CN112003536A - Torque compensation method, storage medium and controller - Google Patents
Torque compensation method, storage medium and controller Download PDFInfo
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- CN112003536A CN112003536A CN202010900280.7A CN202010900280A CN112003536A CN 112003536 A CN112003536 A CN 112003536A CN 202010900280 A CN202010900280 A CN 202010900280A CN 112003536 A CN112003536 A CN 112003536A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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Abstract
The application discloses a torque compensation method, a storage medium and a controller, wherein the method comprises the following steps: acquiring a current cogging torque compensation value corresponding to the current position of a rotor from the cogging torque compensation values, wherein the cogging torque compensation values are stored in an encoder of a servo motor in advance, and the cogging torque compensation values correspond to the positions of the rotor one by one; determining the current of the rotor according to the current cogging torque compensation value and the rated current of the rotor; providing the present rotor current to the servo motor. According to the technical scheme, the output torque of the servo motor can be compensated by the cogging torque compensation value stored in the encoder in advance in the operation process of the servo motor, so that the cogging torque is restrained.
Description
Technical Field
The present disclosure relates to the field of servo driving, and more particularly, to a torque compensation method, a storage medium, and a controller.
Background
The torque ripple is one of servo performance indexes which are of great interest to a servo control system, and refers to a torque deviation which occurs when the output torque of a servo motor at a certain moment does not reach an expected set value. When the magnitude of the deviation value exceeds the prescribed range, the controllability accuracy of the servo control performance of the motor will be affected to various degrees.
The factors causing torque ripple are many, with the cogging torque effect caused by cogging being the most severe. Therefore, suppressing cogging torque is a problem to be solved.
Disclosure of Invention
In order to solve the influence of the cogging torque on the output torque of the servo motor, the application provides a torque compensation method, a storage medium and a controller, and the method specifically comprises the following steps:
in a first aspect, a torque compensation method is provided, which is applied to a servo driver, and includes:
acquiring a current cogging torque compensation value corresponding to the current position of a rotor from the cogging torque compensation values, wherein the cogging torque compensation values are stored in an encoder of a servo motor in advance, and the cogging torque compensation values correspond to the positions of the rotor one by one;
determining the current of the rotor according to the current cogging torque compensation value and the rated current of the rotor;
providing the present rotor current to the servo motor.
Optionally, before obtaining a current cogging torque compensation value corresponding to a current position of the rotor from the cogging torque compensation values, the method further includes:
acquiring a compensation state of the servo motor, wherein the compensation state comprises a first state or a second state, the first state is used for indicating that the servo motor needs to be compensated in the operation process of the servo motor, and the second state is used for indicating that the servo motor does not need to be compensated in the operation process of the servo motor;
and when the compensation state is the first state, acquiring a current cogging torque compensation value corresponding to the current position of the rotor from the cogging torque compensation values.
Optionally, before obtaining a current cogging torque compensation value corresponding to a current position of the rotor from the cogging torque compensation values, the method further includes:
acquiring the running direction of the servo motor, wherein the running direction comprises positive rotation or negative rotation;
and determining the cogging torque compensation value corresponding to the running direction.
Optionally, the cogging torque compensation value is determined as follows:
controlling the servo motor to run at an initial rotating speed and gradually accelerate to obtain test torques corresponding to the rotor at different positions in the process of one-circle rotation of the servo motor;
and determining the cogging torque compensation value according to the rated torque of the servo motor and the test torque.
Optionally, after determining the cogging torque compensation value, the method further includes:
acquiring the encoder type of the encoder;
and controlling to store the cogging torque compensation value into the encoder after determining that the servo driver and the servo motor can normally communicate according to the type of the encoder.
Optionally, the determining that the servo driver and the servo motor can normally communicate according to the encoder type includes:
sending handshake protocol data corresponding to the encoder type to the servo motor;
and if the handshake protocol response data corresponding to the handshake protocol data can be received, determining that the servo driver and the servo motor can normally communicate.
Optionally, the determining the current of the rotor according to the current cogging torque compensation value and the rated current of the rotor includes:
obtaining a compensation current by using the current cogging torque compensation value and a preset torque coefficient;
and determining the current of the rotor according to the compensation current and the rated current of the rotor.
