CN110631474A - Motor calibration system, method and device, controller and storage medium - Google Patents
Motor calibration system, method and device, controller and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a motor calibration system, a method, a device, a controller and a storage medium, which relate to the technical field of motor detection, and the system comprises: a controller, a motor and a photoelectric encoder; the photoelectric encoder is coaxially and fixedly connected with the motor through a rotating shaft; the motor is provided with a plurality of Hall sensors, the Hall sensors rotate along with the motor, and the uniformly distributed axes of the Hall sensors are collinear with the axis of the motor; the plurality of Hall sensors and the photoelectric encoder are used for monitoring at least one rotating mechanical angle of the motor simultaneously; the controller is used for acquiring measurement data fed back by the Hall sensors and the photoelectric encoder and generating an angle calibration table. The controller generates an angle calibration table through the measurement data fed back by the plurality of Hall sensors and the photoelectric encoder, and calibrates the measurement data fed back by the Hall sensors according to the angle calibration table, so that the rotating mechanical angle of the motor can be accurately and reliably obtained.
Description
Technical Field
The invention relates to the technical field of motor detection, in particular to a motor calibration system, a motor calibration method, a motor calibration device, a motor calibration controller and a storage medium.
Background
The motor is an electromagnetic device which converts or transmits electric energy according to the law of electromagnetic induction and can generate driving torque. In order to rotate the motor by a preset mechanical angle, the mechanical angle of the motor rotation needs to be detected.
In the field of unmanned aerial vehicles, small motors are generally used to control the rotation of the nacelle in order to pursue low-load and portability. The Hall sensor is a magnetic-sensing analog sensor, has the characteristics of small size and low manufacturing cost, and is suitable for controlling small motors so as to measure the electrical angle and the mechanical angle of the motors. Because the measuring signal source of the Hall sensor is the magnetic field in the motor magnetic steel, but the motor used for controlling the nacelle has small volume, the precise magnetizing of the motor magnetic steel is difficult, the magnetizing error is easy to generate, and the electric angle measured by the Hall sensor has an error which is even up to 3 degrees at a specific position. Meanwhile, the installation accuracy of motor elements such as a Hall sensor and a rotor is reduced due to the fact that the motor is small, and angle measurement errors can be introduced.
In summary, although the hall sensor can be used to miniaturize and lighten the motor, the hall sensor is used to measure the electrical angle and the mechanical angle of the motor, which makes the measurement result have large error and the error is difficult to eliminate, further resulting in inaccurate control of the rotation angle of the motor and the nacelle.
Disclosure of Invention
The present invention is directed to provide a motor calibration system, a method, a device, a controller and a storage medium for solving the problem in the related art that the error of the hall sensor in measuring the mechanical angle of the motor is large, which results in inaccurate control of the rotational angle of the motor and the nacelle.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a motor calibration system based on a photoelectric encoder, where the motor calibration system includes: a controller, a motor and a photoelectric encoder;
the photoelectric encoder is coaxially and fixedly connected with the motor through a rotating shaft; the motor is provided with a plurality of Hall sensors, the Hall sensors rotate along with the motor, and the uniformly distributed axes of the Hall sensors are collinear with the axis of the motor;
the plurality of Hall sensors and the photoelectric encoder are used for simultaneously monitoring at least one rotating mechanical angle of the motor;
the controller is used for obtaining the plurality of Hall sensors and the measurement data fed back by the photoelectric encoder and generating an angle calibration table, and the angle calibration table is used for calibrating the rotating mechanical angle of the motor monitored by the plurality of Hall sensors.
According to the motor calibration system based on the photoelectric encoder provided by the embodiment of the invention, when the motor rotates, the Hall sensor and the photoelectric encoder coaxially connected with the motor are driven to rotate together, the Hall sensor and the photoelectric encoder simultaneously detect the rotating mechanical angle of the motor, the controller can generate the angle calibration table according to the measurement data fed back by the Hall sensors and the photoelectric encoder, and the rotating mechanical angle of the motor monitored by the Hall sensor can be calibrated through the angle calibration table, so that the process of calibrating the rotating mechanical angle of the motor is more convenient, efficient and accurate.
In a second aspect, an embodiment of the present invention further provides a motor calibration method, which is applied to the motor calibration system based on the photoelectric encoder in the first aspect, and the method includes:
determining a measured mechanical angle of at least one sampling point according to the plurality of Hall sensors;
acquiring a calibration mechanical angle of the at least one sampling point acquired by the photoelectric encoder;
generating an angle calibration table according to the measured mechanical angle and the calibrated mechanical angle of the at least one sampling point, wherein the angle calibration table stores: and the corresponding relation between the measured mechanical angle and the calibrated mechanical angle.
According to the motor calibration method provided by the embodiment of the invention, the Hall sensor and the photoelectric encoder measure one sampling point, an angle calibration table is generated according to the measured mechanical angle determined by the Hall sensor and the calibrated mechanical angle acquired by the photoelectric encoder, the angle calibration table stores the corresponding relation between the measured mechanical angle and the calibrated mechanical angle, and the angle calibration table is used for calibrating the measured mechanical angle determined by the Hall sensor on the motor, so that the finally determined mechanical angle of the motor after rotation is more accurate.
In a third aspect, an embodiment of the present invention further provides a method for calibrating a mechanical angle of a motor, where the method includes:
measuring the mechanical angle of the motor through a plurality of Hall sensors;
and determining a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of Hall sensors, wherein the angle calibration table is obtained by adopting the system of the first aspect or the method of the second aspect.
