CN113009233A - Servo motor phase resistance identification method and system and storage medium - Google Patents
Servo motor phase resistance identification method and system and storage medium Download PDFInfo
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Abstract
The application belongs to the technical field of servo motors, and provides a method, a system and a storage medium for identifying phase resistance of a servo motor, wherein the method comprises the following steps: respectively applying a first voltage value and a second voltage value between the U phase and the V phase of the servo motor to obtain a first resistor, wherein the first resistor is the sum of the U-phase resistor and the V-phase resistor of the servo motor; respectively applying a third voltage and a fourth voltage between the U phase and the W phase of the servo motor to obtain a second resistor, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor; applying a fifth voltage and a sixth voltage between the V phase and the W phase of the servo motor respectively to obtain a third resistor, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor; and calculating the U-phase resistance, the V-phase resistance and the W-phase resistance of the servo motor according to the first resistance, the second resistance and the third resistance. The technical scheme of this application can calculate the phase resistance of servo motor three-phase more accurately.
Description
Technical Field
The present disclosure relates to servo motor technologies, and in particular, to a method, a system, and a storage medium for identifying a phase resistance of a servo motor.
Background
With the wide application of servo motors, the requirement on the fineness of parameter adjustment of a motor controller is higher and higher. The stator phase resistance of the servo motor plays a key role in the parameter adjustment process of the motor controller, so that the phase resistance of the motor needs to be accurately identified before the servo motor runs. Currently, the servo motors are generally Y-connected, and phase currents are measured by applying voltages between the servo motors or between the three phases, and phase resistances are estimated assuming that the three-phase resistances are equal. In the manufacturing process of the servo motor, due to the consistency problem, the phase resistances may be different or even have larger differences, and the method cannot obtain more accurate phase resistance.
Disclosure of Invention
The application aims to at least solve one of technical problems in the prior art, and therefore provides a method, a system and a storage medium for identifying phase resistance of a servo motor, which can accurately calculate phase resistance of three phases of the servo motor.
In a first aspect of the present application, a method for identifying a phase resistance of a servo motor is provided, including: respectively applying a first voltage value and a second voltage value between the U phase and the V phase of the servo motor to obtain a first resistor, wherein the first resistor is the sum of the U-phase resistor and the V-phase resistor of the servo motor; wherein the first voltage value is greater than or less than the second voltage value; respectively applying a third voltage and a fourth voltage between the U phase and the W phase of the servo motor to obtain a second resistor, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor; wherein the third voltage is greater than or less than the fourth voltage; applying a fifth voltage and a sixth voltage between the V phase and the W phase of the servo motor respectively to obtain a third resistor, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor; wherein the fifth voltage is greater than or less than the sixth voltage; and calculating the U-phase resistance, the V-phase resistance and the W-phase resistance of the servo motor according to the first resistance, the second resistance and the third resistance.
According to the servo motor phase resistance identification method in the embodiment of the first aspect of the application, at least the following beneficial effects are achieved: the method comprises the steps that voltage is applied between a U-phase resistor and a V-phase resistor of a servo motor, and two different voltage values are taken, so that a first resistor can be obtained, namely the sum of the U-phase resistor and the V-phase resistor; applying voltage between the U phase and the W phase of the servo motor, and obtaining two different voltage values to obtain a second resistor, namely the sum of the U-phase resistor and the W-phase resistor; applying voltage between the V phase and the W phase of the servo motor, and obtaining a third resistor by taking two different voltage values, namely the sum of the V-phase resistor and the W-phase resistor; the U-phase resistance, the V-phase resistance and the W-phase resistance can be accurately calculated through the first resistance, the second resistance and the third resistance. The whole process only needs to apply voltage between every two three phase lines of the servo motor, and samples two different voltage values, so that three phase resistances of the servo motor can be obtained, no extra circuit is needed, namely, the production cost is not needed to be increased, the operation is simple, and the three-phase resistance of the servo motor can be calculated more accurately.
According to some embodiments of the application, further comprising: obtaining the difference rates of the U-phase resistance, the V-phase resistance and the W-phase resistance; and determining the performance state of the servo motor according to the difference rate. According to the U-phase resistor, the V-phase resistor and the W-phase resistor, the difference rate of the U-phase resistor, the V-phase resistor and the W-phase resistor can be obtained, and because the three-phase resistors of the servo motor are required to be the same or the difference cannot exceed a preset threshold value, whether the servo motor breaks down or not can be conveniently obtained according to the difference rate, namely the performance state of the servo motor is judged.
