CN112104291B - Servo driver power line pulse output control method, system and storage medium - Google Patents
Servo driver power line pulse output control method, system and storage medium Download PDFInfo
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- CN112104291B CN112104291B CN202010875252.4A CN202010875252A CN112104291B CN 112104291 B CN112104291 B CN 112104291B CN 202010875252 A CN202010875252 A CN 202010875252A CN 112104291 B CN112104291 B CN 112104291B
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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
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H11/00—Emergency protective circuit arrangements for preventing the switching-on in case an undesired electric working condition might result
- H02H11/004—Emergency protective circuit arrangements for preventing the switching-on in case an undesired electric working condition might result in case of incorrect phase sequence; with switching for obtaining correct phase sequence
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- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a method, a system and a storage medium for controlling the power line pulse output of a servo driver, wherein the method comprises the following steps: controlling the servo driver to output direct current, wherein the direct current is used for driving a rotor of a servo motor to rotate to a target electrical angle; acquiring an actual electrical angle of a rotor of the servo motor; and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle. According to the embodiment of the invention, the servo driver is controlled to output direct current to the servo motor, the rotor of the servo motor is controlled to rotate to the target electrical angle, the actual electrical angle of the rotor of the servo motor is acquired, and the pulse output of the servo driver is adjusted to be consistent with the actual electrical angle. The invention can be widely applied to the technical field of servo driver control.
Description
Technical Field
The invention relates to the technical field of servo driver control, in particular to a servo driver power line pulse output control method, a servo driver power line pulse output control system and a storage medium.
Background
With the rapid development of power electronic technology, microelectronic technology and permanent magnet material technology and the continuous and deep research of control theory, the servo control system of the servo motor is widely applied by virtue of the advantages of small volume, light weight, excellent speed regulation performance and the like. The servo motor is generally controlled by a three-phase voltage inverter circuit, and in order to achieve an ideal control effect, a UVW phase line of the servo motor needs to be connected with an output interface of a bridge arm of the inverter circuit according to a corresponding relation. However, in practical application, because the power line label of the servo motor is lost or the field wiring is complex, the power line phase line of the servo motor often has a condition of phase sequence error, which causes the alarm of a servo driver or the galloping of the servo motor, etc., and causes mechanical accidents, even influences the personal safety.
At present, the power line phase sequence is generally corrected through fool-proofing of a mechanical structure, but the power line phase sequence is pre-corrected mechanically, and the applicability is low.
Disclosure of Invention
In view of the above, the present invention provides a method, a system and a storage medium for controlling power line pulse output of a servo driver, so as to improve the applicability of power line phase sequence correction.
The first technical scheme adopted by the invention is as follows:
a servo driver power line pulse output control method comprises the following steps:
controlling the servo driver to output direct current, wherein the direct current is used for driving a rotor of a servo motor to rotate to a target electrical angle;
acquiring an actual electrical angle of a rotor of the servo motor;
and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
Further, the controlling the servo driver to output the direct current includes:
and controlling the servo driver to output direct current to any two phases of the servo motor.
Further, the direct current is the direct current with the rated current of the servo motor.
Further, the adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle includes:
acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle;
acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle;
and replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase.
The second technical scheme adopted by the invention is as follows:
a servo driver power line pulse output control system comprising:
the output module is used for controlling the servo driver to output direct current, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle;
the acquisition module is used for acquiring the actual electric angle of the rotor of the servo motor;
and the adjusting module is used for adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
Further, the controlling the servo driver to output the direct current includes:
and controlling the servo driver to output direct current to any two phases of the servo motor.
Further, the direct current is the direct current with the rated current of the servo motor.
Further, the adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle includes:
acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle;
acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle;
and replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase.
The third technical scheme adopted by the invention is as follows:
a servo driver power line pulse output control system comprising:
the encoder is used for acquiring the actual electrical angle of the rotor of the servo motor;
the processor is used for controlling the servo driver to output direct current, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle; and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
The fourth technical scheme adopted by the invention is as follows:
a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the servo driver power line pulse output control method.
According to the embodiment of the invention, the servo driver is controlled to output direct current to the servo motor, the rotor of the servo motor is controlled to rotate to the target electrical angle, the actual electrical angle of the rotor of the servo motor is collected, and the pulse output of the servo driver is adjusted to be consistent with the actual electrical angle.
Drawings
FIG. 1 is a flow chart of a method for controlling the output of power line pulses of a servo driver according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a servo motor correct wiring of the servo driver power line pulse output control method according to the embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a current direction of a servo motor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an electrical angle of a rotor of a servo motor in the method for controlling the power line pulse output of the servo driver according to the embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects produced by the present invention will be clearly and completely described in conjunction with the embodiments and the attached drawings, so as to fully understand the objects, the schemes and the effects of the present invention.
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art. Further, for several described in the following embodiments, it is denoted as at least one.