According to the calibration method for the mechanical angle of the motor, the measured mechanical angles of the Hall sensors are calibrated according to the preset angle calibration table to obtain the calibrated mechanical angle, so that the mechanical angle rotated by the motor can be accurately and reliably determined, the calibrated mechanical angle is closer to the actual angle value, and the precision is higher.
In a fourth aspect, an embodiment of the present invention further provides a device for calibrating a mechanical angle of a motor, where the device includes:
the measuring module is used for measuring the mechanical angle of the motor through a plurality of Hall sensors;
and the determining module is used for determining a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of Hall sensors, wherein the angle calibration table is obtained by adopting the system of the first aspect or the method of the second aspect.
The technical effect corresponding to the device for calibrating the mechanical angle of the motor provided by the embodiment of the invention is similar to that of the method for calibrating the mechanical angle of the motor provided by the third aspect, and is not repeated here.
In a fifth aspect, an embodiment of the present invention further provides a controller, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps of the method according to the second aspect or the third aspect.
The technical effect corresponding to the controller provided by the embodiment of the present invention is similar to that of the motor calibration method provided by the second aspect or the third aspect, and is not repeated here.
In a sixth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method in the second or third aspect.
The technical effect corresponding to the computer-readable storage medium provided by the embodiment of the present invention is similar to the technical effect of the motor calibration method provided by the second aspect or the third aspect, and details are not repeated here.
The invention has the beneficial effects that: the embodiment of the invention provides a motor calibration system, a motor calibration method, a motor calibration device, a controller and a storage medium. Wherein, motor calibration system includes: the device comprises a controller, a motor, a photoelectric encoder and a mounting table. In the motor system, the controller, the motor, the photoelectric encoder and the mounting table are arranged, so that when the motor rotates, the plurality of Hall sensors on the motor can be driven at the same time, and the photoelectric encoder rotates together, so that the Hall sensors and the photoelectric encoder can realize simultaneous measurement of the rotating mechanical angle of the motor. The controller obtains the measurement data fed back by the sensors and generates an angle calibration table, the measurement data fed back by the Hall sensors can be calibrated according to the angle calibration table, and the rotating mechanical angle of the motor can be accurately and reliably obtained. The motor calibration method is similar to a motor calibration system, and the synchronous measurement of the rotating mechanical angle of the motor is realized through the Hall sensor and the photoelectric encoder, and an angle calibration table is generated. In addition, the application also provides a calibration method and a calibration device for calibrating the mechanical angle of the motor by using the angle calibration table, which can continuously adopt the Hall sensor to measure the mechanical angle on the basis of keeping the miniaturization and the light weight of the motor, but the angle calibration table obtained by the method is needed to calibrate the measurement result, thereby avoiding the technical problems of large measurement result error, difficult error elimination and poor motor control precision caused by adopting the Hall sensor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1a is a schematic structural diagram of a motor calibration system based on a photoelectric encoder according to an embodiment of the present invention;
fig. 1b is a schematic structural diagram of a motor calibration system based on a photoelectric encoder according to an embodiment of the present invention;
fig. 1c is a schematic structural diagram of a driving circuit board and a motor in a motor calibration system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a motor calibration apparatus according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a motor calibration apparatus according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a motor calibration apparatus according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Fig. 1 a-fig. 1b are schematic structural diagrams of a photoelectric encoder-based motor calibration system according to an embodiment of the present invention, and as shown in fig. 1a and fig. 1b, the system includes: a controller 11, a motor 12, a photoelectric encoder 13 and a mounting table 14.
Wherein, the photoelectric encoder 13 is coaxially and fixedly connected with the motor 12; the motor 12 is provided with a plurality of Hall sensors 15, the Hall sensors 15 rotate along with the motor 12, and the uniformly distributed axes of the Hall sensors 15 are collinear with the axis of the motor; the plurality of hall sensors 15 and the photoelectric encoder 13 are used for simultaneously monitoring at least one rotating mechanical angle of the motor;
the controller 11 is configured to acquire measurement data fed back by the plurality of hall sensors 15 and the photoelectric encoder 13, and generate an angle calibration table, which is used to calibrate the mechanical angle of rotation of the motor 12 monitored by the plurality of hall sensors 15.
The angle calibration table records measurement data of the hall sensor and the photoelectric encoder of the at least one rotating mechanical angle, such as a corresponding measured mechanical angle and a corresponding calibrated mechanical angle, wherein the measured mechanical angle is measured by the plurality of hall sensors, and the calibrated mechanical angle is measured by the photoelectric encoder.
In the above embodiment, the photoelectric encoder 13 is not only coaxial with the motor 12, but also fixedly connected to the motor 12, so that when the motor 12 rotates around its rotation axis, the photoelectric encoder 13 also rotates together with the motor 12. In addition, the motor 12 is provided with a plurality of hall sensors 15, and the uniform axis thereof is collinear with the axis of the rotating shaft of the motor 12 and rotates along with the motor 12, so that once the motor 12 rotates, the plurality of hall sensors 15 and the photoelectric encoder 13 can rotate together and the rotating angles are the same. A plurality of hall sensors 15 and the photoelectric encoder 13 can simultaneously monitor at least one rotational mechanical angle of the motor, and there is a controller 11 that acquires and generates an angle calibration table.