According to some embodiments of the present application, obtaining a rate of difference of the U-phase resistance, the V-phase resistance, and the W-phase resistance includes: acquiring the maximum value and the minimum value of the U-phase resistor, the V-phase resistor and the W-phase resistor; and calculating the difference between the maximum value and the minimum value, and dividing the difference between the maximum value and the minimum value by the minimum value to obtain the difference rate of the U-phase resistance, the V-phase resistance and the W-phase resistance. The difference value between the maximum value and the minimum value of the three-phase resistance of the servo motor is obtained, and then the difference value is divided by the minimum value, so that the accurate difference rate of the three-phase resistance of the servo motor can be obtained.
According to some embodiments of the application, the performance state comprises a fault state, the determining the performance state of the servo motor from the rate of difference comprises: if the difference rate is larger than a preset threshold value, determining the performance state of the servo motor as a fault state; transmitting fault status information to the motor controller. According to different requirements of different customers on the servo motor, a preset threshold value of the difference rate of three-phase resistances of the servo motor can be set, when the difference rate is larger than the preset threshold value, the servo motor is confirmed to be in a fault state, and fault state information is transmitted to a motor controller of the servo motor, so that the motor controller can perform the next action according to the fault state information.
According to some embodiments of the application, the performance state further comprises a normal state, the performance state of the servo motor is determined according to the difference rate, further comprising: if the difference rate is smaller than or equal to a preset threshold value, determining that the performance state of the servo motor is a normal state; and taking the average value of the U-phase resistance, the V-phase resistance and the W-phase resistance as the phase resistance value of the servo motor. When the difference rate of the three-phase resistances of the servo motor is smaller than a preset threshold value, the servo motor is determined to be in a normal state, and the average value of the three-phase resistances is used as a phase resistance value, so that the real resistance value of the servo motor can be accurately reflected.
According to some embodiments of the present application, applying a first voltage value and a second voltage value between a U-phase and a V-phase of a servo motor, respectively, to obtain a first resistance, which is a sum of a U-phase resistance and a V-phase resistance of the servo motor, includes: controlling the U-phase upper bridge arm connected with the phase line of the U-phase to be conducted, the rest upper bridge arms to be turned off, the V-phase lower bridge arm connected with the phase line of the V-phase to be conducted, and the rest lower bridge arms to be turned off; applying a first waveform voltage between the U-phase upper bridge arm and the V-phase lower bridge arm, sampling a first voltage value at a first preset current value, and sampling a second voltage value at a second preset current value; and calculating a first resistor according to the first preset current value, the first voltage value, the second preset current value and the second voltage value, wherein the first resistor is the sum of a U-phase resistor and a V-phase resistor of the servo motor. The sum of the U-phase resistance and the V-phase resistance can be accurately calculated by conducting only the U-phase upper bridge arm and the V-phase lower bridge arm, applying a first waveform voltage between the U-phase upper bridge arm and the V-phase lower bridge arm, sampling two preset currents on the first waveform voltage, obtaining two voltage values corresponding to the two preset current values, and calculating the sum of the U-phase resistance and the V-phase resistance according to the two different preset currents and the two corresponding voltage values.
According to some embodiments of the present application, applying a third voltage and a fourth voltage between U-phase and W-phase of the servo motor, respectively, and obtaining a second resistance, which is a sum of U-phase resistance and W-phase resistance of the servo motor, includes: controlling a U-phase lower bridge arm connected with a phase line of the U-phase to be conducted, turning off the rest lower bridge arms, controlling a W-phase upper bridge arm connected with a phase line of the W-phase to be conducted, and turning off the rest upper bridge arms; applying a voltage with a second waveform between the U-phase lower bridge arm and the W-phase upper bridge arm, sampling a third voltage at a third preset current, and sampling a fourth voltage at a fourth preset current; and calculating a second resistor according to the third preset current, the third voltage, the fourth preset current and the fourth voltage, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor. The sum of the U-phase resistance and the W-phase resistance can be accurately calculated by conducting only the U-phase lower bridge arm and the W-phase upper bridge arm, applying a second waveform voltage between the U-phase lower bridge arm and the W-phase upper bridge arm, sampling two preset currents on the second waveform voltage, obtaining two voltage values corresponding to the two preset current values, and calculating the sum of the U-phase resistance and the W-phase resistance according to the two different preset currents and the two corresponding voltage values.
