CN114499290A - Position deviation calibration method, motor driving method, system and equipment - Google Patents
Position deviation calibration method, motor driving method, system and equipment Download PDFInfo
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Abstract
The application relates to a position deviation calibration method and a motor driving method. The method comprises the following steps: acquiring a preset electrical angle value corresponding to the rotation position of the motor; outputting torque corresponding to the electrical angle value to the motor; reading the mechanical angle of the motor rotor output by the position sensor; and obtaining a position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle. The motor driving method includes: reading a position deviation value obtained by a position deviation calibration method; reading an output value of the position sensor; calculating to obtain the rotation position of the motor according to the position deviation value and the output value; and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate. The method can automatically calibrate the position deviation value of the position sensor.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a position deviation calibration method, a motor driving method, a system, and a device.
Background
The motor and the driver thereof are power actuators of the robot and are core components in a robot system. The relative positions of the traditional motor and the encoder thereof are fixed together before leaving the factory and are well corrected.
In the permanent magnet synchronous motor driver, a key parameter configuration is matched and corresponds to the relative positions of the motor and the position sensor. In the current common method, when the motor and the position sensor are delivered from a factory, the relative position relationship between the motor and the position sensor is fixed and consistent through a tool and a process. Meanwhile, the configuration parameters corresponding to the motor driver are also fixed and unchangeable values.
However, the motor driver and the motor have a matching relationship, and the relative position relationships between the motors and the position sensors of different manufacturers/countries are not uniform, so that the user must purchase the motor driver and the motor in a set.
In the traditional technology, a position deviation calibration adopts a counter-dragging device, a tested motor is driven to rotate through a coupling, a motor winding can generate back electromotive force in a rotating state, a zero-crossing signal of a position encoder can generate a pulse waveform, and a U phase of a zero-line sensor can generate high-low level jump. The conventional alignment strategy aligns the zero signal of the sensor with the zero crossing point of the back emf by adjusting the relative positions of the sensor and the motor. If the independent Hall sensor is provided and the angle needs to be adjusted, the same method is also adopted, so that the rising edge of the signal of the sensor U is aligned with the zero-crossing point of the counter electromotive force. Before each motor leaves a factory, the method is adopted to carry out drag correction, and difference values are uniformly compiled. Thus, the fixed deviation value difference inside the driver can be ensured to be adapted to each motor. However, since the positions of the motor manufacturers aligned with the back electromotive force are not uniform, the driver and the motor need to be used in a matched manner, and the motor cannot normally operate as long as the deviation value parameter fixed inside the driver and the position deviation value of the motor are not adaptive.
In the traditional correction method, a twin-drag motor, a twin-drag driver, an oscilloscope and a certain tool are used for finishing, and in addition, the operation of workers is added, so that each step needs human participation, and the error possibility is high. In addition, the standard of the correction completion is judged by the waveform of an oscilloscope, and has certain subjectivity. In addition, if the drive does not have the function of identifying the offset, its motor adaptation is limited.
Disclosure of Invention
In view of the above, it is necessary to provide a position deviation calibration method, a motor driving method, a system and an apparatus capable of calibrating a position deviation value of a position sensor in view of the above technical problems.
A method of positional deviation calibration, the method comprising:
acquiring a preset electrical angle value corresponding to the rotation position of the motor;
outputting a torque corresponding to the electrical angle value to the motor;
reading a mechanical angle of a motor rotor output by a position sensor;
and obtaining a position deviation value of the position sensor and the motor according to the electric angle value and the mechanical angle.
In one embodiment, before obtaining the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle, the method further includes:
under the open-loop control, the forward current and the reverse current fed back by the motor during forward and reverse rotation are basically equal in magnitude and are minimum, and the motor is in a forward and reverse rotation stable operation state.
In one embodiment, before acquiring the preset electrical angle value corresponding to the rotation position of the motor, the method includes:
acquiring the type of a position sensor;
the obtaining of the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle includes:
and obtaining a position deviation value of the position sensor and the motor according to the type of the position sensor, the electric angle value and the mechanical angle.
In one embodiment, the position sensor is of the type of a hall sensor; the obtaining of the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle includes:
and recording the electric angle value corresponding to the signal jumping edge output by the Hall sensor as the position deviation value of the position sensor and the motor.
According to the position deviation calibration method, the type of the position sensor is an encoder; the obtaining of the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle includes:
and acquiring the electric angle value corresponding to the zero position signal output by the encoder as a position deviation value of the position sensor and the motor.
In one embodiment, the position sensor is of the encoder type, the electrical angle value being set to 0; the obtaining of the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle includes:
reading an output angle of the position sensor;
and calculating to obtain a position deviation value of the position sensor and the motor according to the output angle of the position sensor.
In one embodiment, the method further comprises:
and verifying the position sensor to obtain the counting direction and/or line number information of the position sensor.
In one embodiment, the checking manner of the count direction includes:
judging whether the increasing and decreasing direction of the mechanical angle of the position sensor is consistent with the increasing and decreasing direction of the electrical angle value;
when the direction of increase or decrease of the mechanical angle of the position sensor does not coincide with the direction of increase or decrease of the electrical angle value, the counting direction in which the position sensor is arranged coincides with the direction of increase or decrease of the electrical angle value.