Alternatively, the fixed coaxial connection of the photoelectric encoder 13 and the motor 12 is realized by means of a mounting table 14. Fig. 1c is a schematic structural diagram of a driving circuit board and a motor in a motor calibration system according to an embodiment of the present invention, as shown in fig. 1a and fig. 1 c:
the photoelectric encoder 13 is located above the mount table 14, and the motor 12 is located below the mount table 14. A load controlled by motor 12, such as nacelle 16, may be fixedly attached to mounting block 14 via its housing, motor 12 being located within nacelle 16 and having stator 1201 and rotor 1202, and rotation control of nacelle 16 being accomplished by controlling rotation of rotor 1202. Considering the application scenario of the nacelle 16, i.e., being suspended under the fuselage or wing of an aircraft, and thus mimicking a testing environment, the nacelle 16 is positioned below the mounting platform 14, with sufficient room below the mounting platform 14 to position the nacelle 16. The photoelectric encoder 13 can be arranged above the mounting table 14 and fixedly connected with the rotating shaft of the motor, so that the motor drives the motor to rotate together.
Furthermore, the nacelle 16 is connected with the mounting table 14 through a damping assembly, so that the technical problems of displacement or inaccurate control precision caused by vibration during the rotation of the motor are avoided, and the test precision is further improved.
According to the motor calibration system based on the photoelectric encoder provided by the embodiment of the invention, when the motor rotates, the Hall sensor and the photoelectric encoder coaxially connected with the motor are driven to rotate together, the Hall sensor and the photoelectric encoder simultaneously detect the rotating mechanical angle of the motor, the controller can generate the angle calibration table according to the measurement data fed back by the Hall sensors and the photoelectric encoder, and the rotating mechanical angle of the motor monitored by the Hall sensor can be calibrated through the angle calibration table, so that the process of calibrating the rotating mechanical angle of the motor is more convenient, efficient and accurate.
Furthermore, the controller can calibrate the rotating mechanical angle of the motor monitored by the Hall sensor through the angle calibration table, so that the process of calibrating the rotating mechanical angle of the motor is more convenient, efficient and accurate.
As shown in fig. 1b, the controller 11 may be electrically connected to the motor 12, the plurality of hall sensors 15, and the photoelectric encoder 13, respectively, the measurement data fed back by the plurality of hall sensors 15 may be a measured mechanical angle, the measurement data fed back by the photoelectric encoder 13 may be a calibrated mechanical angle, and the angle calibration table stores a corresponding relationship between the measured mechanical angle and the calibrated mechanical angle.
In a possible implementation manner, the controller 11 may control the motor 12 to rotate according to at least one preset mechanical angle period, when the motor 12 rotates, the photoelectric encoder 13 coaxial with the motor 12 may be driven to rotate, when the motor 12 rotates, the plurality of hall sensors 15 may collect and send the measured mechanical angle of the motor 12 to the controller 11, the photoelectric encoder 13 may collect and send the calibrated mechanical angle to the controller 11, and the controller 11 may receive the measured mechanical angle and the calibrated mechanical angle, and establish an angle calibration table according to the measured mechanical angle and the calibrated mechanical angle. The preset mechanical angle period may be determined according to the rotation angle range requirement of the load (such as the nacelle 16), the rotation accuracy of the motor 12, the test accuracy of the photoelectric encoder 13, and the like.
Specifically, the photoelectric encoder 13 and the plurality of hall sensors 15 respectively acquire a measured mechanical angle and a calibrated mechanical angle at the same time according to at least one preset sampling point. Optionally, the measurement of the mechanical rotation angle corresponding to each sampling point is completed through a preset interval time. Under the condition that the interval time of the sampling points is the same, the more the preset rotation period is, the more the data collected by the same sampling point is, and the measurement precision of the data can be further improved through an averaging mode.
One mechanical angle period may be 360 degrees, and a sampling interval between two adjacent sampling points is a preset time interval, for example, the preset time interval may be 0.1 second, and may also be other values, which is not limited in the embodiment of the present invention.
In another possible embodiment, the controller 11 may be disposed within the bird 16 or may be a flight control device separate from the bird 16. After the controller 11 calibrates the mechanical rotation angle of the motor 12 monitored by the plurality of hall sensors 15, calibrated measurement data can be obtained, and the calibrated measurement data can accurately represent the mechanical rotation angle of the motor 12, and certainly, the mechanical rotation angle of the nacelle 16.
In addition, the controller 11 can control the motor 12 to drive the nacelle 16 to rotate, the plurality of hall sensors 15 collect and measure the mechanical angle and send the measured mechanical angle to the controller 11, the controller 11 can receive the measured mechanical angle, look up a corresponding calibrated mechanical angle according to the angle calibration table, and calibrate the rotation angle of the rotating shaft according to the calibrated mechanical angle and a preset rotation angle, so that the rotation angle of the rotating shaft of the motor 12 reaches the preset rotation angle, and the precise positioning of the nacelle heading can be realized.
Specifically, the photoelectric encoder 10 has a hollow shaft, and the hollow shaft is spline-connected to the rotating shaft of the motor 12. In this way, the photoelectric encoder 10 can be fixedly connected with the rotating shaft of the motor 12 to achieve the technical effect of synchronous rotation.
Optionally, the plurality of hall sensors 15 includes: a first Hall sensor and a second Hall sensor; the central angle of the circular arcs where the first Hall sensor and the second Hall sensor are located is a preset mechanical angle, and the preset mechanical angle is determined according to the electrical angle difference between the first Hall sensor and the second Hall sensor.
The preset mechanical angle is a mechanical angle corresponding to the electrical angle difference of 90 degrees, and the electrical angle difference is determined according to the preset mechanical angle difference. When the electrical angle difference is 90 degrees, the mechanical angle can be determined by only the measurement data fed back by the two hall sensors 15, and the influence on the measurement accuracy caused by the difference of the different hall sensors 15 can be reduced by the hall sensors 15 with a small number.
In the embodiment of the present invention, in order to make the difference between the corresponding electrical angles of the first hall sensor and the second hall sensor be 90 degrees, the actual mechanical angle (preset mechanical angle) of the first hall sensor and the second hall sensor in the motor 12 is set to 123.75 degrees, which is not specifically limited in the embodiment of the present invention.
