CN111082725A - Magnetic rotary encoder angle compensation method, compensation system and motor - Google Patents
Magnetic rotary encoder angle compensation method, compensation system and motor Download PDFInfo
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- CN111082725A CN111082725A CN201911363674.7A CN201911363674A CN111082725A CN 111082725 A CN111082725 A CN 111082725A CN 201911363674 A CN201911363674 A CN 201911363674A CN 111082725 A CN111082725 A CN 111082725A
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- rotary encoder
- angle value
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- magnetic rotary
- angle
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Abstract
The invention relates to the field of motors, in particular to an angle compensation method and system of a magnetic rotary encoder and a motor. The compensation method comprises the following steps: step S1: reading a real-time angle value of the motor by a magnetic rotary encoder to obtain a first angle value; step S2: estimating a true angle value of the motor at the angle of step S1 as a second angle value; step S3: comparing the first angle value with the second angle value to obtain a deviation curve; step S4: obtaining a deviation function according to the deviation curve; step S5: the output value of the magnetic rotary encoder is compensated using a deviation function. The compensation system comprises a controller and a magnetic rotary encoder; the controller compensates the magnetic rotary encoder using the compensation method described above. The motor includes the compensation system described above. According to the invention, the first angle value and the second angle value are compared to obtain the deviation function, so that the compensation of the output value of the magnetic rotary encoder is realized, and the accuracy of a motor control system is ensured.
Description
Technical Field
The invention relates to the field of motors, in particular to an angle compensation method and system of a magnetic rotary encoder and a motor.
Background
When the motor is controlled, the angle of the motor rotor needs to be used, and the position of the rotor can be detected in real time through the rotary magnetic rotary encoder. However, due to the installation error of the magnet at the output shaft end of the rotor, the angle read by the encoder is not very accurate, and the performance of the motor control system is affected.
Disclosure of Invention
The invention aims to provide an angle compensation method, a compensation system and a motor of a magnetic rotary encoder, which can obtain a deviation function by comparing a first angle value with a second angle value, and compensate the output value of the magnetic rotary encoder by using the deviation function, thereby ensuring the accuracy of a motor control system.
The embodiment of the invention is realized by the following steps:
a method of angular compensation for a magnetic rotary encoder, comprising the steps of:
step S1: reading a real-time angle value of the motor by a magnetic rotary encoder to obtain a first angle value;
step S2: estimating a true angle value of the motor at the angle of step S1 as a second angle value;
step S3: comparing the first angle value with the second angle value to obtain a deviation curve;
step S4: obtaining a deviation function according to the deviation curve;
step S5: compensating an output value of the magnetic rotary encoder using the deviation function.
Preferably, steps S1, S3, S4 and S5 are all performed automatically by the controller.
Preferably, after step S4, the obtained deviation function is stored for repeated recall of the same motor at any rotational speed.
Preferably, the storage location of the deviation function is a controller.
Preferably, in step S2, the second angle value is estimated according to: any one or any combination of current, voltage, resistance and inductance of the motor.
Preferably, the motor speed at which the first angle value is read in step S1 is the same as the motor speed at which the second angle value is estimated in step S2.
Preferably, the motor rotation speed in steps S1 and S2 is greater than 50 rpm.
Preferably, the deviation function is obtained by on-line fitting according to the deviation curve.
An angle compensation system of a magnetic rotary encoder comprises a controller and a magnetic rotary encoder; the controller compensates the output value of the magnetic rotary encoder using the compensation method of any one of the above.
An electric machine comprising the compensation system described above.
The embodiment of the invention has the beneficial effects that:
after the first angle value is compared with the second angle value, a deviation function is obtained, and the output value of the magnetic rotary encoder is compensated by the deviation function, so that the accuracy of the motor control system is ensured, and the higher-performance operation of the motor control system is realized.
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. 1 is a flow chart of a method for compensating an angle of a magnetic rotary encoder according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a deviation curve of an angle compensation method for a magnetic rotary encoder 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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to fig. 1. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
A method for compensating an angle of a magnetic rotary encoder, the flow of which is shown in fig. 1, comprising the steps of:
step S1: reading a real-time angle value of the motor by a magnetic rotary encoder to obtain a first angle value;
step S2: estimating a true angle value of the motor at the angle of step S1 as a second angle value;
step S3: comparing the first angle value with the second angle value to obtain a deviation curve;
step S4: obtaining a deviation function according to the deviation curve;
step S5: the output value of the magnetic rotary encoder is compensated using a deviation function.
In this embodiment, the real-time angle value of the motor read by the magnetic rotary encoder is a value with deviation, and the estimated real angle value of the motor is a more accurate value.
