CN112217427A - Topological structure and adjusting method for zero alignment of brushless motors of batch production mechanism - Google Patents
Topological structure and adjusting method for zero alignment of brushless motors of batch production mechanism Download PDFInfo
- Publication number
- CN112217427A CN112217427A CN202010970098.9A CN202010970098A CN112217427A CN 112217427 A CN112217427 A CN 112217427A CN 202010970098 A CN202010970098 A CN 202010970098A CN 112217427 A CN112217427 A CN 112217427A
- Authority
- CN
- China
- Prior art keywords
- zero
- encoder
- motor
- rotor
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010923 batch production Methods 0.000 title claims abstract description 7
- 238000009434 installation Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013024 troubleshooting Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Brushless Motors (AREA)
Abstract
The invention relates to a topological structure and an installation and adjustment method for zero alignment of brushless motors of a batch production mechanism, and belongs to the field of automatic control. The designed topological structure is as follows: the shaft system mounting positioning holes are all designed asymmetrically, and the encoder stator and the encoder rotor are designed with zero-position scribed lines, so that the relative angle alignment errors among the shaft system, the angle sensor and the motor are kept within a certain range during assembly, and the consistency of the alignment errors of mechanisms of batch products is ensured; the zero position rewritable angle sensor can realize the accurate alignment of the zero position of the motor; and carrying out a corresponding debugging method according to the topological structure. The invention ensures that the zero positions of all mechanisms of the batch product are kept to be zero, reduces the zero position management cost and increases the interchangeability of the same parts of the driver or the product.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a topological structure and an installation and adjustment method for zero alignment of a brushless motor of a batch product.
Background
The invention relates to a topological structure and an installation and adjustment method for zero alignment of a brushless motor aiming at batch products, which are mainly applied to a control system with a brushless motor and an intelligent driver configuration and solve the problem that the zero position needs to be managed after a batch mechanism adopts the brushless motor.
The airborne or missile-borne photoelectric servo system and other products need to use a torque motor to drive a photoelectric load to quickly point to a space, a brush motor is increased along with the service life, the abrasion of a carbon brush of the motor is serious, the performance of the motor is easily reduced, and the control system is designed to select the configuration of a brushless motor, an encoder and a driver to avoid the problem of carbon deposition of the motor. When the driver drives the brushless motor, the mechanical zero position of the motor (the mechanical zero position of the motor is derived from the measurement of the shaft angle by the encoder) needs to be identified, so that the motor commutation or current closed-loop control is performed. For the assembled mechanism, the relative relation among the motor, the encoder and the shafting is determined, so that the unique mechanical zero position can be identified through the driver; however, the zero position is difficult to maintain consistent between different mechanisms and different sub-assemblies of the same mechanism.
The zero position corresponding to different mechanism state differences (state differences among different mechanisms and different assemblies of the same mechanism) is different, the zero position is an important parameter for representing the mechanism characteristics of the brushless motor drive, the problem that the driver and the mechanism cannot be interchanged due to the different zero positions of the different mechanism states is solved, and for mass products, interchangeability among different parts can provide powerful guarantee for product troubleshooting, improvement of effective utilization rate of the parts and the like.
Disclosure of Invention
Technical problem to be solved
In order to solve the problem of insufficient interchangeability between different state mechanisms and drivers, the invention designs a topological structure and an assembling and adjusting method for zero alignment of brushless motors of a batch mechanism. Although the present invention is based on the above application background, the application scope of the present invention is not limited to the airborne or missile-borne electro-optical servo system, but also includes all configurations using the brushless motor + position sensor + driver, wherein the brushless motor includes not only the permanent magnet synchronous motor but also the dc brushless motor; the position sensor is not limited to the encoder, and includes other angle sensors with zero-position rewritable function.
Technical scheme
A topological structure aiming at zero alignment of a brushless motor of a batch production mechanism is characterized in that a plurality of asymmetric positioning holes are respectively designed on a shafting rotor and a motor rotor, so that the assembly relationship is unique; a plurality of asymmetric positioning holes are respectively designed on the shafting rotor and the encoder rotor, so that the assembly relationship is unique; a plurality of asymmetric positioning holes are respectively designed on a shafting stator and a motor stator, so that the assembly relationship of the asymmetric positioning holes is unique; a plurality of asymmetric positioning holes are respectively designed on the shafting stator and the encoder stator, so that the assembly relationship is unique; recording aligned zero-position scribed lines on a rotor and a stator of the encoder; the asymmetric positioning holes are circumferentially and unevenly distributed; the encoder is zero-bit rewritable.