Optionally, as shown in fig. 1c, the motor calibration system further includes: the driving circuit board 17, a plurality of hall sensors 15 set up on the driving circuit board 17, the driving circuit board 17 is connected with the motor 12 is coaxial, a plurality of hall sensors 15 are close to the stator 1201 of motor 12.
The driving circuit on the driving circuit board 17 is used for driving the motor 12, and the motor 12 may include a rotor 1202, a stator 1201 and a rotating shaft 1203.
In the embodiment of the present invention, when the motor 12 rotates, the driving circuit board 17 may be driven to rotate, and the plurality of hall sensors 15 disposed on the driving circuit board 17 may also rotate along with the driving circuit board.
In the embodiment of the invention, the measurement of the rotating electrical angle and the rotating mechanical angle of the motor 12 and the variable installation mechanical angle can be realized only by adopting two Hall sensors which are installed according to the preset installation angle, the installation difficulty of the linear Hall and the space occupation of the driving circuit board are reduced, and the influence on the measurement precision caused by the installation difference and the measurement difference of different Hall sensors 15 can be reduced by arranging a small number of Hall sensors 15.
In the above embodiment, the hall sensor is calibrated by the photoelectric encoder, so that the following problem that the following error may occur when the angle is measured by the linear hall sensor can be solved:
1. magnetizing error of the small magnetic steel;
2. when the magnetic field is too large, the linearity of the measurement output of the linear Hall is reduced, and the inherent difference exists between the two linear Hall measurement characteristic curves;
3. mechanical error in mounting of linear hall.
The motor calibration system can be applied to the unmanned aerial vehicle, can be arranged at the bottom or the side of the unmanned aerial vehicle, and can also be applied to equipment with a nacelle, such as a submarine.
Fig. 2 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, which can be applied to the calibration system according to the foregoing embodiment, as shown in fig. 2, the method may include:
s101, determining a measured mechanical angle of at least one sampling point according to the plurality of Hall sensors.
S102, acquiring a calibration mechanical angle of at least one sampling point acquired by the photoelectric encoder.
In the embodiment of the invention, the controller can control the rotating shaft to rotate for at least one mechanical angle period, so that the photoelectric encoder is driven by the rotating shaft to rotate for at least one mechanical angle period, and in one mechanical angle period of rotation of the rotating shaft, the measured mechanical angle of at least one sampling point detected by the plurality of hall sensors is determined, and the calibrated mechanical angle of at least one sampling point acquired by the photoelectric encoder is acquired.
One mechanical angle period may be 360 degrees, and a sampling interval between two adjacent sampling points is a preset time interval, for example, the preset time interval may be 0.1 second, and may also be other values, which is not limited in the embodiment of the present invention.
In a possible implementation manner, the photoelectric encoder can be adjusted to the zero point, the controller drives the motor through the control driving circuit, the motor drives the photoelectric encoder to rotate at a constant speed, the controller can acquire the measured mechanical angle acquired by the plurality of hall sensors at each sampling point and the calibrated mechanical angle acquired by the photoelectric encoder at each sampling point, and the controller can acquire the measured mechanical angle and the calibrated mechanical angle acquired by at least one acquisition point.
It should be noted that the measured mechanical angle and the calibrated mechanical angle of each sampling point are in one-to-one correspondence.
S103, generating an angle calibration table according to the measured mechanical angle and the calibrated mechanical angle of at least one sampling point.
Wherein, the angle calibration table stores: and measuring the corresponding relation between the mechanical angle and the calibration mechanical angle.
In the embodiment of the invention, the measured mechanical angle and the calibrated mechanical angle in each sampling point are corresponding, and the controller can establish the corresponding relation between the measured mechanical angle and the calibrated mechanical angle in the plurality of sampling points according to the measured mechanical angle and the calibrated mechanical angle of the plurality of sampling points, so as to obtain the preset angle calibration table.
In the embodiment of the invention, the controller controls the rotating shaft to rotate for at least one mechanical angle period, correspondingly, the plurality of Hall sensors and the photoelectric encoder collect and measure the mechanical angle and calibrate the mechanical angle in at least one mechanical angle period, and the preset angle calibration table is established based on at least one mechanical angle period, so that the data in the preset angle calibration table is more complete, and the calibrated mechanical angle can be conveniently found through the preset angle calibration table. In actual operation, a mechanical angle period is collected, so that the collection of all sampling point data can be completed, and an angle calibration table is generated. If a plurality of mechanical angle periods are collected, the data collection of the same sampling point can be completed for a plurality of times, so that the precision of the data collection is improved.
According to the motor calibration method provided by the embodiment of the invention, the angle calibration table is generated according to the measured mechanical angle determined by the Hall sensor and the calibrated mechanical angle acquired by the photoelectric encoder, the angle calibration table stores the corresponding relation between the measured mechanical angle and the calibrated mechanical angle, and the angle calibration table is used for calibrating the measured mechanical angle determined by the Hall sensor, so that the finally determined mechanical angle of the motor after rotation is more accurate.
Optionally, fig. 3 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, as shown in fig. 3, in S101, determining a measured mechanical angle of at least one sampling point according to a plurality of hall sensors may include:
s201, acquiring electromotive force data and normalization data collected by a plurality of Hall sensors.
Wherein the electromotive force data may include: the first electromotive force data and the second electromotive force data may be: electromotive force data in the rotor magnetic field direction, i.e., the d-axis, and electromotive force data in the vertical rotor magnetic field direction, i.e., the q-axis.
The normalized data may be preset or previously measured by a plurality of hall sensors.