The embodiment of the invention provides a power line pulse output control method of a servo driver, and the method comprises the following steps with reference to FIG. 1:
s100, controlling the servo driver to output direct current, wherein the direct current is used for driving a rotor of a servo motor to rotate to a target electrical angle;
s200, collecting an actual electric angle of a rotor of the servo motor;
and S300, adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
Specifically, control servo driver output direct current, can be so that servo driver control servo motor's rotor rotates a target electrical angle, if there is the wrong condition of phase sequence connection in the power line between servo driver and the servo motor this moment, servo motor's rotor can rotate an actual electrical angle, through the difference of contrasting actual electrical angle and target electrical angle, servo motor's the phase sequence condition of connecting can be judged, the output of servo driver is adjusted according to servo motor's the phase sequence condition of connecting, thereby reach the effect of rectifying servo motor phase sequence.
The servo driver is also called servo controller and servo amplifier, and is one controller for controlling servo motor, similar to frequency converter and used in common AC motor. The servo motor is generally controlled by three modes of position, speed and moment, so that the high-precision positioning of a transmission system is realized.
The servo motor can control speed and position accuracy very accurately, and can convert a voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output. The servo motor is divided into two categories of direct current servo motors and alternating current servo motors, and is mainly characterized in that when the signal voltage is zero, the signal voltage has no autorotation phenomenon, and the rotating speed is reduced at a constant speed along with the increase of the torque. An alternating current permanent magnet synchronous motor may be used as the servo motor.
The power line is a line for the servo driver to send a control signal to the servo motor, and generally speaking, the power line is the UVW phase line of the servo motor.
The pulse output is a control signal, generally a PWM signal, for driving the servo motor by the servo driver, and the servo driver can control the rotation of the servo motor through the PWM signal.
The rotor is a rotating part of the motor, also called as an armature core, and is provided with an armature winding which generates induced electromotive force after being electrified to serve as a rotating magnetic field and then generates electromagnetic torque to carry out energy conversion.
The target electrical angle corresponds to the electrical angle of the rotor corresponding to the direct current when the power line is correctly connected; referring to fig. 2, a bridge arm of a voltage inverter circuit of a servo driver is sequentially divided into a U-phase bridge arm, a V-phase bridge arm and a W-phase bridge arm from left to right, and when a power line is correctly wired, a U-phase line of a servo motor is in output connection with the U-phase bridge arm, a V-phase line is in output connection with the V-phase bridge arm, and a W-phase line is in output connection with the W-phase bridge arm. The actual electrical angle corresponds to the electrical angle of the rotor corresponding to the direct current under the condition that the power lines are actually connected.
By permutation and combination, referring to fig. 3, the power lines of the servo motors have six different wiring phase sequences; referring to fig. 4, when dc is applied to the stator coil of the servo motor, the stator coil generates a magnetic field in a fixed direction, the direction of the generated magnetic field is different depending on the phase sequence of the connection, and the electrical angle of the rotor lock of the servo motor is also different. The correspondence between the rotor electrical angle and the direction of the direct current can be referred to table 1.
TABLE 1
| Direction of current flow | Rotor electric angleDegree (degree) |
| U goes into V goes out | -30 |
| V goes into U goes out | 150 |
| U goes into W goes out | 30 |
| W goes into U goes out | -150 |
| V goes in and out | 90 |
| W goes into V goes out | -90 |
In some embodiments, said controlling said servo drive to output a direct current comprises:
and controlling the servo driver to output direct current to any two phases of the servo motor.
Specifically, referring to table 1, the servo electronic rotor can be controlled to rotate to a fixed angle by controlling the servo driver to input one-in-one-out current to any two phases of the servo motor.
In some embodiments, the dc power is a dc power of a magnitude of a rated current of the servo motor.
In particular, in order to ensure that the servomotor rotor can be locked into a certain position, the locking can be carried out with a rated current.
In some embodiments, said adjusting the pulsed output of said servo driver as a function of said target electrical angle and said actual electrical angle comprises:
acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle;
acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle;
and replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase.
Specifically, referring to table 1, after a servo motor shaft is locked, reading a position value of an encoder to calculate an actual electrical angle of a servo motor rotor, and under the condition that correct connection can be obtained through a target electrical angle, a first current input phase and a first current output phase corresponding to direct current are obtained, and the remaining phase is a first current no-load phase; a second current input phase and a second current output phase of the direct current can be obtained through the actual electrical angle under the condition of actual connection, and the remaining phase is a second current no-load phase.
For example, if the servo driver locks the direct current of the servo motor passing through the U-in V-out, and the calculated electrical angle is 90 degrees, then according to table 1, it can be obtained that the current direction of the servo motor is V-in W-out, it can be determined that the U-phase bridge arm is connected to the V-phase of the motor power line, the V-phase bridge arm is connected to the W-phase of the motor power line, and the W-phase bridge arm is connected to the U-phase of the motor power line.