According to some embodiments of the present application, applying a fifth voltage and a sixth voltage between V-phase and W-phase of the servo motor, respectively, and obtaining a third resistance, which is a sum of V-phase resistance and W-phase resistance, includes: controlling a V-phase upper bridge arm connected with a phase line of the V-phase to be conducted, turning off the rest upper bridge arms, turning on a W-phase lower bridge arm connected with a phase line of the W-phase, and turning off the rest lower bridge arms; applying a voltage with a third waveform between the V-phase upper bridge arm and the W-phase lower bridge arm, sampling a fifth voltage at a fifth preset current, and sampling a sixth voltage at a sixth preset current; and calculating a third resistor according to the fifth preset current, the fifth voltage, the sixth preset current and the sixth voltage, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor. The sum of the V-phase resistance and the W-phase resistance can be accurately calculated by conducting only the V-phase upper bridge arm and the W-phase lower bridge arm, applying a voltage with a third waveform between the V-phase upper bridge arm and the W-phase lower bridge arm, sampling two preset currents on the voltage with the third waveform, obtaining two voltage values corresponding to the two preset current values, and obtaining the sum of the V-phase resistance and the W-phase resistance according to the two different preset currents and the two corresponding voltage values.
In a second aspect of the present application, a servo motor phase resistance identification system is provided, including: the servo motor phase resistance identification method comprises at least one memory, at least one processor and at least one program instruction, wherein the program instruction is stored on the memory and can be operated on the processor, and the processor is used for executing the servo motor phase resistance identification method provided by the first aspect.
In a third aspect of the present application, a storage medium is provided, where program instructions are stored on the storage medium, and the program instructions are used to execute the method for identifying a phase resistance of a servo motor provided in the first aspect of the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart illustrating a method for identifying a phase resistance of a servo motor according to an embodiment of the present disclosure;
FIG. 2 is a logic diagram illustrating a method for identifying phase resistance of a servo motor according to an embodiment of the present disclosure;
fig. 3 is a schematic circuit structure diagram of a servo motor phase resistance identification method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a simplified circuit structure of a method for identifying a phase resistance of a servo motor according to an embodiment of the present disclosure;
fig. 5 is a schematic current direction diagram of a servo motor phase resistance identification method according to an embodiment of the present disclosure.
Reference numerals:
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions. The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
Referring to fig. 1, in a first aspect of the present application, a method for identifying a phase resistance of a servo motor is provided, including:
s100, respectively applying a first voltage value and a second voltage value between the U phase and the V phase of the servo motor 100 to obtain a first resistor, wherein the first resistor is the sum of the U-phase resistor and the V-phase resistor of the servo motor 100; wherein the first voltage value is greater than or less than the second voltage value;
s200, respectively applying a third voltage and a fourth voltage between the U-phase and the W-phase of the servo motor 100 to obtain a second resistor, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor 100; wherein the third voltage is greater than or less than the fourth voltage;
s300, applying a fifth voltage and a sixth voltage between the V phase and the W phase of the servo motor 100 respectively to obtain a third resistor, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor; wherein the fifth voltage is greater than or less than the sixth voltage;
and S400, calculating the U-phase resistance, the V-phase resistance and the W-phase resistance of the servo motor 100 according to the first resistance, the second resistance and the third resistance.
Referring to fig. 2, by applying a voltage between U-phase and V-phase of servo motor 100 and taking two different voltage values, a first resistance, i.e., U-phase resistance R, can be obtaineduAnd a V-phase resistor RvSum Ru+Rv(ii) a By applying a voltage between the U-phase and W-phase of the servo motor 100 and taking two different voltage values, a second resistance, i.e., a U-phase resistance R, can be obtaineduAnd W phase resistance RWSum Ru+RW(ii) a By applying a voltage between the V-phase and W-phase of the servo motor 100 and taking two different voltage values, a third resistance, i.e., a V-phase resistance R, can be obtainedvAnd W phase resistance RWSum Rv+RW(ii) a The U-phase resistor R can be accurately calculated through the first resistor, the second resistor and the third resistoruV-phase resistor RvAnd W phase resistance RW. The whole process only needs to apply voltage between every two three phase lines of the servo motor 100 and sample two different voltage values, so that three phase resistors of the servo motor 100 can be obtained, no additional circuit is needed, namely, the production cost is not needed to be increased, the operation is simple, and the three-phase resistors of the servo motor 100 can be calculated more accurately.