In one possible embodiment, the plurality of hall sensors may include a first hall sensor and a second hall sensor, and the controller may acquire first electromotive force data collected by the first hall sensor, and second electromotive force data collected by the second hall sensor, and normalization data.
S202, acquiring the measured mechanical angle according to the electromotive force data and the normalized data acquired by the Hall sensors.
In the embodiment of the invention, the controller can perform arc tangent calculation according to the electromotive force data and the normalization data to obtain the measured electrical angle, and then determine the measured mechanical angle according to the measured electrical angle.
In some embodiments, the hall sensor includes a first hall sensor and a second hall sensor, and the first electromotive force collected by the first hall sensor may be EdThe second electromotive force collected by the second hall sensor may be EqAnd the normalization coefficient can be c, the electrical angle is measured
The controller may calculate a measured mechanical angle of rotation of the motor based on the measured electrical angle, the number of electrical angle cycles the motor rotates, and the direction of rotation of the motor.
The number of electrical angle cycles of the motor rotation and the rotation direction of the motor may also be the electrical angle cycles of the rotation shaft rotation and the rotation direction of the rotation shaft.
In addition, the controller may further determine the measured electrical angle of the rotating shaft by using other calculation formulas according to the first electromotive force, the second electromotive force and a preset normalization coefficient, which is not specifically limited in the embodiment of the present invention.
According to the embodiment, the influence of the defect that the magnetic sensitivity coefficients of the Hall sensors are different on the measurement precision is greatly reduced or even eliminated through normalization. When other linear Hall elements are used, the calibration table can be directly used only by repeating the element measurement value normalization step, and repeated calibration and tabulation of the linear Hall elements are avoided.
Optionally, fig. 4 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, and as shown in fig. 4, the process of acquiring the normalized data includes:
s301, acquiring the maximum electromotive force and the minimum electromotive force acquired by each Hall sensor in at least one mechanical angle period of the rotation of the motor.
The maximum electromotive force may include a maximum electromotive force in a rotor magnetic field direction, i.e., a d-axis, and a maximum electromotive force in a direction perpendicular to the rotor magnetic field direction, i.e., a q-axis, and the minimum electromotive force may include a minimum electromotive force in the rotor magnetic field direction, i.e., the d-axis, and a minimum electromotive force in the direction perpendicular to the rotor magnetic field direction, i.e., the q-axis.
In a possible implementation manner, the plurality of hall sensors may include a first hall sensor and a second hall sensor, and the controller may acquire the maximum electromotive force maxE of the rotor magnetic field direction, i.e., the d-axis, acquired by the first hall sensor during one mechanical angle rotation period of the motordAnd minimum first electromotive force minEdAnd the maximum electromotive force maxE perpendicular to the rotor magnetic field direction, i.e., the q-axis, collected by the second Hall sensorqAnd minimum first electromotive force minEq。
And S302, calculating normalized data according to the maximum electromotive force and the minimum electromotive force.
In some embodiments, the controller calculates a first difference between a maximum electromotive force and a minimum first electromotive force of the rotor magnetic field direction, i.e., d-axis, and calculates a maximum electromotive force maxE perpendicular to the rotor magnetic field direction, i.e., q-axisqAnd a second difference value of the minimum first electromotive force, and calculating normalized data based on a ratio of the first difference value and the second difference value.
For example, the maximum electromotive force and the minimum first electromotive force of the d-axis are maxE respectivelydAnd minEdThe maximum electromotive force and the minimum first electromotive force of the q-axis are maxEqAnd minEqThen normalize the data
It should be noted that the controller may further determine the normalization coefficient by using other calculation formulas according to the first maximum electromotive force, the first minimum electromotive force, the second maximum electromotive force, and the second minimum electromotive force, which is not limited in this embodiment of the present invention.
Optionally, the plurality of hall sensors includes: the device comprises a first Hall sensor and a second Hall sensor, wherein the first Hall sensor is used for detecting the electromotive force of the rotating shaft in the magnetic field direction, and the second Hall sensor is used for detecting the electromotive force perpendicular to the magnetic field direction.
The above process is illustrated by way of example:
the Hall sensors generate corresponding electromotive force output E according to the intensity of the magnetic field, so that the difference of the electric angles of two Hall sensors is 90 degrees (the value is a common angle value and can be other angles), and the electromotive forces Ed and Eq of the vertical d axis and q axis can be measured respectively, namely the sine function value and the cosine function value of the electric angle of the position where the motor is located. The nacelle motor used has 8 pairs of rotors with alternating magnetic poles (where the number of pairs of rotors is determined according to the type of motor), and the corresponding electrical angle corresponds to 360 °/8 ° -45 ° for one revolution of the mechanical angle. The two linear hall sensors correspond to a difference of 123.75 ° in the actual mechanical angle in the motor, just so that the corresponding electrical angles differ by 90 °. When the motor rotates, the internal magnetic field changes, and further the electromotive force generated by the Hall sensor changes. However, the two hall sensors installed are necessarily different in magnitude so that the electromotive forces outputted when measuring the magnetic field of the same strength are different. Therefore, the normalization process is required, and the specific process is as follows: the driving motor rotates for a mechanical angle period (such as a mechanical angle of 360 degrees), maximum and minimum voltage values collected by the two linear Hall sensors are recorded, and a normalization coefficient is calculated according to the following formula:
then, after normalizing the electromotive force ratio measured by the two linear hall sensors, calculating the inverse tangent to obtain the current electrical angle measurement value of the motor, which is specifically expressed as follows:
since one electrical angle period corresponds to a mechanical angle of 45 °, θ obtained by calculationEThe angle is reduced from 0-360 DEG to 0-45 DEG, and then the measured value theta of the mechanical angle of the motor rotation can be obtained by calculating according to the number of the electrical angle cycles of the motor rotation and the rotation directionM。
In the embodiment of the invention, the first hall sensor and the second hall sensor are arranged to respectively measure the electromotive force in the magnetic field direction and the electromotive force in the vertical magnetic field direction, that is, the sine function value and the cosine function value of the electric angle of the motor can be respectively measured, the electric angle rotated by the motor can be determined according to the sine function value and the cosine function value of the electric angle, and the mechanical angle rotated by the motor can be further determined according to the electric angle.