In one embodiment, the line number information checking method includes:
and acquiring adjacent zero signals output by the position sensor, and counting the increment of the mechanical angle between the adjacent zero signals to be used as the line number information.
In one embodiment, the position sensor is a hall sensor; after reading the output value of the position sensor, the method further comprises:
judging whether the output value of the position sensor meets a preset requirement or not;
and when the output value of the position sensor does not meet the requirement, judging that the position sensor is in fault.
A motor driving method, comprising:
reading the position deviation value obtained by the position deviation calibration method in any one of the above embodiments;
reading an output value of the position sensor;
calculating to obtain the rotation position of the motor according to the position deviation value and the output value;
and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate.
A motor drive system, the system comprising a motor, a position sensor, and a motor driver; the position sensor is respectively connected with the motor and the motor driver, and the motor is connected with the motor driver;
the motor driver is adapted to perform the steps of the method in any of the above embodiments.
The robot joint adopts the motor driving system for robot shutdown.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method in any of the above embodiments when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above embodiments.
According to the position deviation calibration method, the motor driving system and the device, the counter-dragging motor and the counter-dragging driver are not needed, the oscilloscope and some tools are not needed, the motor driver and the motor are only needed to be connected, then the preset electric angle value corresponding to the rotation position of the motor is obtained, the torque corresponding to the electric angle value is output to the motor, the mechanical angle of the motor rotor output by the position sensor is read according to the mechanical angle, and then the position deviation value of the position sensor and the motor is obtained through processing according to the electric angle value and the mechanical angle, so that the method, the system and the device are simpler and more convenient.
Drawings
FIG. 1 is a schematic view of a motor drive system in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a method for calibrating position deviations in one embodiment;
FIG. 3 is a schematic view of an embodiment with the torque perpendicular to the rotor of the motor;
FIG. 4 is a schematic view of an embodiment with torque overlapping the rotor of the motor;
FIG. 5 is a schematic diagram illustrating an exemplary process for obtaining a smooth operating condition of forward and reverse rotation;
FIG. 6 is a flow chart illustrating the process of obtaining a deviation value of a Hall sensor position according to one embodiment;
FIG. 7 is a schematic flow chart diagram illustrating a method for calibrating position deviations in another embodiment;
FIG. 8 is a schematic flow chart of a motor driving method according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The position deviation calibration method and the motor driving method provided by the application can be applied to a motor driving system shown in fig. 1, wherein the motor driving system comprises a motor, a position sensor and a motor driver; the position sensor is respectively connected with the motor and the motor driver, and the motor is connected with the motor driver. The position sensor and the motor can be separated, and the middle of the position sensor and the motor is connected by a transmission device, so that the space utilization degree of freedom of an engineer is larger.
Referring to fig. 1, the motor driver does not need a dragging motor and a dragging driver, nor an oscilloscope or some tools, and can learn and obtain and store the position deviation values of the motor and the position sensor according to the process by connecting the driver and the motor to be dragged normally and starting an automatic configuration program through an upper interface. In addition, the motor driver can also identify and correct the position sensor parameters, whether there is a signal fault, and the like according to the basic parameters such as the type of the position sensor, and the like, which can be specifically referred to below.
In one embodiment, as shown in fig. 2, a method for calibrating a position deviation is provided, which is described by taking the method as an example for being applied to the motor driver in fig. 1, and comprises the following steps:
s202: and acquiring a preset electrical angle value corresponding to the rotation position of the motor.
Specifically, the electrical angle value is preset, which gives the electrical angle value that changes in accordance with a certain rule at different mechanical positions, and preferably, the direction of change of the rotational position of the motor may be preset, so that the electrical angle value that changes in accordance with a certain rule is configured in accordance with the rotational position of the motor that is incremented. In practical application, the electrical angle value is an angle value of an artificially given excitation signal, that is, an angle value of rotation corresponding to a rotation voltage given by the voltage open loop. Taking a ring motor as an example, the rotor of the ring motor rotates once to generate different incremental positions, and the user configures electric angle values which change according to a certain rule for the incremental positions in advance.
S204: and outputting torque corresponding to the electrical angle value to the motor.
Specifically, the torque configured according to the electrical angle value may be as shown in fig. 3 and fig. 4, where one of the torques is the torque shown in fig. 3, where the torque is perpendicular to the rotor of the motor, that is, at this time, the rotation speed is the maximum under a certain torque, that is, the motor is in a forward and reverse smooth running state, in which the torque is perpendicular to the rotor of the motor, and as the electrical angle value changes, the direction of the torque also changes, but the torque and the rotor of the motor are always in a perpendicular state; in the other example, the torque shown in fig. 4 is superimposed on the rotor of the motor, and in this case, the position of the rotor is not changed at a constant torque, and the electrical angle value is fixed to 0.