In some embodiments of the present application, further comprising: obtaining U-phase resistance RuV-phase resistor RvAnd W phase resistance RWThe rate of difference of (a); the performance state of the servo motor 100 is determined according to the difference rate. According to U-phase resistance RuV-phase resistor RvAnd W phase resistance RWObtaining U-phase resistance RuV-phase resistor RvAnd W phase resistance RWBecause the three-phase resistances of the servo motor 100 are required to be the same or the difference cannot exceed the preset threshold, whether the servo motor 100 fails or not can be conveniently obtained according to the difference rate, that is, the failure state of the servo motor 100 is judged.
Specifically, the preset threshold may be set to 10%, that is, when the difference rate of the three-phase resistances is greater than 10%, it is determined that the servo motor 100 is in a fault state, fault state information is transmitted to the motor controller according to the fault state of the servo motor 100, and the motor controller sends an alarm according to the fault state information to prompt that the servo motor 100 has a fault. Of course, the failure of the servo motor 100 may be a problem of three-phase imbalance caused by an excessively large difference rate of three-phase resistances, or a problem of short circuit or open circuit of three phases.
In some embodiments of the present application, the U-phase resistance R is obtaineduV-phase resistor RvAnd W phase resistance RWThe difference rate of (a) includes: obtaining U-phase resistance RuV-phase resistor RvAnd W phase resistance RWMaximum and minimum values of (1); calculating the difference between the maximum value and the minimum value, and dividing the difference between the maximum value and the minimum value by the minimum value to obtain the U-phase resistance RuV-phase resistor RvAnd W phase resistance RWThe rate of difference of (a). The accurate difference rate of the three-phase resistances of the servo motor 100 can be obtained by taking the difference value between the maximum value and the minimum value of the three-phase resistances of the servo motor 100 and dividing the difference value by the minimum value.
Of course, in the case where the phase resistances of the three phases have been obtained, the rate of difference in the resistances of the three phases may be calculated in other manners. For example, SPSS difference analysis is carried out to determine the difference rate of the three-phase resistance.
In some embodiments of the present application, the performance state comprises a fault state, and determining the performance state of the servo motor 100 according to the rate of difference comprises: if the difference rate is greater than a preset threshold value, determining that the performance state of the servo motor 100 is a fault state; transmitting fault status information to the motor controller. According to different requirements of different customers on the servo motor 100, a preset threshold value of the difference rate of the three-phase resistance of the servo motor 100 can be set, when the difference rate is larger than the preset threshold value, the servo motor 100 is confirmed to be in a fault state, and fault state information is transmitted to a motor controller of the servo motor 100, so that the motor controller can perform the next action according to the fault state information.
Specifically, the servo motor 100 can be prompted to have a fault in a sound alarm mode, and the servo motor 100 can also be prompted to have a fault through an indicator light. Of course, the severity of the failure of the servo motor 100 may be indicated by a different sound or a different colored indicator light.
In some embodiments of the present application, the performance state further includes a normal state, and the determining the performance state of the servo motor 100 according to the difference rate further includes: if the difference rate is less than or equal to the preset threshold, determining that the performance state of the servo motor 100 is a normal state; resistance R of U phaseuV-phase resistor RvAnd W phase resistance RWThe average value of (a) is used as the phase resistance value of the servo motor 100. When the difference rate of the three-phase resistances of the servo motor 100 is smaller than the preset threshold, it is determined that the servo motor 100 is in a normal state, and the actual resistance value of the servo motor 100 can be more accurately reflected by taking the average value of the three-phase resistances as the phase resistance value.