In addition, the mechanical angle of the motor which rotates is measured by arranging the first Hall sensor and the second Hall sensor, the number of the arranged Hall sensors is small, the influence on the measurement precision caused by the difference of different Hall sensors can be reduced, and the installation difficulty of the linear Hall sensor and the occupation of the circuit board space are also reduced.
Fig. 5 is a schematic flowchart of a motor calibration method according to an embodiment of the present invention, and the preset angle calibration table used in the method may be generated based on the motor calibration system based on the photoelectric encoder shown in fig. 1a and fig. 1 b. As shown in fig. 5, the method may include:
s401, measuring the mechanical angle of the motor through a plurality of Hall sensors.
The nacelle can further comprise a driving circuit board, the driving circuit board is connected between the controller and the motor, the Hall sensors can be arranged on the driving circuit board at preset mechanical angles, and the direction of the Hall sensors faces towards the stator of the motor. The driving circuit board is provided with a driving circuit, and the controller can drive the motor through the driving circuit.
It should be noted that, when the motor rotates, each hall sensor can simultaneously collect a magnetic field signal, i.e., an electromotive force, of the motor and send the electromotive force to the controller, and the controller can calculate a corresponding measured mechanical angle according to the electromotive force.
S402, determining a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of Hall sensors.
Wherein, predetermine the angle calibration table and store: at least one corresponding relation between the measured mechanical angle and the calibrated mechanical angle; the calibration mechanical angles corresponding to the measurement mechanical angles in the preset angle calibration table are as follows: mechanical angle detected by the photoelectric encoder.
In addition, the preset angle calibration table may include: the measured mechanical angles and the corresponding calibrated mechanical angles in one mechanical angle period may also be multiple measured mechanical angles and their corresponding calibrated mechanical angles in a half mechanical angle period, or may also be set according to actual requirements, which is not specifically limited in the embodiment of the present invention. Illustratively, one mechanical angular period may be 0 degrees to 360 degrees.
In a possible embodiment, the controller may receive the measured mechanical angles sent by the hall sensors, and the controller may look up a calibration mechanical angle corresponding to the measured mechanical angle from a preset angle calibration table, and use the calibration mechanical angle as the mechanical angle rotated by the motor or the nacelle at the current time.
Optionally, the controller calibrates the rotation angle of the rotation shaft according to the calibrated mechanical angle.
Wherein, the controller can be provided with a preset rotation angle of the motor.
In the embodiment of the invention, after the controller determines the calibration mechanical angle, the controller can judge whether the calibration mechanical angle is smaller than the preset rotation angle, if the calibration mechanical angle is smaller than the preset rotation angle, the controller can output a control signal to the motor, and the motor rotates again according to the control signal, so that the rotation angle of the motor or the nacelle meets the preset rotation angle.
In one possible embodiment, the remote controller may determine the preset rotation angle in response to a user's operation and transmit the preset rotation angle to the controller, and accordingly, the controller may receive the preset rotation angle.
In summary, the embodiments of the present invention provide a motor calibration method, which measures a mechanical angle of a motor through a plurality of hall sensors, and determines a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of hall sensors. In the motor calibration method, the controller can calibrate the mechanical angle detected by the Hall sensor according to the preset angle calibration table, so that the controller can acquire the more accurate mechanical angle rotated by the motor.
Moreover, the controller can calibrate the rotation angle of the rotating shaft according to the mechanical angle, so that the calculated rotation angle of the motor and the nacelle is more accurate, the rotation angle of the motor and the nacelle can be accurately controlled, and the heading of the nacelle can be accurately positioned.
Through test detection, the motor calibration system based on the photoelectric encoder provided by the embodiment of the invention corrects the measured mechanical angle acquired by the Hall sensor according to the preset angle calibration table, so that the measured rotary mechanical angle error can be controlled within 0.5 degree.
Optionally, the plurality of hall sensors may include: the device comprises a first Hall sensor and a second Hall sensor, wherein the first Hall sensor is used for detecting the electromotive force of the rotating shaft in the magnetic field direction, and the second Hall sensor is used for detecting the electromotive force perpendicular to the magnetic field direction.
Fig. 6 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, as shown in fig. 6, in S501, the measuring the mechanical angle of the motor by using a plurality of hall sensors may include:
s501, acquiring electromotive force data and normalization data collected by the Hall sensors.
The process of acquiring the normalized data is similar to the process of acquiring the normalized data in S301 to S302, and is not repeated here.
And S502, acquiring the measured mechanical angle according to the electromotive force data and the normalized data acquired by the plurality of Hall sensors.
In the embodiment of the present invention, the processes of S501 to S502 are similar to the processes of S201 to S202, and are not described in detail herein.
Optionally, the controller determines the measured mechanical angle according to the measured electrical angle, the electrical angle period of rotation of the rotating shaft, and the rotation direction of the rotating shaft.
It should be noted that the rotating direction of the rotating shaft can be determined according to the variation trend of the measured electrical angle. For example, when the measured electrical angle is changed from small to large, the rotation direction of the motor may be determined as a forward direction, and when the measured electrical angle is changed from large to small, the rotation direction of the motor may be determined as a reverse direction.