Optionally, when the torque corresponding to the electrical angle value is output to the motor, preferably, the torque for rotating the rotor of the motor is output first, and the torque and the rotor are always in a perpendicular state, and the magnitude of the torque value is debugged, so that the motor is in a stable state, and then the reading of the position sensor is collected, and the like, so as to avoid an error.
S206: and reading the mechanical angle of the motor rotor output by the position sensor.
Specifically, in this embodiment, the position sensor may be selected according to actual conditions, where the position sensor includes a hall sensor and/or an encoder, and the motor driver may acquire a mechanical angle of the hall sensor and/or the encoder.
The mechanical angle of the motor rotor output by the mechanical angle reading position sensor needs to be read after the motor is in a forward and reverse stable operation state, or the mechanical angle needs to be read after the motor rotor rotates for one circle at least. Taking the incremental rotary position sensor as an example, after power is turned on, the signals output by the position sensor are zero and sequentially increased until reaching a zero position, the signals are corrected, the zero position signals are output and then increased according to a coding mode and the like, so that in order to ensure the accuracy of the mechanical angle of the position sensor, the signals need to be read after the motor rotor rotates for one circle. In other embodiments, when the electrical angle value is always 0, the mechanical angle of the rotor of the motor output by the position sensor can be read again when the rotor does not rotate any more.
S208: and obtaining a position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle.
The electrical angle value corresponds to the rotation position of the motor, and the mechanical angle of the position sensor corresponds to the rotation position of the motor, so that the corresponding relation between the electrical angle value and the mechanical angle can be obtained according to the rotation position of the motor, and further the position deviation value between the position sensor and the motor can be obtained.
More preferably, since the rotor is in a rotating state and a non-rotating state, the calculation logic of the position deviation value of the position sensor and the motor is different. Therefore, the motor driver processes the electrical angle value and the mechanical angle according to the calculation logic corresponding to the state of the rotor to calculate the position deviation value.
In order to make the above technical solutions fully understood by those skilled in the art, the principle of the present technical solution is described below, wherein the preset electrical angle value corresponding to the rotation position of each motor is preset by the motor driver, that is, an electrical angle value corresponding to an artificially given excitation signal is first corresponded at the corresponding mechanical position, and according to the electrical principle, a stack of magnetic field directions of the rotor is consistent with a magnetic field direction of the stator, and the motor rotates one angle step by one step every time an electrical pulse is input. The angular displacement output by the motor is in direct proportion to the input pulse number, and the rotating speed is in direct proportion to the pulse frequency. Therefore, the mechanical angle of the position sensor is recorded after the rotor rotates for one circle, the mechanical angle is the actual mechanical position of the rotor, and therefore the corresponding relation between the mechanical angle and the electric angle value is established, and the position deviation value between the position sensor and the motor under each position can be known according to the corresponding relation between the mechanical angle and the electric angle value.
According to the position deviation calibration method, a dragging motor and a dragging driver are not needed, an oscilloscope and some tools are not needed, the motor driver and the motor are only needed to be connected, then the preset electric angle value corresponding to the rotation position of the motor is obtained, so that the torque corresponding to the electric angle value is output to the motor, the mechanical angle of the motor rotor output by the position sensor is read according to the mechanical angle, and then the position deviation value of the position sensor and the motor is obtained by processing according to the electric angle value and the mechanical angle, and the method is simple and convenient.
In one embodiment, before obtaining the position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle, the method further includes: under the open-loop control, the forward current and the reverse current fed back by the motor during forward and reverse rotation are basically equal in magnitude and are minimum, and the motor is in a forward and reverse rotation stable operation state.
In one embodiment, the acquisition mode of the forward and reverse rotation stable running state comprises the following steps: firstly, configuring the torque of an input motor to enable the motor to start rotating; collecting sampling current output when a motor rotates positively and negatively; when the sampling currents are equal and minimum in magnitude, the motor is in a forward and reverse rotation stable operation state.
Specifically, the forward and reverse rotation stable operation state is that under the condition that the motor is not loaded, the given forward and reverse torque magnitude is automatically adjusted (for example, the magnitude is gradually increased from small to large) through a program to enable the current magnitudes fed back during forward and reverse rotation to be basically equal, and the motor stably operates, wherein the magnitudes of the fed forward current and the fed back reverse current can also be changed along with the given forward and reverse torque magnitude, and when the magnitudes of the forward current and the reverse current are basically equal and minimum, the motor is in the forward and reverse rotation stable operation state. The minimum is mainly to ensure that the direction of the moment is basically vertical to the direction of the rotor, so that the direction of the moment can be calculated according to the preset electric angle value and the direction of the rotor, and the moment is convenient to apply. This state is the basis for obtaining the hall sensor and obtaining the position parameters corresponding to the encoder zero position.
The motor can rotate only by overcoming the self friction force given by the torque, and the rotating angle of the motor is consistent with the corresponding angle of the given incremental rotating position according to the characteristics of the synchronous motor. Then, at a given constant rotational speed, the minimum moment vector direction for maintaining normal rotation must be perpendicular to the current electrical position of the motor rotor. The positive and negative minimum torque must be the same under the same positive and negative friction forces. Based on the deduction, whether the motor reaches a required state or not can be judged according to the data size fed back by current sampling.