Referring to fig. 3, in some embodiments of the present application, a first resistance, which is a U-phase resistance R of the servo motor 100, is obtained by applying a first voltage value and a second voltage value between the U-phase and the V-phase of the servo motor 100, respectivelyuAnd a V-phase resistor RvSum Ru+RvThe method comprises the following steps: controlling the U-phase upper bridge arm 210 connected with the phase line of the U-phase to be conducted, the rest upper bridge arms to be turned off, the V-phase lower bridge arm 240 connected with the phase line of the V-phase to be conducted, and the rest lower bridge arms to be turned off; applying a voltage with a first waveform between the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240, sampling a first voltage value at a first preset current value, and sampling a second voltage value at a second preset current value; calculating a first resistor according to the first preset current value, the first voltage value, the second preset current value and the second voltage value, wherein the first resistor is a U-phase resistor R of the servo motor 100uAnd a V-phase resistor RvSum Ru+Rv. By only conducting the U-phase upper arm 210 and the V-phase lower arm 240, applying a first waveform voltage between the U-phase upper arm 210 and the V-phase lower arm 240, sampling two preset currents on the first waveform voltage, and obtaining two voltage values corresponding to the two preset current values, from the two different preset currents and the two corresponding voltage values,can accurately calculate the sum R of the U-phase resistance and the V-phase resistanceu+Rv。
Specifically, since the resistance of the servo motor 100 is generally small, the output voltage should be increased between several ohms and tens of ohms, so as to reduce the influence of current sampling noise and IGBT voltage drop on the identification accuracy. A voltage Uuv of a first waveform is applied to the input end of U-phase upper arm 210, and the first waveform is a pulse waveform PWM waveform with a variable duty ratio. In the specific operation process, the PWM waveform is gradually increased until the current reaches the rated current value, 80% and 100% of the rated current value are taken as a first preset current value and a second preset current value on the PWM waveform respectively, and a first voltage value and a second voltage value corresponding to the first preset current value and the second preset current value are taken as the PWM waveform.
Referring to fig. 4, by applying two different voltages between the U-phase and the V-phase of the servo motor 100, two points with a small current difference, that is, 80% of the rated current and 100% of the rated current on the PWM waveform, can be sampled, and at this time, the voltage drop of the two transistors is small in the two current changes, and the voltage drop of the two transistors can be considered to be the same, so that Ru + Rv ═ (Uuv2-Uuv 1)/(I)N2-IN1)。
Of course, sampling at other two points on the PWM waveform is also possible, such as 80% of the rated current and 90% of the rated current.
Similarly, values for Ru + Rw and Rv + Rw can be calculated. The resistance values of the three phase resistors can be calculated by combining the three equations.
Referring to fig. 5, the current direction in which a voltage is applied between the U-phase and the V-phase is I1, the current direction in which a voltage is applied between the V-phase and the W-phase is I2, and the current direction in which a voltage is applied between the U-phase and the W-phase is I3.
In some embodiments of the present application, applying a third voltage and a fourth voltage between U-phase and W-phase of servo motor 100, respectively, and obtaining a second resistance, which is a sum Ru + Rw of U-phase resistance Ru and W-phase resistance Rw of servo motor 100, includes: controlling the U-phase lower bridge arm 220 connected with the phase line of the U-phase to be conducted, the rest upper bridge arms to be turned off, the W-phase upper bridge arm 250 connected with the phase line of the W-phase to be conducted, and the rest upper bridge arms to be turned off; applying a voltage with a second waveform between the U-phase lower bridge arm 220 and the W-phase upper bridge arm 250, sampling a third voltage at a third preset current, and sampling a fourth voltage at a fourth preset current; and calculating a second resistance according to the third preset current, the third voltage, the fourth preset current and the fourth voltage, wherein the second resistance is the sum of the U-phase resistance and the W-phase resistance of the servo motor 100. The sum Ru + Rw of the U-phase resistor Ru and the W-phase resistor Rw can be accurately calculated by conducting only the U-phase lower bridge arm 220 and the W-phase upper bridge arm 250, applying a second waveform voltage between the U-phase lower bridge arm 220 and the W-phase upper bridge arm 250, sampling two preset currents on the second waveform voltage, obtaining two voltage values corresponding to the two preset current values, and obtaining the sum Ru + Rw of the U-phase resistor Ru and the W-phase resistor Rw according to the two different preset currents and the two corresponding voltage values.