However, when the magnetic rotary encoder outputs, the normal output value is the real-time angle value, i.e. the first angle value, of the magnetic rotary encoder reading the motor, and at this time, the angle value output by the magnetic rotary encoder is an angle value with a deviation, which may have a certain influence on the control of the motor, such as the control efficiency is low due to inaccurate control angle.
To solve this problem, in this embodiment, the first angle value is compensated by the offset function to obtain a second angle value, and the magnetic rotary encoder outputs the second angle value as its output value.
That is, in the present invention, the angle value read by the magnetic rotary encoder is different from the angle value output by the magnetic rotary encoder, the read angle value is inaccurate, and the output angle value is compensated and is more accurate.
Specifically, as shown in fig. 2, under a plurality of angles, the first angle values are read and the second angle values are estimated, so that the plurality of first angle values and the plurality of second angle values are in one-to-one correspondence, when the corresponding values are large, after connecting the corresponding points, a deviation curve is formed, and a deviation function can be formed by extending along the deviation curve, so that parameters before and after the curve or between the corresponding points are calculated.
In fig. 2, the x-axis is a first angle value and the y-axis is a second angle value.
It is noted that the deviation curve shown in fig. 2, at least in the present embodiment by way of example, is used to illustrate the principle of formation of the deviation curve, and does not represent that the deviation curve in the present invention is the curve shown in fig. 2.
Preferably, steps S1, S3, S4 and S5 are all performed automatically by the controller.
Specifically, in this embodiment, the controller controls the magnetic rotary encoder to read a real-time angle value of the motor to obtain a first angle value, and performs one-to-one correspondence between the first angle value and a second angle value input into the controller to obtain a deviation curve, and then automatically generates a deviation function according to the deviation curve, and then compensates the read first angle value of the magnetic rotary encoder by using the deviation function, and finally outputs the compensated angle value through the magnetic rotary encoder.
Through automatic control, can be comparatively swift realization magnetic rotary encoder's angle compensation, improve motor control's efficiency.
Specifically, in a preferred embodiment of the present invention, after step S4, the obtained deviation function is stored, and can be repeatedly called for the same motor at any rotation speed.
Because the deviation functions of the same motor are the same at any rotating speed, the rotating angle of the motor can be accurately output at any rotating speed and any condition after the deviation functions of the motor are obtained, and the high-performance operation of motor control is ensured.
Therefore, after the deviation function is stored, repeated calling can be carried out, repeated calculation is not needed, and the efficiency is improved.
Preferably, the memory location of the deviation function is the controller.
More specifically, in this embodiment, the bias function is stored in the memory of the controller.
It should be noted that, in the present embodiment, the deviation function is stored in the memory of the controller, or may be stored in an external memory, and when the deviation function needs to be used, the external memory may be in signal connection with the controller.
Preferably, in step S2, the second angle value is estimated according to: any one or any combination of current, voltage, resistance and inductance of the motor.
In this embodiment, when estimating the second angle value, the second angle value may be estimated according to a current value of the motor at a real-time angle, or may be estimated according to a voltage at the real-time angle, or may be estimated according to a resistance or an inductance at the real-time angle, or may be estimated according to a combination of any mechanism data therein, so as to increase the estimation accuracy.
It should be noted that the basis for estimating the second angle value may be any one or more of the above-mentioned current, voltage, resistance and inductance, but the second angle value of the motor may be estimated by other parameters, as long as the second angle value of the motor at the real-time angle can be estimated.
Preferably, the motor speed at which the first angle value is read in step S1 is the same as the motor speed at which the second angle value is estimated in step S2.
In this embodiment, in order to ensure the matching degree between the first angle value and the second angle value and further ensure the deviation curve obtained through the first angle value and the second angle value, the accuracy of the further obtained deviation function is the same when the first angle value is read and the second angle value is estimated.
Preferably, the motor rotation speed in steps S1 and S2 is greater than 50 rpm.
When the rotating speed of the motor is more than 50 revolutions per minute, the rotating speed tends to be stable, and further the measurement and estimation of the angle are accurate.
It should be noted that the rotation speed of the motor may be set to be greater than 50rpm, or less than or equal to 50rpm, as long as the rotation of the motor is relatively stable, and the angle of the motor can be relatively accurately measured and estimated.
Preferably, the deviation function is obtained by on-line fitting according to the deviation curve.
Specifically, the on-line fitting is mainly realized by polynomial fitting.
It should be noted that the manner of obtaining the deviation function from the deviation curve may be an on-line fitting, or other manners may be used as long as the finally required deviation function can be obtained.