Specifically, referring to fig. 5, fig. 5 is a schematic diagram of a flow of acquiring a forward/reverse rotation smooth operation state in an embodiment, in the embodiment, a correct connection between a motor and a driver is reduced, and then, in a case that a motor output is no load, a torque input to the motor is configured based on a control framework of SVPWM (space vector pulse width modulation) so that the motor starts to rotate; collecting sampling current output when a motor rotates positively and negatively; when the sampled currents are equal and minimum in magnitude, the motor is in a forward and reverse rotation smooth running state, for example, ipark input parameters are configured to be Id ═ 0 and Iq ═ 0.2 (per unit value), where it is to be noted that Id represents the current on the d axis and Iq represents the current on the q axis, and since the current on the d axis does not cut the magnetic induction line when the rotor rotates, the induced current Id does not generate lorentz force; the current on the q axis cuts magnetic induction lines when the rotor rotates, so that Lorentz force is generated, and then torque is generated, and therefore different torque values can be generated by configuring the current on the q axis.
After the torque is configured, the rotating angle theta corresponding to the position information with the increasing degree is artificially given (namely, an electric angle value is given), and in order to ensure relative stability, preferably, an electric angle theta signal with the increasing degree of about 20% of rated frequency is injected, and further, the rotating speed is stable by adjusting the torque, mainly the magnitude and the direction of Iq, and the forward and reverse rotation stable running state is achieved when the input current is in the forward and reverse rotation consistency.
In the above embodiment, the space vector control is used as a basic framework, the rotation angle theta (i.e. the given electrical angle) corresponding to the position information which is increased by human is given, instead of the information actually fed back by the sensor, the motor is rotated in an open loop by the torque information on the q-axis of the rectangular coordinate system which is given by human. The phase current of the motor can be collected in the program, and torque information feedback is obtained after a series of transformations; when the motor rotates forwards and reversely, the sampling current of the motor is equal and can keep normal operation when the sampling current is minimum. This state is used as the subsequent dynamically identified operating state.
In one embodiment, before acquiring the preset electrical angle value corresponding to the rotation position of the motor, the method includes: acquiring the type of a position sensor; obtaining a position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle, comprising: and obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor.
Specifically, the types of the position sensor include a hall sensor and an encoder, wherein before the position sensor is calibrated, the type of the position sensor is determined, and then subsequent calibration is performed, so that errors are avoided.
Different parameters are obtained according to learning of different position sensors, and the type of the sensor needs to select an actually used sensor in a parameter setting mode before configuration starting. Otherwise, reporting an error.
In one embodiment, the position sensor is of the hall sensor type; obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor, and comprising the following steps: and recording an electrical angle value corresponding to the jumping edge of the signal output by the Hall sensor as a position deviation value of the position sensor and the motor.
Specifically, hall sensors are typically used to assist in commutation, have slots mounted in the motor, have other sensors built together, and have discrete components. The sensors are traditionally classified into 120-degree and 60-degree hall sensors.
The position deviation value between the position sensor and the motor in this embodiment can be represented by given electrical angle information corresponding to the hall auxiliary commutation signal, so that the motor driver only needs to record a given electrical angle value corresponding to the hall auxiliary commutation signal.
In the servo application, if an incremental position sensor with higher precision exists, the Hall sensor is only roughly positioned during starting, and an electric angle corresponding to the starting position is obtained. Once the start is successful, the power-off is not used.
Referring to fig. 6, fig. 6 is a flowchart for acquiring a position offset value of a hall sensor in an embodiment, in this embodiment, it is first ensured that a motor is in a forward and reverse rotation stable operation state, and a hall auxiliary commutation signal exists, and when the rotation is greater than 1 cycle and in the rotation state, an electrical angle value corresponding to a signal transition edge output by the hall sensor is recorded and stored.
In practical application, the given electrical angle is an artificially given excitation signal, namely an angular value of rotation corresponding to a rotation voltage given by a voltage open loop, the auxiliary commutation signal changes circularly from 5, 1, 3, 2, 6 and 4 in one electrical period, and the angular value of the given rotation voltage corresponding to the edge moment of the jump of the auxiliary commutation signal is recorded as a position deviation value of the position sensor and the motor.
In one embodiment, the position sensor is of the type of an encoder; obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor, and comprising the following steps: and acquiring an electrical angle value corresponding to the zero position signal output by the encoder as a position deviation value of the position sensor and the motor.
Specifically, referring to fig. 3, in which a torque is output when the torque is perpendicular to a rotor angle of the motor, the rotor rotates. The example of using the encoder as an incremental position sensor is described, the step of obtaining the position offset of the encoder and the step of calculating the offset angle of the motor encoder comprises the following steps: in the above-mentioned forward and reverse rotation stable operation state, when the Z signal (zero signal) is detected, an increment position value given artificially at this time is recorded, and this value is an offset value of the position sensor.