In some embodiments of the present application, applying a fifth voltage and a sixth voltage between the V-phase and the W-phase of the servo motor 100, respectively, to obtain a third resistance, where the third resistance is a sum Rv + Rw of the V-phase resistance Rv and the W-phase resistance Rw, and the method includes: controlling the V-phase upper bridge arm 230 connected with the phase line of the V-phase to be conducted, the rest upper bridge arms to be turned off, the W-phase lower bridge arm 260 connected with the phase line of the W-phase to be conducted, and the rest lower bridge arms to be turned off; applying a voltage with a third waveform between the V-phase upper bridge arm 230 and the W-phase lower bridge arm 260, sampling a fifth voltage at a fifth preset current, and sampling a sixth voltage at a sixth preset current; and calculating a third resistor according to the fifth preset current, the fifth voltage, the sixth preset current and the sixth voltage, wherein the third resistor is the sum Rv + Rw of the V-phase resistor Rv and the W-phase resistor Rw. By only conducting the V-phase upper arm 230 and the W-phase lower arm 260, applying a voltage of a third waveform between the V-phase upper arm 230 and the W-phase lower arm 260, sampling two preset currents on the voltage of the third waveform, and obtaining two voltage values corresponding to the two preset current values, the sum Rv + Rw of the V-phase resistance Rv and the W-phase resistance Rw can be accurately calculated from the two different preset currents and the two corresponding voltage values.
In a second aspect of the present application, a servo motor phase resistance identification system is provided, including: the servo motor phase resistance identification method comprises at least one memory, at least one processor and at least one program instruction, wherein the program instruction is stored on the memory and can be operated on the processor, and the processor is used for executing the servo motor phase resistance identification method provided by the first aspect.
In a third aspect of the present application, a storage medium is provided, where program instructions are stored on the storage medium, and the program instructions are used to execute the method for identifying a phase resistance of a servo motor provided in the first aspect of the present application.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
The following describes a servo motor phase resistance identification method according to an embodiment of the present application in detail with reference to fig. 1 and 5. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting.
Referring to fig. 1 to 5, an embodiment of the present application provides a method for identifying a phase resistance of a servo motor, including: controlling the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240 to be connected, and controlling the U-phase lower bridge arm 220, the V-phase upper bridge arm 230, the W-phase upper bridge arm 250 and the W-phase lower bridge arm 260 to be disconnected; applying a pulse waveform PWM waveform with a variable duty ratio between the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240, sampling at 80% of rated current value and 100% of rated current value on the PWM waveform, and obtaining voltage values corresponding to the two currents, namely a first voltage value and a second voltage value; the sum Ru + Rv of the U-phase resistor Ru and the V-phase resistor Rv of the servo motor 100 can be calculated according to the 80% rated current value, the 100% rated current value and the voltage values corresponding to the two currents; the sum Ru + Rw of the U-phase resistor Ru and the W-phase resistor Rw of the servo motor 100, and the sum Rv + Rw of the V-phase resistor Rv and the W-phase resistor Rw can be calculated by the same method; acquiring the maximum value and the minimum value of the U-phase resistor Ru, the V-phase resistor Rv and the W-phase resistor Rw; calculating the difference between the maximum value and the minimum value, and dividing the difference between the maximum value and the minimum value by the minimum value to obtain the difference rate of Ru, Rv and Rw; determining a fault state of the servo motor 100 according to the difference rate, wherein the performance state comprises a fault state and a normal state; if the difference rate is greater than the preset threshold value by 10%, determining that the performance state of the servo motor 100 is a fault state; transmitting fault state information to the motor controller; if the difference rate is less than or equal to the preset threshold value of 10%, determining that the performance state of the servo motor 100 is a normal state; the average value of Ru, Rv, and Rw is taken as the phase resistance value of the servo motor 100.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The program instructions comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, Read Only Memory (ROM), Random Access Memory (RAM), electrical carrier signals, telecommunications signals, software distribution medium, and the like. It should be noted that the storage medium may include contents that are appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, the storage medium does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
Claims (10)
1. A servo motor phase resistance identification method is characterized by comprising the following steps:
respectively applying a first voltage value and a second voltage value between a U phase and a V phase of a servo motor to obtain a first resistor, wherein the first resistor is the sum of the U-phase resistor and the V-phase resistor of the servo motor; wherein the first voltage value is greater than or less than the second voltage value;
respectively applying a third voltage and a fourth voltage between the U phase and the W phase of the servo motor to obtain a second resistor, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor; wherein the third voltage is greater than or less than the fourth voltage;
applying a fifth voltage and a sixth voltage between the V phase and the W phase of the servo motor respectively to obtain a third resistor, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor; wherein the fifth voltage is greater than or less than the sixth voltage;
and calculating the U-phase resistance, the V-phase resistance and the W-phase resistance of the servo motor according to the first resistance, the second resistance and the third resistance.
2. The method for identifying the phase resistance of the servo motor as claimed in claim 1, further comprising:
obtaining the difference rate of the U-phase resistor, the V-phase resistor and the W-phase resistor;
and determining the performance state of the servo motor according to the difference rate.