The assembling method for the zero alignment of the brushless motors of the batch production mechanism comprises the following steps:
step 1: respectively installing the encoder, the motor, a stator and a rotor of a shaft system together according to the asymmetric positioning holes;
step 2: rotating the encoder rotor such that the encoder rotor zero position scribe line and the stator zero position scribe line are aligned;
and step 3: the motor driver is electrically connected, the zero position of the brushless motor is searched through the motor driver, after repeated identification, the indication angle of the zero position of the motor in the encoder is searched, and the shaft system is rotated to the indication angle of the encoder;
and 4, step 4: keeping the shafting vertical direction and motionless, reconnecting the zero writing tool by the encoder, executing zero writing operation on the encoder, and resetting the zero position of the encoder to the indicating angle of the step 3 through the external zero writing tool.
The encoder null reset procedure described in step 4 is as follows:
step a: inputting a zero writing instruction to an encoder through the outside;
step b: the encoder receives an external instruction and judges whether the instruction is a zero writing instruction, if so, the encoder enters a zero writing mode, otherwise, the encoder enters a normal working mode and outputs original angle information;
step c: after entering a zero writing mode, acquiring a current indication angle of an encoder;
step d: and c, writing the current indication angle into a zero memory of the encoder, if the writing is successful, returning a success mark, and if not, continuously executing the step c.
Advantageous effects
Compared with the prior art, the topological structure and the installation and adjustment method for zero alignment of the brushless motors of the batch production mechanism have the following remarkable advantages:
1. in the aspect of zero position management of batch products, after the topological structure is designed and adjusted, the zero positions of motors of all products are 0; the management cost is reduced;
2. the topological structure of the invention enables products (different products have different angular deviation consistency between the angle sensor and the motor after shafting installation and adjustment) to be suitable for all drivers, and for mass products, interchangeability between different parts is improved from 0 to 100 percent, and the improvement of interchangeability can provide powerful guarantee for product fault troubleshooting, improvement of effective utilization rate of the parts and the like, reduce cost and improve economic benefit.
Drawings
FIG. 1 shows an asymmetric axis positioning hole matching design;
FIG. 2 is an encoder zero reticle design;
FIG. 3 is a flow chart of a zero resettable encoder operation;
fig. 4 shows an assembly operation flow of the brushless motor zero-identical topological structure.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
1. designing asymmetric shafting positioning holes, as shown in figure 1, respectively installing a stator and a rotor of a brushless motor on the stator and the rotor which rotate by a product (for shafting without limit, large-angle deviation between the stator and the rotor can occur); the invention designs an asymmetric positioning hole which exists between the shaft system rotor and the motor rotor; the unique relative angle relation among the shafting rotor, the motor rotor and the encoder rotor is ensured between the shafting rotor and the encoder rotor; similarly, the design of the asymmetric positioning holes also ensures that the relative angle relationship among the shafting stator, the motor stator and the encoder stator is unique, and the relative change cannot occur after different times of assembly and adjustment of different batches of mechanisms; the asymmetric structure ensures zero position relations between different motors and codes, and the phase difference is not large;
2. the aligned zero-position scribed lines are recorded on the rotor and the stator of the encoder, as shown in figure 2, so that the relative relationship between the rotor shaft and the stator shaft is basically fixed, and the alignment error is the visual error of the scribed lines.
3. The zero position of the type-selecting encoder can be rewritten, so that the accurate fine adjustment of the zero position of the motor becomes possible. After the asymmetric assembly required by the invention is completed, the relative axial angle relationship between the motor and the encoder is basically determined, the only error which can be introduced is the positioning error caused by the positioning hole, the error is related to the processing precision of the positioning hole and the radius of the axis where the positioning hole is located, and if the invention is not disclosed in the invention, the zero positions of the motors in the batch product drivers are inconsistent after different times of assembly and adjustment, and the inconsistent degree is influenced by the positioning precision of the positioning hole; and in the external field, the driver cannot be interchanged with the overall assembly in which the motor is installed.
The main work flow diagram of the zero-position rewritable encoder is shown in the attached figure 3 in detail, when the zero-position rewritable encoder receives an external zero writing instruction, the current indication angle can be reset to the zero position, the counting direction of the encoder is kept unchanged from the original direction, and when the zero position of the motor is not coincident with the zero position indicated by the encoder, the zero position of the encoder can be reset, and the zero position are kept coincident. And the reset zero position of the encoder is in power-down nonvolatile state.