Specifically, in the SVPWM motor drive control algorithm, the torque is composed of three-phase current vectors, the position information fed back by the position sensor and the position of the rotor are in a fixed relationship, and the motor is operated with maximum efficiency, i.e., the given torque direction is perpendicular to the direction of the rotor by 90 degrees, the torque direction is advanced by 90 degrees, i.e., the motor is rotated forward, and the torque direction is delayed by 90 degrees, i.e., the motor is rotated backward.
Therefore, the motor can rotate forward and backward smoothly through the angle of the artificially given torque (namely the electrical angle value corresponding to the incremental position value taught by the document), and the rotating speed is low, the current is minimum, and the efficiency is highest.
In one embodiment, the position sensor is of the encoder type, and the electrical angle value is set to 0; obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor, and comprising the following steps: reading an output angle of a position sensor; and calculating the position deviation value of the position sensor and the motor according to the output angle of the position sensor.
As shown in fig. 4, when the torque overlaps the rotor of the motor, the force of Iq is constant, and the feedback value of the position given by the operator is set to 0, because the synchronous motor is powerful and has a fixed position, the motor will also be stationary. At this time, the data fed back by the encoder is read, then converted into an electrical angle (per unit), and then added with 90 degrees (0.25 per unit) which needs to be exceeded in practical application, and the value is the electrical angle value corresponding to the offset position of the encoder, and is recorded and stored.
Specifically, according to the SVPWM control algorithm, the required offset value can be obtained by setting the predetermined Iq torque angle to 0 and keeping it constant, the rotor direction and the predetermined torque direction are overlapped at this time, the motor is kept stationary, and the lead amount is added to the position corresponding to the angle.
It should be noted that, in this embodiment, in order to ensure accuracy, data reading of the position sensor is performed after the motor runs stably.
In one embodiment, before obtaining the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, the method further includes: and verifying the position sensor to obtain the counting direction and/or line number information of the position sensor.
In one embodiment, the checking method of the counting direction includes: judging whether the increasing and decreasing directions of the mechanical angle of the position sensor are consistent with the increasing and decreasing directions of the electrical angle value; when the increasing and decreasing direction of the mechanical angle of the position sensor does not coincide with the increasing and decreasing direction of the electrical angle value, the counting direction in which the position sensor is disposed coincides with the increasing and decreasing direction of the electrical angle value.
Specifically, referring to fig. 7, fig. 7 is a flowchart of a manner of checking the counting direction in an embodiment, in which the motor is first kept in the above-mentioned forward smooth running state, and whether the counting direction of the encoder is an up count is determined, wherein when the motor is running in the forward direction, the value obtained from the encoder is changed from a small direction to a large direction, i.e., the up count, and when the data obtained from the encoder is changed from a large direction to a small direction, i.e., the down count.
The mode of count increase and decrease may be set when external verification is performed, for example, by taking an ST single chip as an example, an encoder is set as a timer corresponding to the outside of the single chip, and the verification process is a parameter configuration of a register related to the timer, for example: setting counting direction, setting counting period, and checking parameters such as zero-crossing signal interruption configuration.
If the increasing and decreasing directions of the mechanical angle of the position sensor are not consistent with the increasing and decreasing directions of the electrical angle value, the configuration parameters can be modified, and the peripheral can be reconfigured.
In the same way, it can also be judged whether the increasing and decreasing directions of the absolute type encoders are consistent, if not, the parameters are selected or the logic is modified to keep consistent.
In one embodiment, the line number information checking method includes: and acquiring adjacent zero signals output by the position sensor, and counting the increment of the mechanical angle between the adjacent zero signals to be used as the linear number information.
Specifically, the line number is checked mainly to check whether the line number information of the position sensor is correct. In both the incremental encoder and the absolute position encoder, when the motor physically rotates one cycle, the amount of change in the count value can be calculated and compared with the set position sensor by conversion, and if the deviation is not large (particularly, if there is a possibility that the sensor has a large number of interference leakage or interference leakage, such as in the case of a photo encoder with several pulses), the set value can be considered to be correct. Specifically, when the motor rotates, the zero position signal of the incremental encoder is triggered once after one rotation, the counting number between two trigger signals is the counting period of the encoder, and the counting period is calibrated by using the value and a preset counting period value.
The incremental rotary encoder is described by taking an example of an incremental rotary encoder, wherein the incremental rotary encoder is composed of a code disc with a shaft in the center, and the code line of the code disc is read by a photoelectric transmitting and receiving device when the incremental rotary encoder rotates. A, B signals with two phases 90 degrees out of phase are obtained; while outputting one Z-phase pulse per revolution to represent a zero reference bit. Because the phase difference between the two phases of A, B is 90 degrees, the forward rotation and the reverse rotation of the encoder can be distinguished by comparing the phase A with the phase B with the phase A, and the zero reference position of the encoder can be obtained through the zero pulse.
The Z signal refers to the signal of the Z phase pulse output of the incremental encoder, representing the zero reference, i.e., the zero signal.