Optionally, providing the present rotor current to the servo motor comprises:
and feeding back the current of the rotor to the servo motor in a current loop operation mode.
In a second aspect, a storage medium is provided, the storage medium comprising a stored program, wherein the program is operable to perform the method steps of the first aspect.
In a third aspect, a controller is provided, which is applied to a servo driver, and includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; wherein:
a memory for storing a computer program;
a processor for performing the method steps of any one of the first aspect by executing a program stored on a memory.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
in the embodiment of the application, a current cogging torque compensation value corresponding to the current position of the rotor is determined from the cogging torque compensation values, the current of the rotor is determined according to the current cogging torque compensation value and the rated current of the rotor, and the current of the rotor is provided for the servo motor. Therefore, according to the technical scheme of the application, the output torque of the servo motor can be compensated in the operation process of the servo motor by using the cogging torque compensation value pre-stored in the encoder, so that the cogging torque is restrained.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a torque compensation method provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a cogging torque test system provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a controller according to an embodiment of the present disclosure.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments, and the illustrative embodiments and descriptions thereof of the present application are used for explaining the present application and do not constitute a limitation to the present application. 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 application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another similar entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, fig. 1 is a schematic flow chart of a torque compensation method applied to a servo driver, the method including:
step S101 acquires a current cogging torque compensation value corresponding to the current position of the rotor from the cogging torque compensation values.
The cogging torque compensation values are pre-stored in an encoder of the servo motor, and correspond to the positions of the rotors one by one.
Specifically, the plurality of cogging torque compensation values stored in the encoder take the position of the rotor as an index, and after the current position of the rotor is obtained, the cogging torque compensation value indexed by the current position is obtained and used as the current cogging torque compensation value.
Alternatively, the cogging torque compensation value is determined as follows:
controlling the servo motor to run at an initial rotating speed and gradually accelerate to obtain corresponding test torques of a rotor at different positions in the process of one-circle rotation of the servo motor;
and determining a cogging torque compensation value according to the rated torque and the test torque of the servo motor.
Since the cogging torque compensation values determined in the forward rotation and the reverse rotation of the servo motor are different from each other, the cogging torque compensation value needs to be determined in the forward rotation and the reverse rotation of the servo motor.
In practical application, the cogging torque compensation value can be obtained by predetermining a cogging torque test system. Referring to fig. 2, fig. 2 is a schematic diagram of a cogging torque test system, which includes a servo driver 210, a servo motor 220, a twin-drag test stand 230, a cogging torque test apparatus 240, and test electronics 250.
Wherein:
the servo driver 210 is connected to the servo motor 220, and is configured to drive the servo motor 220 to operate according to driving parameters, where the driving parameters include a motor rotation speed and a torque limit, the motor rotation speed includes an initial rotation speed and a test motor rotation speed from the cogging torque test apparatus 240, the initial rotation speed is a first rotation speed, the test motor rotation speed is a second rotation speed, the first rotation speed is greater than the second rotation speed, in practical applications, the first rotation speed may be set to 1000rpm, the second rotation speed may be set to 1rpm, and the torque limit is a rated torque.
In this embodiment, the connection between the servo driver 210 and the servo motor 220 may specifically be:
the current source inside the servo driver 210 is connected to the servo motor 220 through the UVW end of the driving cable of the servo motor 220.
The current source is used to provide a torque current for the servo motor 220.
The servo driver 210 has an encoder interface circuit, and an encoder is installed on a rotor of the servo motor 220, and the encoder interface circuit is connected with the encoder through a connecting wire.
The encoder interface circuit is capable of encoding data to be written to the encoder and decoding data read from the encoder.
And the servo motor 220 is mounted on the counter-dragging test platform 230 and is also connected with the cogging torque test device 240 through a coupling, and is used for running under the driving of the servo driver 210.
The cogging torque testing apparatus 240 is further connected to the testing electronic device 250, and is configured to determine a testing torque of the servo motor 220, send the testing torque to the testing electronic device 250, and send the second rotation speed as a testing motor rotation speed to the servo driver 210, where the testing torque corresponds to rotor positions of the servo motor 220 one by one, where the rotor positions are positions of the rotor during one rotation of the servo motor.
And the cogging torque compensation value is the difference value between the rated torque and the test torque.
The following describes a specific implementation process of the servo driver 210 driving the servo motor 220 to operate according to the driving parameters:
the servo driver 210 drives the servo motor 220 to operate at a first rotating speed, wherein when the servo driver 210 drives the servo motor 220 to operate at the first rotating speed, a current source inside the servo driver 210 provides rated torque current for the servo motor 220 through a UVW end of a driving cable; the cogging torque testing device 240 determines a testing torque output when the servo motor 220 operates at a first rotation speed, and when a torque difference between the testing torque and a rated torque is not within a preset torque difference range, the cogging torque testing device 240 feeds back a testing motor rotation speed (i.e., a second rotation speed) to the servo driver 210; the servo driver 210 controls the servo motor 220 to run at an accelerated speed on the basis of the first rotating speed, and determines the test torque again until the torque difference between the test torque and the rated torque is within the preset torque difference range, and the cogging torque test device 240 does not feed back the second rotating speed to the servo driver 210 any more; and after the servo motor rotates for one circle, the connection between the cogging torque test device 240 and the servo motor 220 is disconnected. When the torque difference between the test torque and the rated torque is not within the preset torque difference range, the servo motor cannot output the rated torque even if the fluctuation of the cogging torque is not considered; when the torque difference between the test torque and the rated torque is within the preset torque difference range, the servo motor can output the rated torque if the fluctuation of the cogging torque is not considered.
After the cogging torque compensation value is obtained by using the cogging torque test system, in order to store the cogging torque compensation value in an encoder of the servo motor, it is required to ensure that the servo driver and the servo motor can normally communicate, and therefore, after the cogging torque compensation value is determined, optionally, the method further includes:
acquiring the encoder type of an encoder;
and according to the type of the encoder, after the servo driver and the servo motor can normally communicate, controlling to store the cogging torque compensation value into the encoder.
In practical applications, the type of encoder may vary according to the manufacturer of the encoder.
Determining whether the servo driver and the servo motor can normally communicate according to the encoder type can be implemented by a handshake protocol, optionally determining that the servo driver and the servo motor can normally communicate according to the encoder type, including:
sending handshake protocol data corresponding to the type of the encoder to the servo motor;
and if the handshake protocol response data corresponding to the handshake protocol data can be received, determining that the servo driver and the servo motor can normally communicate.
It should be noted that the servo driver applied in the method embodiment of fig. 1 and the servo driver in fig. 2 may be the same driver or different drivers. That is to say, in this application, the servo driver that controls writing of the cogging torque compensation value to the encoder of the servo motor may be different from the servo driver that controls torque compensation for the servo motor.
And S102, determining the current of the rotor according to the current cogging torque compensation value and the rated current of the rotor.
And the current of the rotor is the current cogging torque compensation value, the torque coefficient and the rated current of the rotor.
And step S103, providing the current of the rotor to the servo motor.
Optionally, when the present rotor current is provided to the servo motor, the present rotor current may be fed back to the servo motor by means of current loop operation.
In the embodiment of the application, a current cogging torque compensation value corresponding to the current position of the rotor is determined from the cogging torque compensation values, the current of the rotor is determined according to the current cogging torque compensation value and the rated current of the rotor, and the current of the rotor is provided for the servo motor. Therefore, according to the technical scheme of the application, the output torque of the servo motor can be compensated in the operation process of the servo motor by using the cogging torque compensation value pre-stored in the encoder, so that the cogging torque is restrained.
In other embodiments of the present application, since the cogging torque compensation values obtained in advance by the motor in the forward rotation and the reverse rotation are different, before obtaining a current cogging torque compensation value corresponding to a current position of the rotor from the cogging torque compensation values, the method further includes:
acquiring the running direction of the servo motor, wherein the running direction comprises positive rotation or negative rotation;
a cogging torque compensation value corresponding to the running direction is determined.
In other embodiments of the present application, optionally, before obtaining the current cogging torque compensation value corresponding to the current position of the rotor from the cogging torque compensation values, the method further includes:
acquiring a compensation state of the servo motor, wherein the compensation state comprises a first state or a second state, the first state is used for indicating that the servo motor needs to be compensated in the operation process of the servo motor, and the second state is used for indicating that the servo motor does not need to be compensated in the operation process of the servo motor;
when the compensation state is the first state, step S101 is performed.