4. And (5) assembling and debugging. The assembly operation flow chart of the designed topological structure is shown in the attached figure 4, an assembly worker firstly assembles a product shaft system, respectively assembles the product shaft system according to the requirements, tests the shaft system precision after the product shaft system is installed, and tests whether the shaft system precision meets the design precision required by an encoder or a motor; if so, assembling the motor and the encoder (the installation sequence of the motor and the encoder is determined by the actual design and has no fixed precedence relation); after the assembly is completed, the motor driver is electrically connected, the zero position of the brushless motor is searched through the motor driver, and after repeated identification, the indication angle of the zero position of the motor in the encoder is searched.
The method comprises the steps of rotating a shaft system to an encoder indication angle (motor zero position), keeping the shaft system vertical and still, connecting an encoder with a zero writing tool, performing zero writing operation on the encoder, and completing assembly operation flow of the brushless motor with the same topological structure of the zero position after the zero writing is successful.
When receiving an external zero writing instruction, the zero position rewritable encoder resets the current indication angle to the zero position, the counting direction of the encoder is maintained unchanged from the original direction, and the zero position rewritable encoder has the advantages that when the zero position of the motor is not coincident with the zero position indicated by the encoder, the zero position of the encoder can be reset, and the zero position of the encoder and the zero position keep coincident. And the reset zero position of the encoder is in power-down nonvolatile state.
Claims (3)
1. A topological structure aiming at zero alignment of a brushless motor of a batch production mechanism is characterized in that a plurality of asymmetric positioning holes are respectively designed on a shafting rotor and a motor rotor, so that the assembly relationship is unique; a plurality of asymmetric positioning holes are respectively designed on the shafting rotor and the encoder rotor, so that the assembly relationship is unique; a plurality of asymmetric positioning holes are respectively designed on a shafting stator and a motor stator, so that the assembly relationship of the asymmetric positioning holes is unique; a plurality of asymmetric positioning holes are respectively designed on the shafting stator and the encoder stator, so that the assembly relationship is unique; recording aligned zero-position scribed lines on a rotor and a stator of the encoder; the asymmetric positioning holes are circumferentially and unevenly distributed; the encoder is zero-bit rewritable.
2. The method for assembling the topological structure of claim 1 for zero alignment of the brushless motor of the batch mechanism comprises the following steps:
step 1: respectively installing the encoder, the motor, a stator and a rotor of a shaft system together according to the asymmetric positioning holes;
step 2: rotating the encoder rotor such that the encoder rotor zero position scribe line and the stator zero position scribe line are aligned;
and step 3: the motor driver is electrically connected, the zero position of the brushless motor is searched through the motor driver, after repeated identification, the indication angle of the zero position of the motor in the encoder is searched, and the shaft system is rotated to the indication angle of the encoder;
and 4, step 4: keeping the shafting vertical direction and motionless, reconnecting the zero writing tool by the encoder, executing zero writing operation on the encoder, and resetting the zero position of the encoder to the indicating angle of the step 3 through the external zero writing tool.
3. The assembly method for batch mechanism brushless motor zero alignment according to claim 2, wherein the encoder zero reset procedure in step 4 is as follows:
step a: inputting a zero writing instruction to an encoder through the outside;
step b: the encoder receives an external instruction and judges whether the instruction is a zero writing instruction, if so, the encoder enters a zero writing mode, otherwise, the encoder enters a normal working mode and outputs original angle information;
step c: after entering a zero writing mode, acquiring a current indication angle of an encoder;
step d: and c, writing the current indication angle into a zero memory of the encoder, if the writing is successful, returning a success mark, and if not, continuously executing the step c.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010970098.9A CN112217427B (en) | 2020-09-16 | 2020-09-16 | Topological structure aiming at zero alignment of brushless motor of batch production mechanism and assembling and adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010970098.9A CN112217427B (en) | 2020-09-16 | 2020-09-16 | Topological structure aiming at zero alignment of brushless motor of batch production mechanism and assembling and adjusting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112217427A true CN112217427A (en) | 2021-01-12 |