In one embodiment, the position sensor is a hall sensor; after reading the output value of the position sensor, the method further comprises the following steps: judging whether the output value of the position sensor meets a preset requirement or not; and when the output value of the position sensor does not meet the requirement, judging that the position sensor is in fault.
Specifically, when the position sensor is a hall sensor, whether the hall sensor signal is correct or not can be detected, the three-way signal is combined according to the position, the range is 0-7, but the two values of 0 and 7 cannot be generated (under the conventional 120-degree hall condition) due to the electrical characteristic, and once the two values are generated, the input signal fault of the sensor is indicated, and the possibility of short circuit or open circuit exists. It can be used as a judgment condition for error detection. And judging whether the output value of the Hall sensor has two values of 0 and 7, and if so, judging the fault.
In one embodiment, in order to make those skilled in the art fully understand the position deviation calibration method in the present application, where the position sensor includes a hall sensor and an encoder, the description may specifically be combined with fig. 8, where fig. 8 is a flowchart of the position deviation calibration method in another embodiment, in this embodiment, the method mainly includes the following steps:
firstly, the voltage of a motor driver is controlled in an open loop mode, so that the motor can stably run in forward and reverse rotation and the feedback current is consistent. Namely, three-phase rotating voltage is directly given, the rotating voltage can generate a rotating magnetic field, and the rotating magnetic field can drive the motor rotor to rotate. Open loop i.e. not closed loop with PID.
Secondly, correcting the encoder, including checking the encoder, namely judging the counting direction of the encoder; and checking the line number information of the encoder through the pulse number obtained by the two zero signals of the encoder at intervals, and re-checking the counting configuration of the encoder.
Thirdly, acquiring corresponding position parameters of Hall sensor signals (motor auxiliary commutation signals): acquiring a given electrical angle value corresponding to the jumping edge of the motor auxiliary commutation signal, and storing the given electrical angle value; and obtaining electrical angle values corresponding to different signals of the Hall sensor, namely the offset angle of the sensor in different signals.
Fourthly, acquiring a position parameter corresponding to the zero position of the encoder: after the driver operates stably, acquiring and storing a given electrical angle value corresponding to the zero position signal jump edge of the encoder, wherein the electrical angle value corresponding to the zero position signal moment of the encoder is the offset angle of the motor encoder; or fixing the given electrical angle to 0, keeping the motor locked at a certain position, recording and storing the electrical angle fed back by the encoder, and calculating the offset angle of the motor encoder.
And finishing the configuration of the driver and the motor sensor according to the offset angle of the Hall sensor and the offset angle of the motor encoder.
In one embodiment, as shown in fig. 8, a motor driving method is provided, which is described by taking the method as an example applied to the motor driver in fig. 1, and includes the following steps:
s802: and reading the position deviation value obtained according to the position deviation calibration method.
Specifically, the calculation of the position deviation value may refer to the definition of the position deviation calibration method in any of the above embodiments, and is not described herein again.
S804: the output value of the position sensor is read.
S806: and calculating to obtain the rotation position of the motor according to the position deviation value and the output value.
And reading the information of the position sensor to obtain the corresponding rotation angle of the motor. The driver can calculate the rotation position of the motor by reading the feedback position of the position sensor and adding the corrected relative position offset.
S808: and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate.
The method is mainly used for collecting the phase current of the motor and is mainly applied to current closed loop. The pulse width adjustment may include a CLARK transformation, a PARK transformation, a control loop transformation, an IPARK transformation, an ICLARK transformation, and the like.
Specifically, the CLARK transformation is a transformation from a three-phase rotating coordinate system to a two-phase rotating coordinate system. The PARK transformation is a transformation from a two-phase rotating coordinate system to a stationary cartesian coordinate system. The IPARK transformation and the ICLARK transformation are inverse operations of CLARK transformation and PARK transformation, and PWM refers to pulse width modulation. In the control process, the transmission parameters of each module are per unit values.
The motor driving method can be applied to a robot joint, and the motor and the encoder can be designed separately and independently installed by the method, so that the structural design flexibility is improved, the size is further reduced, and the cost is reduced. The production steps of the motor are simplified, namely the registration steps of the motor and the encoder are reduced, the production process of the motor is optimized, and the efficiency is improved. Finally, the driver can be matched with motors of different manufacturers. The problem that the offset angles of the driver and the motor encoder are not matched is solved, and the opportunity that a driver user selects a motor supplier is increased. The situation of monopoly of binding and selling of the driver and the motor is interrupted.
It should be understood that although the steps in the flowcharts of fig. 2 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 and 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a position deviation calibration method, a motor driving method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring a preset electrical angle value corresponding to the rotation position of the motor; outputting torque corresponding to the electrical angle value to the motor; reading a mechanical angle of a motor rotor output by a position sensor; and obtaining a position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle.
In one embodiment, before obtaining the position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle, the processor executes the computer program and further comprises: under the open-loop control, the forward current and the reverse current fed back by the motor during forward and reverse rotation are basically equal in magnitude, the forward current and the reverse current are minimum, and the motor is in a forward and reverse rotation stable running state.