In summary, by determining the normalization coefficient, the influence of different magnetic sensitive coefficients of different hall sensors on the measurement accuracy can be reduced or even eliminated. When the Hall sensor is used, the preset angle calibration table can be directly used only by normalizing the measured value of the Hall sensor, and repeated calibration and tabulation of the Hall sensor are avoided.
Optionally, fig. 7 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, and as shown in fig. 7, the method may further include:
s601, if the preset angle calibration table does not have the calibration mechanical angle corresponding to the measured mechanical angle, determining the calibration mechanical angles corresponding to two adjacent measured mechanical angles in the preset angle calibration table.
In the embodiment of the present invention, the measured mechanical angles and the corresponding calibrated mechanical angles in the preset angle calibration table are limited, and when there is no calibrated mechanical angle corresponding to the measured mechanical angle in the preset angle calibration table, the calibrated mechanical angle may be determined according to two adjacent measured mechanical angles of the measured mechanical angles in the preset angle calibration table.
For example, the preset angle calibration table may include measuring a mechanical angle
Corresponding to a calibrated mechanical angle of
When measuring mechanical angles of
When it is not present in the tableIs greater than
Is less than
It can be determined
For two adjacent measured mechanical angles, the corresponding calibrated mechanical angle of the two adjacent measured mechanical angles is
And S602, calculating according to the calibration mechanical angles corresponding to the two adjacent measurement mechanical angles to obtain the calibration mechanical angle corresponding to the measurement mechanical angle.
The controller may calculate the calibration mechanical angle corresponding to the measured mechanical angle according to a preset calculation formula as follows.
For example, two adjacent measured mechanical angles correspond to a calibrated mechanical angle of
Then measuring the mechanical angleCorresponding calibrated mechanical angle
Wherein the content of the first and second substances,
for two adjacent ones of the measured mechanical angles,and the two adjacent measuring mechanical angles correspond to the calibrated mechanical angle.
In summary, the preset angle calibration table does not have the calibration mechanical angle corresponding to the measured mechanical angle, and the controller can still determine the calibration mechanical angle corresponding to the measured mechanical angle by adopting the above calculation method, so as to realize accurate control of the rotation angle of the motor and the nacelle, and thus realize accurate positioning of the nacelle heading. In some cases, especially if the chip memory is limited so that there are few sampling points during the table making, when the table look-up value is in a highly nonlinear region, the calibration accuracy is reduced due to the fact that the cross-region table look-up is adopted to reduce the curve fitting degree, and in this case, the table look-up method can obtain higher calibration accuracy.
Optionally, fig. 8 is a schematic flow chart of a motor calibration method according to an embodiment of the present invention, and as shown in fig. 8, the calibrating a rotation angle of a rotating shaft according to a calibrated mechanical angle may include:
s701, receiving a control signal comprising a set rotation angle.
In one possible embodiment, the controller may be in wireless communication with a remote controller, and the remote controller may acquire a control signal including the set rotation angle in response to a user operation and transmit the control signal including the set rotation angle to the controller, and accordingly, the controller may receive the control signal.
In addition, the control signal can be a control signal of the nacelle heading, and the rotation angle is set to be an angle required to rotate when the nacelle is changed in heading.
S702, according to the calibration mechanical angle and the set rotation angle, adjusting a Pulse Width Modulation (PWM) signal of the motor, and controlling the rotation of the motor according to the adjusted PWM signal to calibrate the rotation angle of the rotating shaft.
The calibration mechanical angle is obtained by controlling the measurement angle acquired by the Hall sensor and searching a preset angle calibration table.
In some embodiments, the controller may determine whether the rotation angle of the motor reaches the set rotation angle by determining whether the calibrated mechanical angle is smaller than the set rotation angle, and if the calibrated mechanical angle is smaller than the set rotation angle, it indicates that the rotation angle of the motor does not reach the set rotation angle.
In conclusion, the controller controls the motor to rotate again according to the calibrated mechanical angle and the set rotating angle, and the rotating angle of the rotating shaft is calibrated, so that the rotating angles of the motor and the nacelle meet the set rotating angle, and the heading of the nacelle is accurately controlled.
An embodiment of the present invention further provides a motor calibration apparatus, which is applied to the motor calibration system based on the photoelectric encoder in the first aspect, fig. 9 is a schematic structural diagram of the motor calibration apparatus provided in the embodiment of the present invention, and as shown in fig. 9, the apparatus may include:
a measuring module 801, configured to measure a mechanical angle of the motor through a plurality of hall sensors;
the determining module 802 determines a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of hall sensors; the calibration mechanical angles corresponding to the measurement mechanical angles in the preset angle calibration table are as follows: mechanical angle detected by the photoelectric encoder;
optionally, as shown in fig. 10, the measurement module includes:
a first measuring module 8011, configured to obtain electromotive force data and normalized data acquired by the plurality of hall sensors;
the second measuring module 8012 is configured to obtain the measured mechanical angle according to the electromotive force data and the normalized data acquired by the plurality of hall sensors.
Optionally, the plurality of hall sensors includes: the device comprises a first Hall sensor and a second Hall sensor, wherein the first Hall sensor is used for detecting the electromotive force of the rotating shaft in the magnetic field direction, and the second Hall sensor is used for detecting the electromotive force perpendicular to the magnetic field direction.