| CN112217427B CN112217427B (en) | 2024-01-09 |
Family
ID=74048928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010970098.9A Active CN112217427B (en) | 2020-09-16 | 2020-09-16 | Topological structure aiming at zero alignment of brushless motor of batch production mechanism and assembling and adjusting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112217427B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202692935U (en) * | 2012-05-18 | 2013-01-23 | 珠海格力电器股份有限公司 | Motor and zero position detection circuit of magnetoelectric encoder thereof |
| CN203550973U (en) * | 2012-11-22 | 2014-04-16 | 美蓓亚株式会社 | Optical encoder and motor with the same |
| JP2015091187A (en) * | 2013-11-06 | 2015-05-11 | 多摩川精機株式会社 | Motor with encoder |
| CN104795958A (en) * | 2014-12-18 | 2015-07-22 | 遨博（北京）智能科技有限公司 | Brushless direct-current servo system provided with hollow shaft motor and applying mechanical arm |
| US20190368902A1 (en) * | 2017-01-23 | 2019-12-05 | Robert Bosch Gmbh | Encoder wheel assembly and method for ascertaining an absolute angular position and a rotational direction |
| CN111207784A (en) * | 2019-11-25 | 2020-05-29 | 中国航空工业集团公司洛阳电光设备研究所 | Zero-position rewritable encoder and matched electric writing zero system |
-
2020
- 2020-09-16 CN CN202010970098.9A patent/CN112217427B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202692935U (en) * | 2012-05-18 | 2013-01-23 | 珠海格力电器股份有限公司 | Motor and zero position detection circuit of magnetoelectric encoder thereof |
| CN203550973U (en) * | 2012-11-22 | 2014-04-16 | 美蓓亚株式会社 | Optical encoder and motor with the same |
| JP2015091187A (en) * | 2013-11-06 | 2015-05-11 | 多摩川精機株式会社 | Motor with encoder |
| CN104795958A (en) * | 2014-12-18 | 2015-07-22 | 遨博（北京）智能科技有限公司 | Brushless direct-current servo system provided with hollow shaft motor and applying mechanical arm |
| US20190368902A1 (en) * | 2017-01-23 | 2019-12-05 | Robert Bosch Gmbh | Encoder wheel assembly and method for ascertaining an absolute angular position and a rotational direction |
| CN111207784A (en) * | 2019-11-25 | 2020-05-29 | 中国航空工业集团公司洛阳电光设备研究所 | Zero-position rewritable encoder and matched electric writing zero system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112217427B (en) | 2024-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6668143B2 (en) | Motor, motor with encoder, method of manufacturing motor with encoder, and method of replacing encoder with motor with encoder | |
| CN104698974A (en) | Numeric control machine tool and debugging method thereof | |
| CN104753425B (en) | It is a kind of to realize that permagnetic synchronous motor mechanical zero looks for the method with compensation online | |
| US8476851B2 (en) | Motor magnetic pole position correction method | |
| CN112824059B (en) | Encoder data conversion method, device and equipment | |
| CN108907888A (en) | NC machine tool feed system reversing error peak value prediction technique under half-closed loop control | |
| CN109217758B (en) | Online identification method for rotary transformer zero point, motor controller and storage medium | |
| CN104779875A (en) | Closed-loop control system for direct current servo motor | |
| CN111106774A (en) | Calibration method for electrical angle and mechanical angle of foc-driven brushless motor with magnetic encoder | |
| EP0191110B1 (en) | Optical rotary encoder and a method of assembling the same | |
| CN112217427A (en) | Topological structure and adjusting method for zero alignment of brushless motors of batch production mechanism | |
| CN115373433B (en) | Turntable motion compensation method, device, equipment and storage medium | |
| CN109474088B (en) | Method for controlling initial zero offset of permanent magnet motor and rotary transformer | |
| EP0140697B1 (en) | Method for positioning starting point of direct current brushless motor | |
| US7378809B2 (en) | Controller for controlling an electric machine | |
| CN109120189A (en) | A kind of more motor intersection synchronous control systems | |
| CN115189599A (en) | Motor servo control method | |
| CN110994930B (en) | Double-sensing limited-angle brushless direct current torque motor and control method thereof | |
| CN211877057U (en) | Novel angle grid sensing type encoder with phase-change control sensor | |
| CN114719886B (en) | Calibration-free replacement method for rotary shaft system circular grating of inertial navigation system | |
| CN113098340B (en) | Accurate positioning control system and control method for correcting rotation angle offset of stepping motor | |
| CN117824713A (en) | Method for realizing positive and negative limit protection and zero return of absolute value encoder in direct drive system | |
| CN213004944U (en) | Positioning device and motor processing equipment | |
| CN111953243B (en) | Method for precisely determining zero position of brushless torque motor | |
| CN216663471U (en) | Encoder device of sewing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |