FOC algorithm, just need
There is the scheme of a set of encoder phase Yu rotor magnetic pole phase alignment.
Summary of the invention
The purpose of the present invention is for presently, there are the above problem, a kind of unmanned plane brshless DC motor encoder is provided
With rotor magnetic pole phase alignment method, the program has the characteristics that do not changing hardware controls scheme using easy, compatibility is strong
While, being aligned for encoder phase and rotor magnetic pole phase can be very easily realized, to save realization zero correction
Time, reduce later product maintenance cost.
Above-mentioned purpose of the invention is achieved through the following technical solutions:
A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method, comprising the following steps:
1, encoder is mounted on motor shaft.
2, the clock line of motor burning program mouth in motor driving plate and data line are shorted.
3, the power interface in motor driving plate is accessed into power supply.
Etc. 4, see after stopping after axis makes a movement, attempted respectively with hand clockwise, rotate by a certain angle counterclockwise after, if
Initial position can be correctly returned to, then encoder phase is finished with rotor magnetic pole phase automatic aligning.
5, power supply line is disconnected, and the clock line being shorted in motor driving plate and data line are removed.
Compared with the prior art, the invention has the following beneficial effects:
1, the present invention devises a kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method, the party
Case is easy to operate.Therefore, the time of realization zero correction can be saved in the production stage.
2, the present invention makes full use of existing resource in the case where not changing external hardware circuit, and main function is real
It is now put into motor drive software, detects, records the initial phase of motor electrical angle automatically by driver to motor driven core
In piece, therefore, in after services of product, maintenance time can be effectively reduced, reduce maintenance cost.
Detailed description of the invention
Fig. 1 is the front view of encoder；
Fig. 2, which is that the position of encoder motor is opposite, to scheme；
Fig. 3 is the front view of motor.
Specific embodiment
Technical solution of the present invention is described further below in conjunction with airborne tripod head brshless DC motor driving plate example.
A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method, including the following steps:
Step 1, airborne tripod head brshless DC motor driving plate is installed on motor shaft, it is noted that should not be by motor shaft
Effective slewing area is mounted in encoder dead zone.Purpose is that motor is enable to work normally.
Step 2, by airborne tripod head brshless DC motor driving plate, the clock line and data line of motor burning program mouth are short
It connects.It is normal operating conditions that purpose, which is that motor driven program can effectively distinguish current working condition for convenience, or place
In the zero correction state of phase alignment.
Step 3, the power interface in airborne tripod head brshless DC motor driving plate is accessed into 4S, that is, 15V power supply.Purpose is
It powers to motor drive ic and motor.It is sure to before powering on it is noted that motor and encoder want the smooth rotation of energy that cannot have obstruction.
Step 4, it waits after seeing that motor shaft makes a movement and stops, encoder phase is finished with rotor magnetic pole phase automatic aligning；
At this point, motor driven program has been completed the detection to motor electrical angle initial phase, and electricity is arrived into the detected value storage
Machine controls in chip；
Step 5, power supply line is disconnected, and the clock line being shorted in motor driving plate and data line are removed.So as in motor
When driving plate is powered again, motor driven program work is in normal FOC vector controlled state；
Working principle:
Reach FOC to control it is necessary to keep the primary electromagnetic field of motor orthogonal with rotor magnetic pole permanent magnetic field, i.e. waveform mutual deviation 90
Spend electrical angle.As long as being able to detect that the electrical angle phase of sinusoidal pattern counter potential waveform, so that it may obtain and counter potential waveform one
The sinusoidal pattern phase current of cause.Therefore phase alignment can be converted into the alignment relation of encoder phase Yu rotor magnetic pole phase.