3. The method for identifying the phase resistance of the servo motor according to claim 2, wherein the obtaining the difference rate of the U-phase resistance, the V-phase resistance and the W-phase resistance comprises:
acquiring the maximum value and the minimum value of the U-phase resistor, the V-phase resistor and the W-phase resistor;
calculating a difference between the maximum value and the minimum value;
and dividing the difference value by the minimum value to obtain the difference rate of the U-phase resistance, the V-phase resistance and the W-phase resistance.
4. The method of claim 2, wherein the performance state comprises a fault state, and wherein determining the performance state of the servo motor according to the rate of difference comprises:
if the difference rate is larger than a preset threshold value, determining that the performance state of the servo motor is a fault state;
transmitting fault status information to the motor controller.
5. The method for identifying the phase resistance of the servo motor as claimed in claim 4, wherein the performance status further comprises a normal status, and the determining the performance status of the servo motor according to the difference rate further comprises:
if the difference rate is smaller than or equal to a preset threshold value, determining that the performance state of the servo motor is a normal state;
and taking the average value of the V-phase resistor, the U-phase resistor and the W-phase resistor as the phase resistance value of the servo motor.
6. The method for identifying the phase resistance of the servo motor according to claim 1, wherein the step of applying a first voltage value and a second voltage value between the U-phase and the V-phase of the servo motor to obtain a first resistance, the first resistance being a sum of a U-phase resistance and a V-phase resistance of the servo motor comprises:
controlling the U-phase upper bridge arm connected with the phase line of the U-phase to be conducted, the rest upper bridge arms to be turned off, the V-phase lower bridge arm connected with the phase line of the V-phase to be conducted, and the rest lower bridge arms to be turned off;
applying a first waveform voltage between the U-phase upper bridge arm and the V-phase lower bridge arm, sampling a first voltage value at a first preset current value, and sampling a second voltage value at a second preset current value;
and calculating a first resistor according to the first preset current value, the first voltage value, the second preset current value and the second voltage value, wherein the first resistor is the sum of a U-phase resistor and a V-phase resistor of the servo motor.
7. The method for identifying phase resistance of a servo motor according to claim 1, wherein the step of applying a third voltage and a fourth voltage between the U-phase and the W-phase of the servo motor, respectively, to obtain a second resistance, which is a sum of the U-phase resistance and the W-phase resistance of the servo motor, comprises:
controlling a U-phase lower bridge arm connected with the phase line of the U-phase to be conducted, turning off the rest lower bridge arms, controlling a W-phase upper bridge arm connected with the phase line of the W-phase to be conducted, and turning off the rest upper bridge arms;
applying a voltage with a second waveform between the U-phase lower bridge arm and the W-phase upper bridge arm, sampling a third voltage at a third preset current, and sampling a fourth voltage at a fourth preset current;
and calculating a second resistor according to the third preset current, the third voltage, the fourth preset current and the fourth voltage, wherein the second resistor is the sum of the U-phase resistor and the W-phase resistor of the servo motor.
8. The method for identifying the phase resistance of the servo motor according to claim 1, wherein the applying a fifth voltage and a sixth voltage between the V-phase and the W-phase of the servo motor, respectively, to obtain a third resistance, the third resistance being a sum of the V-phase resistance and the W-phase resistance, comprises:
controlling a V-phase upper bridge arm connected with the phase line of the V-phase to be conducted, other upper bridge arms to be turned off, a W-phase lower bridge arm connected with the phase line of the W-phase to be conducted, and other lower bridge arms to be turned off;
applying a voltage with a third waveform between the V-phase upper bridge arm and the W-phase lower bridge arm, sampling a fifth voltage at a fifth preset current, and sampling a sixth voltage at a sixth preset current;
and calculating a third resistor according to the fifth preset current, the fifth voltage, the sixth preset current and the sixth voltage, wherein the third resistor is the sum of the V-phase resistor and the W-phase resistor.
9. A servo motor phase resistance identification system, comprising: at least one memory, at least one processor, and at least one program instruction stored on the memory and executable on the processor, the processor being configured to perform the method of servomotor phase resistance identification according to any one of claims 1 to 8.
10. A storage medium, characterized by: the storage medium stores thereon program instructions for executing the servo motor phase resistance identification method according to any one of claims 1 to 8.
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