In one embodiment, the obtaining of the preset electrical angle value corresponding to the rotational position of the motor, which is implemented when the processor executes the computer program, comprises: acquiring the type of a position sensor; the method for obtaining the position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle when the processor executes the computer program comprises the following steps: and obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor.
In one embodiment, the type of position sensor involved in the execution of the computer program by the processor is a hall sensor; the processor, when executing the computer program, obtains a position deviation value of the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, and comprises: and recording an electrical angle value corresponding to the jumping edge of the signal output by the Hall sensor as a position deviation value of the position sensor and the motor.
In one embodiment, the type of position sensor involved in the execution of the computer program by the processor is an encoder; the processor, when executing the computer program, obtains a position deviation value of the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, and comprises: and acquiring an electrical angle value corresponding to the zero position signal output by the encoder as a position deviation value of the position sensor and the motor.
In one embodiment, the processor executes the computer program with the position sensor of the type of encoder and the electrical angle value set to 0; the processor, when executing the computer program, obtains a position deviation value of the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, and comprises: reading an output angle of a position sensor; and calculating the position deviation value of the position sensor and the motor according to the output angle of the position sensor.
In one embodiment, before obtaining the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, the processor is implemented when executing the computer program, the method further includes: and verifying the position sensor to obtain the counting direction and/or line number information of the position sensor.
In one embodiment, the manner in which the count direction is checked in relation to the processor executing the computer program comprises: judging whether the increasing and decreasing directions of the mechanical angle of the position sensor are consistent with the increasing and decreasing directions of the electrical angle value; when the increasing and decreasing direction of the mechanical angle of the position sensor does not coincide with the increasing and decreasing direction of the electrical angle value, the counting direction in which the position sensor is disposed coincides with the increasing and decreasing direction of the electrical angle value.
In one embodiment, the way the processor checks the information on the number of lines involved in executing the computer program comprises: and acquiring adjacent zero signals output by the position sensor, and counting the increment of the mechanical angle between the adjacent zero signals to be used as the linear number information.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: reading a position deviation value obtained according to the position deviation calibration method; reading an output value of the position sensor; calculating according to the position deviation value and the output value to obtain a motor rotation position; and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate.
In one embodiment, the position sensor implemented when the processor executes the computer program is a hall sensor; after reading the output value of the position sensor, the method further comprises the following steps: judging whether the output value of the position sensor meets a preset requirement or not; when the output value of the position sensor does not meet the requirement, the position sensor is judged to be in fault.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a preset electrical angle value corresponding to the rotation position of the motor; outputting torque corresponding to the electrical angle value to the motor; reading a mechanical angle of a motor rotor output by a position sensor; and obtaining a position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle.
In one embodiment, before obtaining the position deviation value of the position sensor and the motor according to the electrical angle value and the mechanical angle, the computer program when executed by the processor further includes: under the open-loop control, the forward current and the reverse current fed back by the motor during forward and reverse rotation are basically equal in magnitude and are minimum, and the motor is in a forward and reverse rotation stable operation state.
In one embodiment, the obtaining of the preset electrical angle value corresponding to the rotational position of the motor, as performed by the computer program when executed by the processor, comprises: acquiring the type of a position sensor; the computer program, when executed by a processor, for deriving a position offset value for the position sensor from the motor based on the electrical angle value and the mechanical angle, includes: and obtaining a position deviation value of the position sensor and the motor according to the type, the electric angle value and the mechanical angle of the position sensor.
In one embodiment, the computer program, when executed by the processor, relates to a position sensor of the type being a hall sensor; the computer program, when executed by a processor, for deriving a position deviation value of the position sensor from the motor based on the type of the position sensor, the electrical angle value, and the mechanical angle, includes: and recording an electrical angle value corresponding to the jumping edge of the signal output by the Hall sensor as a position deviation value of the position sensor and the motor.
In one embodiment, the computer program, when executed by the processor, is of the type involving an encoder; the computer program, when executed by a processor, for deriving a position deviation value of the position sensor from the motor based on the type of the position sensor, the electrical angle value, and the mechanical angle, includes: and acquiring an electrical angle value corresponding to the zero position signal output by the encoder as a position deviation value of the position sensor and the motor.
In one embodiment, the computer program, when executed by the processor, relates to a position sensor of the type of encoder, the electrical angle value being set to 0; the computer program, when executed by a processor, for deriving a position deviation value of the position sensor from the motor based on the type of the position sensor, the electrical angle value, and the mechanical angle, includes: reading an output angle of a position sensor; and calculating the position deviation value of the position sensor and the motor according to the output angle of the position sensor.
In one embodiment, before obtaining the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle, the computer program when executed by the processor further comprises: and verifying the position sensor to obtain the counting direction and/or line number information of the position sensor.
In one embodiment, the manner in which the count direction is checked in question when the computer program is executed by the processor comprises: judging whether the increasing and decreasing directions of the mechanical angle of the position sensor are consistent with the increasing and decreasing directions of the electrical angle value; when the increasing and decreasing direction of the mechanical angle of the position sensor does not coincide with the increasing and decreasing direction of the electrical angle value, the counting direction in which the position sensor is disposed coincides with the increasing and decreasing direction of the electrical angle value.
In one embodiment, the manner in which the computer program is executed by the processor to verify the information on the number of lines involved comprises: and acquiring adjacent zero signals output by the position sensor, and counting the increment of the mechanical angle between the adjacent zero signals to be used as the linear number information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: reading a position deviation value obtained according to the position deviation calibration method; reading an output value of the position sensor; calculating according to the position deviation value and the output value to obtain a motor rotation position; and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate.
In one embodiment, the position sensor implemented when the computer program is executed by the processor is a hall sensor; after reading the output value of the position sensor, the method further comprises the following steps: judging whether the output value of the position sensor meets a preset requirement or not; and when the output value of the position sensor does not meet the requirement, judging that the position sensor is in fault.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A method for calibrating a position deviation, the method comprising:
acquiring a preset electrical angle value corresponding to the rotation position of the motor;
outputting a torque corresponding to the electrical angle value to the motor;
reading a mechanical angle of a motor rotor output by a position sensor;
and obtaining a position deviation value of the position sensor and the motor according to the electric angle value and the mechanical angle.
2. The method for calibrating position deviation according to claim 1, wherein before obtaining the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle, the method further comprises:
under the open-loop control, the forward current and the reverse current fed back by the motor during forward and reverse rotation are basically equal in magnitude, the forward current and the reverse current are minimum, and the motor is in a forward and reverse rotation stable running state.
3. The method for calibrating the position deviation according to claim 2, wherein before the obtaining the electrical angle value corresponding to the rotation position of the motor, which is preset, the method comprises:
acquiring the type of a position sensor;
the obtaining of the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle includes:
and obtaining a position deviation value of the position sensor and the motor according to the type of the position sensor, the electric angle value and the mechanical angle.
4. The method for calibrating the position deviation according to claim 3, wherein the position sensor is a Hall sensor; the obtaining of the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle includes:
and recording the electric angle value corresponding to the signal jumping edge output by the Hall sensor as the position deviation value of the position sensor and the motor.
5. The method according to claim 3, wherein the position sensor is of the encoder type; the obtaining of the position deviation value between the position sensor and the motor according to the type of the position sensor, the electrical angle value and the mechanical angle includes:
and acquiring the electrical angle value corresponding to the zero position signal output by the encoder, wherein the electrical angle value is used for representing the position deviation value of the position sensor and the motor.
6. The method according to claim 1, wherein the position sensor is of the encoder type, and the electrical angle value is set to 0; the obtaining of the position deviation value between the position sensor and the motor according to the electrical angle value and the mechanical angle includes:
reading an output angle of the position sensor;
and calculating to obtain a position deviation value of the position sensor and the motor according to the output angle of the position sensor.
7. The positional deviation calibration method according to claim 5 or 6, further comprising:
and verifying the position sensor to obtain the counting direction and/or line number information of the position sensor.
8. The method according to claim 7, wherein the checking of the counting direction comprises:
judging whether the increasing and decreasing direction of the mechanical angle of the position sensor is consistent with the increasing and decreasing direction of the electrical angle value;
when the direction of increase or decrease of the mechanical angle of the position sensor does not coincide with the direction of increase or decrease of the electrical angle value, the counting direction in which the position sensor is arranged coincides with the direction of increase or decrease of the electrical angle value.
9. The method for calibrating the positional deviation according to claim 7, wherein the verification manner of the line number information comprises:
and acquiring adjacent zero signals output by the position sensor, and counting the increment of the mechanical angle between the adjacent zero signals to be used as the line number information.
10. The motor driving method according to claim 1, wherein the position sensor is a hall sensor; after reading the output value of the position sensor, the method further comprises:
judging whether the output value of the position sensor meets a preset requirement or not;
and when the output value of the position sensor does not meet the requirement, judging that the position sensor is in fault.
11. A motor driving method, characterized by comprising:
reading the position deviation value obtained by the position deviation calibration method according to any one of claims 1 to 10;
reading an output value of the position sensor;
calculating to obtain the rotation position of the motor according to the position deviation value and the output value;
and processing the rotation position of the motor to obtain a pulse width modulation signal for driving the motor to operate.
12. A motor drive system, comprising a motor, a position sensor, and a motor driver; the position sensor is respectively connected with the motor and the motor driver, and the motor is connected with the motor driver;
the motor driver is adapted to perform the steps of the method of any one of claims 1 to 10 or 11.
13. A robot joint, characterized in that the robot is powered off using the motor drive system of claim 12.
14. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 10 or 11.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of one of claims 1 to 10 or 11.
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| PCT/CN2022/140015 WO2023116626A1 (en) | 2021-12-22 | 2022-12-19 | Position deviation calibration method, electric motor driving method and system, and device |
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| WO2023116626A1 (en) * | 2021-12-22 | 2023-06-29 | 上海微创医疗机器人（集团）股份有限公司 | Position deviation calibration method, electric motor driving method and system, and device |
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