The embodiment of the present application further provides a controller, as shown in fig. 3, including a processor 301, a communication interface 302, a memory 303, and a communication bus 304, where the processor 301, the communication interface 302, and the memory 303 complete mutual communication through the communication bus 304,
a memory 303 for storing a computer program;
the processor 301, when executing the program stored in the memory 303, implements the steps in the above embodiments of the torque compensation method.
The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the terminal and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In yet another embodiment provided by the present application, there is also provided a storage medium having stored therein instructions that, when executed on a computer, cause the computer to perform the torque compensation method in the above-described embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A torque compensation method, applied to a servo driver, comprising:
acquiring a current cogging torque compensation value corresponding to the current position of a rotor from the cogging torque compensation values, wherein the cogging torque compensation values are stored in an encoder of a servo motor in advance, and the cogging torque compensation values correspond to the positions of the rotor one by one;
determining the current of the rotor according to the current cogging torque compensation value and the rated current of the rotor;
providing the present rotor current to the servo motor.
2. The method of claim 1, wherein before obtaining a current cogging torque compensation value corresponding to a current position of the rotor from the cogging torque compensation values, further comprising:
acquiring a compensation state of the servo motor, wherein the compensation state comprises a first state or a second state, the first state is used for indicating that the servo motor needs to be compensated in the operation process of the servo motor, and the second state is used for indicating that the servo motor does not need to be compensated in the operation process of the servo motor;
and when the compensation state is the first state, acquiring a current cogging torque compensation value corresponding to the current position of the rotor from the cogging torque compensation values.
3. The method of claim 2, wherein before obtaining a current cogging torque compensation value corresponding to a current position of the rotor from the cogging torque compensation values, further comprising:
acquiring the running direction of the servo motor, wherein the running direction comprises positive rotation or negative rotation;
and determining the cogging torque compensation value corresponding to the running direction.
4. The method of claim 3, wherein the cogging torque compensation value is determined as follows:
controlling the servo motor to run at an initial rotating speed and gradually accelerate to obtain test torques corresponding to the rotor at different positions in the process of one-circle rotation of the servo motor;
and determining the cogging torque compensation value according to the rated torque of the servo motor and the test torque.
5. The method of claim 4, wherein after determining the cogging torque compensation value, further comprising:
acquiring the encoder type of the encoder;
and controlling to store the cogging torque compensation value into the encoder after determining that the servo driver and the servo motor can normally communicate according to the type of the encoder.
6. The method of claim 5, wherein said determining that the servo drive and the servo motor are in proper communication based on the encoder type comprises:
sending handshake protocol data corresponding to the encoder type to the servo motor;
and if the handshake protocol response data corresponding to the handshake protocol data can be received, determining that the servo driver and the servo motor can normally communicate.
7. The method according to claim 1 or 2, wherein determining a rotor present current from the present cogging torque compensation value and a rotor rated current comprises:
obtaining a compensation current by using the current cogging torque compensation value and a preset torque coefficient;
and determining the current of the rotor according to the compensation current and the rated current of the rotor.
8. The method of claim 7, wherein providing the rotor present current to the servo motor comprises:
and feeding back the current of the rotor to the servo motor in a current loop operation mode.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program is operative to perform the method steps of any of the preceding claims 1 to 8.
10. A controller is applied to a servo driver and comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication between the processor and the memory through the communication bus; wherein:
a memory for storing a computer program;
a processor for performing the method steps of any one of claims 1-8 by executing a program stored on a memory.
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| CN202010900280.7A CN112003536A (en) | 2020-08-31 | 2020-08-31 | Torque compensation method, storage medium and controller |
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| CN202010900280.7A CN112003536A (en) | 2020-08-31 | 2020-08-31 | Torque compensation method, storage medium and controller |
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Cited By (1)
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| CN112994551A (en) * | 2021-03-10 | 2021-06-18 | 深圳市微秒控制技术有限公司 | Servo motor torque compensation method |
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| US20100156332A1 (en) * | 2008-12-20 | 2010-06-24 | Foxnum Technology Co., Ltd. | Compensating system and method for cogging torque of motor |
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