In order to ensure the normal operation of the servo motor, bridge arms of the servo driver correspond to phase lines of the servo motor one by one, and pulse outputs of the bridge arms of the voltage inverter circuit are exchanged, so that the exchange of the bridge arms can be realized, and the servo motor is driven to normally operate. Since in the actual connection the first current input corresponds to the second current input phase in the actual connection, the first current output corresponds to the second current output phase in the actual connection, and the first current no-load corresponds to the second current no-load phase in the actual connection. Therefore, the pulse output of the servo driver can be corrected by replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase.
The embodiment of the invention also provides a power line pulse output control system of the servo driver, which comprises:
the output module is used for controlling the servo driver to output direct current, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle;
the acquisition module is used for acquiring the actual electric angle of the rotor of the servo motor;
and the adjusting module is used for adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
In particular, layers, modules, units, platforms, and/or the like included in a system may be implemented or embodied by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
The data processing flows performed by the layers, modules, units, and/or platforms included in the system may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The data processing flows correspondingly executed by layers, modules, units and/or platforms included in the system of embodiments of the invention may be executed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs or one or more applications) collectively executed on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions executable by one or more processors.
The system may be implemented in any type of computing platform operatively connected to a suitable connection, including but not limited to a personal computer, mini computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. The data processing flows correspondingly executed by the layers, modules, units and/or platforms included in the inventive system may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and/or write storage medium, a RAM, a ROM, etc., so that it may be read by a programmable computer, and when the storage medium or device is read by the computer, may be used to configure and operate the computer to perform the processes described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
In some embodiments, said controlling said servo drive to output a direct current comprises:
and controlling the servo driver to output direct current to any two phases of the servo motor.
In some embodiments, the dc power is a dc power of a magnitude of a rated current of the servo motor.
In some embodiments, said adjusting the pulsed output of said servo driver according to said target electrical angle and said actual electrical angle comprises:
acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle;
acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle;
and replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase.
The embodiment of the invention also provides a power line pulse output control system of the servo driver, which comprises:
the encoder is used for acquiring the actual electrical angle of the rotor of the servo motor;
the processor is used for controlling the servo driver to output direct current, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle; and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
Specifically, the contents in the method embodiments are all applicable to the system embodiments, the functions specifically implemented by the system embodiments are the same as those in the method embodiments, and the beneficial effects achieved by the system embodiments are also the same as those achieved by the method embodiments.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer program realizes the power line pulse output control method of the servo driver.
In particular, the storage medium stores processor-executable instructions, which when executed by the processor are configured to perform the steps of the method for processing mutual information according to any one of the above-mentioned method embodiments. For the storage medium, it may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. It can be seen that the contents in the foregoing method embodiments are all applicable to this storage medium embodiment, the functions specifically implemented by this storage medium embodiment are the same as those in the foregoing method embodiments, and the beneficial effects achieved by this storage medium embodiment are also the same as those achieved by the foregoing method embodiments.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "or the like") provided herein, is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The technical solution and/or the embodiments thereof may be variously modified and varied within the scope of the present invention.
Claims (6)
1. A servo driver power line pulse output control method is characterized by comprising the following steps:
controlling the servo driver to output direct current to any two phases of the servo motor, wherein the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle;
acquiring an actual electrical angle of a rotor of the servo motor;
acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle;
acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle;
replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase;
and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
2. The servo driver power line pulse output control method of claim 1, wherein the dc current is a dc current of a magnitude of a rated current of the servo motor.
3. A servo driver power line pulse output control system, comprising:
the output module is used for controlling the servo driver to output direct current to any two phases of the servo motor, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle;
the acquisition module is used for acquiring the actual electric angle of the rotor of the servo motor;
the adjusting module is used for acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle; acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle; replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase; and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
4. The servo driver power line pulse output control system of claim 3, wherein the direct current is a direct current of the magnitude of the rated current of the servo motor.
5. A servo driver power line pulse output control system, comprising:
the encoder is used for acquiring the actual electrical angle of the rotor of the servo motor;
the processor is used for controlling the servo driver to output direct current to any two phases of the servo motor, and the direct current is used for driving a rotor of the servo motor to rotate to a target electrical angle; acquiring a first current input phase, a first current output phase and a first current no-load phase according to the target electrical angle; acquiring a second current input phase, a second current output phase and a second current no-load phase according to the actual electrical angle; replacing the pulse output of the second current input phase with the pulse output of the first current input phase, replacing the pulse output of the second current output phase with the pulse output of the first current output phase, and replacing the pulse output of the second current no-load phase with the pulse output of the first current no-load phase; and adjusting the pulse output of the servo driver according to the target electrical angle and the actual electrical angle.
6. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out a servo driver power line pulse output control method according to claim 1 or 2.
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