Optionally, as shown in fig. 11, the apparatus further includes:
the determining module 802 is specifically configured to determine, if the preset angle calibration table does not have a calibration mechanical angle corresponding to the measured mechanical angle, calibration mechanical angles corresponding to two adjacent measured mechanical angles in the preset angle calibration table;
the calculating module 803 is configured to determine, according to the calibration mechanical angles corresponding to the two adjacent measured mechanical angles and according to a preset calculation formula, the calibration mechanical angle corresponding to the measured mechanical angle.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 12 is a schematic structural diagram of a controller according to an embodiment of the present invention, where the controller may be integrated in a terminal device or a chip of the terminal device, and the terminal may be a computing device with a data processing function.
The controller includes: a processor 1001 and a memory 1002.
The memory 1002 is used for storing programs, and the processor 1001 calls the programs stored in the memory 1002 to execute the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (13)
1. A photoelectric encoder based motor calibration system, comprising: a controller, a motor and a photoelectric encoder;
the photoelectric encoder is coaxially and fixedly connected with the motor; the motor is provided with a plurality of Hall sensors, the Hall sensors rotate along with the motor, and the uniformly distributed axes of the Hall sensors are collinear with the axis of the motor;
the plurality of Hall sensors and the photoelectric encoder are used for simultaneously monitoring at least one rotating mechanical angle of the motor;
the controller is used for obtaining the plurality of Hall sensors and the measurement data fed back by the photoelectric encoder and generating an angle calibration table, and the angle calibration table is used for calibrating the rotating mechanical angle of the motor monitored by the plurality of Hall sensors.
2. The system of claim 1, wherein the plurality of hall sensors comprises: a first Hall sensor and a second Hall sensor; the central angle of the circular arcs where the first Hall sensor and the second Hall sensor are located is a preset mechanical angle, and the preset mechanical angle is determined according to the electrical angle difference between the first Hall sensor and the second Hall sensor.
3. The system of claim 1, wherein the motor calibration system further comprises: the driving circuit board is coaxially connected with the motor, the Hall sensors are arranged on the driving circuit board, and the driving circuit on the driving circuit board is used for driving the motor.
4. A motor calibration method, applied to the motor calibration system of any one of claims 1 to 3, the method comprising:
determining a measured mechanical angle of at least one sampling point according to the plurality of Hall sensors;
acquiring a calibration mechanical angle of the at least one sampling point acquired by the photoelectric encoder;
generating an angle calibration table according to the measured mechanical angle and the calibrated mechanical angle of the at least one sampling point, wherein the angle calibration table stores: and the corresponding relation between the measured mechanical angle and the calibrated mechanical angle.
5. The method of claim 4, wherein said determining a measured mechanical angle of at least one sample point from said plurality of Hall sensors comprises:
acquiring electromotive force data and normalization data acquired by the plurality of Hall sensors;
and acquiring the measured mechanical angle according to the electromotive force data and the normalized data acquired by the plurality of Hall sensors.
6. A method for calibrating a mechanical angle of a motor, the method comprising:
measuring the mechanical angle of the motor through a plurality of Hall sensors;
determining a calibration mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of Hall sensors, wherein the angle calibration table is obtained by adopting the method of any one of the claims 4 to 5 or the system of any one of the claims 1 to 3.
7. The method of claim 6, wherein measuring the mechanical angle of the motor with a plurality of Hall sensors comprises:
acquiring electromotive force data and normalization data acquired by the plurality of Hall sensors;
and acquiring the measured mechanical angle according to the electromotive force data and the normalized data acquired by the plurality of Hall sensors.
8. The method of any one of claims 6-7, further comprising:
if the preset angle calibration table does not have the calibration mechanical angle corresponding to the measured mechanical angle, determining the calibration mechanical angles corresponding to two adjacent measured mechanical angles in the preset angle calibration table;
and determining a calibration mechanical angle corresponding to the measured mechanical angle according to the calibration mechanical angle corresponding to the two adjacent measured mechanical angles.
9. An electromechanical machine angle calibration apparatus, the apparatus comprising:
the measuring module is used for measuring the mechanical angle of the motor through a plurality of Hall sensors;
a determining module, configured to determine a calibrated mechanical angle corresponding to the measured mechanical angle according to a preset angle calibration table and the measured mechanical angles of the plurality of hall sensors, where the angle calibration table is obtained by using the method according to any one of claims 4 to 5 or the system according to any one of claims 1 to 3.
10. The calibration device of claim 9, wherein the measurement module comprises:
the first measurement module is used for acquiring electromotive force data and normalization data acquired by the plurality of Hall sensors;
and the second measuring module is used for acquiring the measured mechanical angle according to the electromotive force data and the normalized data acquired by the plurality of Hall sensors.
11. The calibration device of any one of claims 9-10, further comprising: a calculation module;
the determining module is further configured to determine, if the preset angle calibration table does not have a calibration mechanical angle corresponding to the measured mechanical angle, calibration mechanical angles corresponding to two adjacent measured mechanical angles in the preset angle calibration table;
and the calculation module is used for determining a calibration mechanical angle corresponding to the measured mechanical angle according to the calibration mechanical angle corresponding to the two adjacent measured mechanical angles.
12. A controller comprising a memory, a processor, a computer program stored in the memory and operable on the processor, the processor implementing the steps of the method according to any of claims 4 to 8 when executing the computer program.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 4 to 8.
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| CN114383495A (en) * | 2021-11-15 | 2022-04-22 | 北京诺多科技发展有限公司 | double-Hall yaw angle measuring method |
| CN114383495B (en) * | 2021-11-15 | 2023-11-03 | 北京诺多科技发展有限公司 | double-Hall yaw angle measurement method |
| CN114794837A (en) * | 2022-04-01 | 2022-07-29 | 深圳市新博孚智能设备有限公司 | Intelligent curtain and dimming method thereof |
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