Generally use to pass to machine winding keeps the method for rotor orientation next real less than the DC current of rated current
The phase alignment of existing encoder and rotor magnetic pole.After energization, primary electromagnetic field and the field interactions of magnetic pole permanent magnetism, positioning to mutual deviation
On the equilbrium position of 0 degree of electrical angle.Then, the absolute fix of current encoder is stored in internal EEPROM by master control.Finally
When normal program operation, master control reads the location information for phase alignment from EEPROM.The position of driver any time
Detection data makes the difference with the location information read from above-mentioned EEPROM, after then being converted according to number of pole-pairs, adds -30
Spend electrical angle, so that it may obtain the motor electrical angle phase at the moment；This programme is only applicable to absolute type encoder, furthermore implements
Example 4 is there are also a kind of implementation method: wait after seeing that motor shaft makes a movement and stops, is attempted respectively with hand it is clockwise, rotate one counterclockwise
After determining angle, if initial position can be returned correctly, encoder phase is finished with rotor magnetic pole phase automatic aligning.This
When, motor driven program has been completed the detection to motor electrical angle initial phase, and motor has been arrived in the detected value storage
It controls in chip.
Claims (1)
1. a kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method, including the following steps:
Step 1, airborne tripod head brshless DC motor driving plate is installed on motor shaft, it should not be by effective rotation model of motor shaft
It encloses and is mounted in encoder dead zone；
Step 2, by airborne tripod head brshless DC motor driving plate, the clock line and data line of motor burning program mouth are shorted；
Step 3, the power interface in airborne tripod head brshless DC motor driving plate is accessed into 4S, that is, 15V power supply；Before powering on, electricity
Machine and encoder want can smooth rotation cannot have obstruction, and while powering on, should not be near encoder dead zone；
Step 4, it waits after seeing that motor shaft makes a movement and stops, encoder phase is finished with rotor magnetic pole phase automatic aligning；At this point,
Motor driven program has been completed the detection to motor electrical angle initial phase, and motor control has been arrived in the detected value storage
Chip
In；
Step 5, power supply line is disconnected, and the clock line being shorted in motor driving plate and data line are removed, so as in motor driven
Plate is again
When secondary power supply, motor driven program work is in normal FOC vector controlled state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235234.XA CN106787463B (en) | 2016-12-28 | 2016-12-28 | A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235234.XA CN106787463B (en) | 2016-12-28 | 2016-12-28 | A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106787463A CN106787463A (en) | 2017-05-31 |
| CN106787463B true CN106787463B (en) | 2019-02-12 |
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| CN201611235234.XA Active CN106787463B (en) | 2016-12-28 | 2016-12-28 | A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10447120B2 (en) | 2017-07-17 | 2019-10-15 | Autel Robotics Co., Ltd. | Motor, gimbal and mechanical arm having same |
| CN206948130U (en) * | 2017-07-17 | 2018-01-30 | 深圳市道通智能航空技术有限公司 | Motor and head and mechanical arm with this motor |
| CN109099944A (en) * | 2018-09-21 | 2018-12-28 | 上海市雷智电机有限公司 | A kind of stepper motor encoder and stepper motor initial phase recognition methods |
| CN109773825A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | The joint of robot and its control method of double brshless DC motor parallel drives |
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829742A (en) * | 2012-07-27 | 2012-12-19 | 北京航天控制仪器研究所 | Method for measuring absolute position of rotor in motor servo system |
| CN103746518A (en) * | 2014-01-18 | 2014-04-23 | 宁波海得工业控制系统有限公司 | Adjusting method for aligning phase of servo motor and phase of coder |
-
2016
- 2016-12-28 CN CN201611235234.XA patent/CN106787463B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829742A (en) * | 2012-07-27 | 2012-12-19 | 北京航天控制仪器研究所 | Method for measuring absolute position of rotor in motor servo system |
| CN103746518A (en) * | 2014-01-18 | 2014-04-23 | 宁波海得工业控制系统有限公司 | Adjusting method for aligning phase of servo motor and phase of coder |
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| CN106787463A (en) | 2017-05-31 |
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