CN113276985B - Driver control method for automatically zeroing steering wheel by using incremental encoder motor - Google Patents
Driver control method for automatically zeroing steering wheel by using incremental encoder motor Download PDFInfo
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- CN113276985B CN113276985B CN202110647669.XA CN202110647669A CN113276985B CN 113276985 B CN113276985 B CN 113276985B CN 202110647669 A CN202110647669 A CN 202110647669A CN 113276985 B CN113276985 B CN 113276985B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/30—Arrangements for controlling the direction of rotation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a driver control method for a steering wheel to automatically zero by using an incremental encoder motor, which is characterized in that configuration parameters are used for setting so as to control the direction of the steering wheel, the parameter setting comprises different modes, after a servo system is electrified, a servo driver automatically reads an internally set zero-seeking mode parameter, and zero-seeking operation is carried out according to a zero-seeking starting instruction.
Description
Technical Field
The invention relates to the field of steering wheels, in particular to a driver control method for steering wheels to automatically zero by using an incremental encoder motor.
Background
The automatic guide vehicle has the advantages of less personnel participation, high transportation efficiency, suitability for intelligent management of enterprises in the future and the like, and is gradually and widely transported. Along with the development of AGV technique, derive multiple AGV drive mode, wherein helm actuating system for differential actuating system, except can having pivot and turn to, functions such as pitch arc turn can also realize controlling translation, functions such as slant translation to realize AGV omnidirectional movement, relatively be fit for the transportation of heavily loaded material moreover. Based on the actual working condition requirement of the market, the current development situation of the driving system of the current wheeled robot and the current research situation of the steering wheel technology are combined. Through the structure and performance analysis of the steering wheel of the main brand on the market at present, the steering wheel driving system determines to adopt a permanent magnet synchronous motor servo system to replace a fussy steering wheel positioning device through controlling the steering wheel, so that the whole steering wheel is more compact and the steering wheel is flexible to operate.
The current market steering wheel is a driving structure integrating a servo driver, a power driving motor, a speed reducer, a limit protection switch and an absolute value encoder. The angle control adopts a structure that a part of structures are specially made, an absolute value encoder is installed, the steering angle of the wheel is judged through the rotation of the absolute value encoder, the structure of the steering wheel is complicated, and the cost of the absolute value encoder accounts for 20% of the total cost of the steering wheel.
Prior art application No. 201910414527.1 discloses a steering wheel drive device comprising a support, a drive reduction motor and a movable-tooth reduction transmission mechanism. The steering mechanism is arranged on the supporting piece and used for driving the turning and reversing of the internal tooth central gear of the oscillating tooth speed reduction transmission mechanism. The driving speed reducing motor is fixedly arranged on the supporting piece, the movable tooth speed reducing transmission mechanism is in power connection with the output end of the driving speed reducing motor, and the internal tooth central wheel outputs rotating power. The internal tooth central gear is connected with the mounting frame and performs speed reduction rotary motion under the control of the driving speed reduction motor. The device is mainly designed aiming at the bearing capacity of the steering wheel, improves the driving capability of the steering wheel, does not relate to the technical problem of steering wheel positioning, can not automatically carry out zero calibration on the steering wheel, and can not adjust the direction of the steering wheel.
Disclosure of Invention
Aiming at the technical problem, the invention provides a driver control method for automatically zeroing a steering wheel by using an incremental encoder motor, which comprises the following steps: receiving parameter signals by the incremental encoder of the motor body; under the condition that the parameter signals control the motor to rotate in different directions and touch different position switches, judging whether the motor rotates to touch the position switches to meet a preset condition or not; and under the condition that the mode of the preset condition is met, the rotation of the control steering wheel and zero point calibration are carried out.
Judging whether the motor rotates and touches the position switch to meet the preset conditions comprises the following steps: the steering engine is automatically controlled to rotate by setting the motor to rotate forward and backward to touch position switches in different modes. The position switches in different modes comprise a middle position switch, and when the motor rotates in two directions, under the condition that the middle position switch is not touched, the motor starts to rotate in the opposite direction until the motor is finally locked.
The position switches in different modes comprise two position switches, corresponding upper position switches and lower position switches are arranged beside the motor, the direction is automatically changed when any one of the position switches is triggered in the rotation of the motor, and the middle point position is automatically calculated and returned to the middle zero point position when the motor needs to be stopped.
The position switch of different modes include three limit switch, be provided with position switch and lower position switch, intermediate position switch on the motor side, the motor rotates the in-process and touches upper and lower position switch in arbitrary one will change the rotation direction automatically, trigger intermediate position switch at the rotation in-process, automatic shutdown. The upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
The predetermined conditions include: the motor touches a limit switch and a lower limit switch on the steering engine when rotating, when the motor rotates and touches the upper limit switch, the motor stops rotating to wait for the host to give a signal to execute operation again, and the zero calibration function is obtained at the moment. When the motor rotates and touches a lower limit switch on the steering engine, the motor stops rotating and waits for the host to give a signal to execute operation again, and the zero calibration function is obtained at the moment. The upper position switch adopts a reverse terminal, and a given signal is positive. When the motor is locked, the motor gives an alarm and fails to search the zero position.
Compared with the prior art, the invention has the beneficial effects that: 1. the zero calibration of the steering wheel can be realized by combining an incremental encoder of the motor body with a switch of the steering wheel structure body; 2. the steering wheel positioning device can automatically control the steering wheel, realizes flexible positioning, has a simple structure, and replaces a fussy steering wheel positioning device.
Detailed Description
The invention will be further described with reference to the following examples, which are intended to illustrate and not to limit the invention. In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
Example (b): setting by using the configuration parameters;
a zero searching mode: 0-Default
1-zero one position switch; by blocking rotation at two sides and limiting in radial direction
2, two position switches are arranged on two sides, and the midpoint is defined as a zero point;
3-three limit switches, using middle switch to define zero point;
5-one upper limit switch, steering wheel positive direction, limit switch point as zero point
6-one lower limit switch, negative direction of steering wheel, limit switch point as zero point
After the servo system is powered on, the servo driver automatically reads the parameter of the zero-seeking mode set inside, and performs zero-seeking according to the zero-seeking starting instruction. The following are several modes:
(1) zeroing mode-1
The controller receives a zero searching function and enables instructions.
If the motor is set to rotate forwards (the forward and reverse settings are equal to 0), the motor rotates anticlockwise, and if the intermediate position switch is not triggered, the motor is locked; and starting reverse rotation, if the intermediate position switch is not triggered, the motor alarms when the next locked-rotor is reached, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). If the middle position switch is triggered, the zero searching function is stopped, and the zero searching function is finished (the condition that the switch is not triggered in the middle).
If the motor is set to rotate reversely (the positive and negative settings are equal to 1), the motor rotates clockwise, and if the intermediate position switch is not triggered, the motor is locked; and (3) starting to rotate forwards, if the middle position switch is not triggered, the motor alarms when the next locked-rotor is reached, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). If the middle position switch is triggered, the zero searching function is finished. (indicating that there is no trigger switch in the middle).
(2) Zero seeking mode-2
The controller receives a zero searching function and enables instructions.
If the position switch is set to be in positive rotation (positive and negative setting is equal to 0), the motor rotates anticlockwise, and the upper position switch is triggered; starting to reversely rotate, and triggering a lower position switch; calculating the midpoint position; automatically returning to the intermediate zero position. In the rotation process, if the locked rotor occurs, the motor gives an alarm, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates clockwise, and an upper position switch is triggered; starting to reverse, and triggering a lower position switch; calculating the midpoint position; automatically returning to the intermediate zero position. In the process, the motor gives an alarm when the rotor is blocked and fails to find the zero position, and the alarm position adopts a fault code (0x 0200). At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
(3) Zeroing mode-3
The controller receives a zero searching function and enables an instruction.
If the motor is set to rotate forwards (the forward and reverse settings are equal to 0), the motor rotates anticlockwise, (if a middle position switch is triggered, zero searching is stopped); triggering an upper position switch; starting to reverse, triggering the lower position switch (if triggering the middle position switch, stopping, and stopping searching for zero); if the intermediate position switch is not triggered, the motor alarms and fails to search the zero position, and the alarm position adopts a fault code (0x 0200). In the process, the motor gives an alarm when the rotor is blocked. At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates clockwise (if a middle position switch is triggered, zero seeking is stopped); triggering an upper position switch; start the reversal, (if the neutral position switch is triggered, stop seeking zero); triggering a lower position switch; if the intermediate position switch is not triggered, the motor alarms and fails to search the zero position function, and the alarm position adopts a fault code (0x 0200). In the process, if the locked rotor occurs, the motor gives an alarm. At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
When the upper position has a position switch: if the position switch is triggered, the motor stops searching for zero, the point is a zero point, and the motor can be executed to a required position only by the host machine giving a position signal; in the process, if the locked rotor occurs, the motor gives an alarm and stops. At this time, the upper position switch adopts a reverse terminal, and the given position signal is positive
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates anticlockwise, (if an upper position switch is triggered, zero searching is stopped, the point is a zero point, and the motor can only execute to a required position by a host machine giving a position signal); in the process, if the rotor is blocked, the motor gives an alarm and automatically stops. The upper position switch now employs the inverted terminal and the given position signal will be positive.
(5) Zero seeking mode-6
The lower part is provided with a position switch
If the position switch is triggered, the motor stops searching for zero, the point is a zero point, and the motor can be executed to a required position only by the host machine giving a position signal; in the process, if the locked rotor occurs, the motor gives an alarm and automatically stops. The upper position switch now employs the inverted terminal and the given position signal will be positive.
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates anticlockwise, (if an upper position switch is triggered, zero searching is stopped, the point is a zero point, and the motor can only execute to a required position by a host machine giving a position signal); in the rotating process, if the locked rotor occurs, the motor gives an alarm and automatically stops. The upper position switch now uses the inverted terminal and the given position signal will be positive.
Claims (4)
1. A method of controlling a steering wheel drive using incremental encoder motor auto-zero, comprising: receiving parameter signals by the incremental encoder of the motor body;
after the servo system is powered on, the servo driver automatically reads the parameter of the zero searching mode set inside and performs zero searching according to the zero searching starting instruction;
judging whether the motor rotates and touches the position switch to meet a preset condition or not under the condition that the parameter signal controls the motor to rotate in different directions and touches different position switches;
under the condition of meeting the preset condition, controlling the rotation of the steering wheel and calibrating a zero point;
judging whether the motor rotates and touches the position switch to meet the preset conditions comprises the following steps: the steering engine is automatically controlled to rotate by setting the motor to rotate forwards and backwards to touch position switches in different modes;
the zeroing mode comprises the following five modes:
the method comprises the following steps: setting a middle position switch, rotating the motor, stopping if the middle position switch is triggered, and finishing the zero searching function; if the middle position switch is not triggered, the motor is locked; starting reverse rotation, if the intermediate position switch is not triggered, the motor alarms when the next locked-rotor is reached, and the zero position searching function is disabled;
mode II: arranging corresponding upper position switches and lower position switches beside the motor, automatically changing the direction when any one of the position switches is triggered in the rotation of the motor, calculating the middle point position and returning to the middle zero point position after the other position switch is triggered;
mode III: an upper position switch, a lower position switch and a middle position switch are arranged beside the motor, the motor touches any one of the upper position switch and the lower position switch in the rotating process to automatically change the rotating direction, and the middle position switch is triggered in the rotating process to automatically stop;
mode (iv): the upper position switch is arranged, if the upper position switch is set to rotate forwards, the motor rotates clockwise, when the upper position switch is triggered, the motor stops rotating, the upper position switch is at a zero point, and the motor can be executed to a required position only by the host machine giving a position signal; if the motor is set to rotate reversely, the motor rotates anticlockwise, when the upper position switch is triggered, the motor stops rotating, the upper position switch is a zero point, and the motor can be operated to a required position only by the host giving a position signal;
a fifth mode: the lower position is provided with a position switch, if the lower position is set to be in positive rotation, the motor rotates clockwise, when the lower position switch is triggered, the rotation is stopped, the lower position switch is a zero point, and the required position can be executed only by the host computer giving a position signal; if the motor is set to rotate reversely, the motor rotates anticlockwise, when the lower position switch is triggered, the rotation is stopped, the lower position switch is a zero point, and the motor can be operated to a required position only by the host machine giving a position signal.
2. The method as claimed in claim 1, wherein the upper position switch is an enable terminal, and the lower position switch is a reverse terminal.
3. A method of controlling a steering wheel drive using incremental encoder motor auto-zero according to claim 1, wherein in mode (r) the upper position switch uses a reverse terminal and the given signal will be positive.
4. The method as claimed in claim 1, wherein in the modes (ii), (iii), (iv) and (iv), when the motor is locked, the motor alarms and fails to return to zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110647669.XA CN113276985B (en) | 2021-06-10 | 2021-06-10 | Driver control method for automatically zeroing steering wheel by using incremental encoder motor |
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| CN202110647669.XA CN113276985B (en) | 2021-06-10 | 2021-06-10 | Driver control method for automatically zeroing steering wheel by using incremental encoder motor |
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| CN113276985B true CN113276985B (en) | 2022-08-23 |
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Citations (2)
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| WO2010072391A1 (en) * | 2008-12-23 | 2010-07-01 | Ab Skf | Method and device of a position encoder |
| CN110793553A (en) * | 2019-11-07 | 2020-02-14 | 歌尔股份有限公司 | Zero point positioning method, system, servo motor and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3325318C2 (en) * | 1983-07-13 | 1986-11-27 | Litton Precision Products International GmbH, 8000 München | Incremental angle encoder |
| NL1004624C2 (en) * | 1996-11-27 | 1998-05-28 | Nedap Nv | Compact incremental position determination with an absolute reference. |
| CN102183916B (en) * | 2010-12-09 | 2012-12-26 | 中国兵器工业第二〇五研究所 | Zero position-searching method for limited angle servo turntable |
| CN104723170B (en) * | 2015-03-31 | 2017-03-15 | 烟台环球机床附件集团有限公司 | A kind of numerical control turret is sought null-setting device and its seeks zero-bit method |
| CN106155101B (en) * | 2015-03-31 | 2019-02-01 | 北京航天计量测试技术研究所 | It is a kind of to seek zero method for the rapid location with limit turntable |
| CN109388156B (en) * | 2018-11-26 | 2021-07-09 | 中国航空工业集团公司洛阳电光设备研究所 | Zero searching method of incremental encoder through image area code |
| CN112433543A (en) * | 2020-11-23 | 2021-03-02 | 黄海宁 | Method for accurately positioning steering wheel in zero direction |
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- 2021-06-10 CN CN202110647669.XA patent/CN113276985B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010072391A1 (en) * | 2008-12-23 | 2010-07-01 | Ab Skf | Method and device of a position encoder |
| CN110793553A (en) * | 2019-11-07 | 2020-02-14 | 歌尔股份有限公司 | Zero point positioning method, system, servo motor and storage medium |
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