It should be noted that, in the present embodiment, the on-line fitting manner is polynomial fitting, but it is not limited to polynomial fitting, and it may also be on-line fitting in other manners, such as using hyperbolic function, four-parameter equation, etc., as long as it can obtain the finally required deviation function.
An angle compensation system of a magnetic rotary encoder comprises a controller and a magnetic rotary encoder; the controller compensates the output value of the magnetic rotary encoder using any one of the compensation methods described above.
The output value of the magnetic rotary encoder is automatically compensated through the controller, so that the accuracy of the output value of the magnetic rotary encoder is guaranteed, and the accuracy of motor control and the efficiency of motor control are improved.
An electric machine comprising the compensation system described above.
According to the motor provided by the invention, the output angle of the motor can be more accurate through the angle compensation system of the magnetic rotary encoder, so that the accuracy and the efficiency are higher when the motor is controlled.
The embodiment of the invention has the beneficial effects that:
after the first angle value is compared with the second angle value, a deviation function is obtained, the output value of the magnetic rotary encoder is compensated by the deviation function, the accuracy of the motor control system is further guaranteed, and the motor control system is operated at higher performance.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An angle compensation method for a magnetic rotary encoder is characterized by comprising the following steps:
step S1: reading a real-time angle value of the motor by a magnetic rotary encoder to obtain a first angle value;
step S2: estimating a true angle value of the motor at the angle of step S1 as a second angle value;
step S3: comparing the first angle value with the second angle value to obtain a deviation curve;
step S4: obtaining a deviation function according to the deviation curve;
step S5: compensating an output value of the magnetic rotary encoder using the deviation function.
2. The angle compensation method of a magnetic rotary encoder according to claim 1, wherein the steps S1, S3, S4 and S5 are all automatically performed by a controller.
3. The method of claim 2, wherein after step S4, the obtained deviation function is stored for repeated recall at any rotational speed for the same motor.
4. A method of angle compensation of a magnetic rotary encoder according to claim 3, wherein the memory location of the deviation function is a controller.
5. The method of claim 1, wherein the second angle value is estimated according to the following steps in step S2: any one or any combination of current, voltage, resistance and inductance of the motor.
6. The method of claim 1, wherein the motor speed at which the first angle value is read in step S1 is the same as the motor speed at which the second angle value is estimated in step S2.
7. The angle compensation method of a magnetic rotary encoder according to claim 1, wherein the motor rotation speed in steps S1 and S2 is more than 50 rpm.
8. The method of claim 1, wherein the deviation function is derived from the deviation curve by an on-line fit.
9. An angle compensation system of a magnetic rotary encoder is characterized by comprising a controller and the magnetic rotary encoder; the controller compensates the output value of the magnetic rotary encoder using the compensation method of any one of claims 1 to 8.
10. An electrical machine comprising the compensation system of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911363674.7A CN111082725A (en) | 2019-12-25 | 2019-12-25 | Magnetic rotary encoder angle compensation method, compensation system and motor |
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| CN201911363674.7A CN111082725A (en) | 2019-12-25 | 2019-12-25 | Magnetic rotary encoder angle compensation method, compensation system and motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197695A (en) * | 2020-09-30 | 2021-01-08 | 苏州臻迪智能科技有限公司 | Motor angle measuring method, system, equipment and storage medium |
| CN114812378A (en) * | 2022-04-24 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
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| CN103051280A (en) * | 2012-12-19 | 2013-04-17 | 厦门理工学院 | Method for estimating rotating speed and rotor position of low-speed directly-driven permanent magnet synchronous generator |
| CN103501141A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Angle position error detecting and compensating device of round angle position sensor and compensating method |
| CN107449460A (en) * | 2017-07-07 | 2017-12-08 | 银弗（北京）科技有限公司 | A kind of compensation method of rotary encoder and compensation system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103051280A (en) * | 2012-12-19 | 2013-04-17 | 厦门理工学院 | Method for estimating rotating speed and rotor position of low-speed directly-driven permanent magnet synchronous generator |
| CN103501141A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Angle position error detecting and compensating device of round angle position sensor and compensating method |
| CN107449460A (en) * | 2017-07-07 | 2017-12-08 | 银弗（北京）科技有限公司 | A kind of compensation method of rotary encoder and compensation system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197695A (en) * | 2020-09-30 | 2021-01-08 | 苏州臻迪智能科技有限公司 | Motor angle measuring method, system, equipment and storage medium |
| CN114812378A (en) * | 2022-04-24 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
| CN114812378B (en) * | 2022-04-24 | 2023-09-05 | 深蓝汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
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Application publication date: 20200428 |