CN115632590A - Linear motor initial position identification method and system with UVW feedback signals - Google Patents

Linear motor initial position identification method and system with UVW feedback signals Download PDF

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Publication number
CN115632590A
CN115632590A CN202211184236.6A CN202211184236A CN115632590A CN 115632590 A CN115632590 A CN 115632590A CN 202211184236 A CN202211184236 A CN 202211184236A CN 115632590 A CN115632590 A CN 115632590A
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China
Prior art keywords
initial position
position information
linear motor
phase level
unit
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CN202211184236.6A
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Chinese (zh)
Inventor
钱振海
陈元
王远飞
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Yingfukang Zhejiang Industrial Technology Co ltd
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Yingfukang Zhejiang Industrial Technology Co ltd
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Priority to CN202211184236.6A priority Critical patent/CN115632590A/en
Publication of CN115632590A publication Critical patent/CN115632590A/en
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/32—Determining the initial rotor position
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Abstract

The scheme discloses a linear motor initial position identification method and system with UVW feedback signals, and provides the linear motor initial position identification method and system with the UVW feedback signals aiming at the problem that the linear motor without absolute position feedback cannot be normally started and controlled; the initial position is identified by the UVW feedback signal, the identification of the initial position can be realized, the requirement that one motor is identified once is solved, and meanwhile, the real-time position calibration of the motor in the operation process is further realized, so that the condition of offset is avoided.

Description

Linear motor initial position identification method and system with UVW feedback signals
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a linear motor initial position identification method and system with UVW feedback signals.
Background
For an encoder without initial position information, we cannot obtain an initial rotor position angle. The initial position angle estimation is realized through an algorithm, and the accuracy of the rotor initial position estimation directly determines whether the motor can be started, whether the motor running performance is good or bad and whether a high-performance control strategy can be realized. Therefore, whether the initial position of the rotor can be accurately estimated is a precondition for realizing the high-performance control strategy of the motor. Many existing initial position estimation methods are based on the research of a rotating permanent magnet motor, are too complex for a linear motor, depend on motor parameters, and are even not suitable for the linear motor.
In order to solve the above technical problem, the applicant proposes a linear motor initial position identification method and a control system [ application number: 202210444883.X ], the scheme is that a current Id is continuously input to a straight shaft of a linear motor through a current output unit 1, a steering determination unit controls a permanent magnet rotor to rotate in a forward direction or a reverse direction, a difference is made between position information recorded in a carrier period at the moment and position information recorded in a carrier period at the last moment, an angle recording unit calculates a feedback angle at the moment through the resolution of a feedback encoder, whether the permanent magnet rotor overturns or stalls is further judged, and finally, an initial position angle finally identified is calculated according to the recorded angle and the steering determination through an initial angle calculation unit.
The problem that the stuck points at the two ends of the linear motor cannot be accurately identified is solved by the scheme. The initial position angle of the linear motor can be accurately obtained, the accuracy degree of the initial position of the permanent magnet rotor is high, the starting and running performance of the linear motor is improved, and a high-performance control strategy of the linear motor is completed.
The applicant continues to develop and research based on the previous scheme, and provides a special initial position identification method and a special initial position identification system which are different from the previous scheme for a linear motor with a UVW feedback signal, and the new scheme can realize the effect that one motor is only identified once, can realize real-time position calibration in the long-time running process, and can ensure that the fault problem caused by position information deviation does not occur.
Disclosure of Invention
The present invention is directed to the above problem, and provides a method and a system for identifying an initial position of a linear motor with a UVW feedback signal.
In order to achieve the purpose, the invention adopts the following technical scheme:
a linear motor initial position identification method with UVW feedback signals comprises the following steps:
s1, giving a direct axis current Id, sucking a rotor to a position coincident with a direct axis, and recording position information Pos1 and a U-phase Level U _ Level _1 of the rotor at the moment;
s2, giving a displacement PosCycle, and enabling the rotor to move a displacement PosCycle in the positive direction;
sampling a U-phase level in the moving process, and recording position information Pos2 of the mover at the moment when the U-phase level is captured to change;
after the displacement is finished, recording position information Pos3 of the mover at the moment;
s3, judging whether the displacement of the actual mover meets a given amount or not according to the position difference PosError1= Pos3-Pos1 and the given displacement PosCycle, if so, executing a step S4, and if not, executing a step S7;
s4, calculating initial position information according to the position difference PosError2= Pos3-Pos2 and the U-phase Level U _ Level _1, and executing the step S5 if the U-phase Level U _ Level _1 is a high Level; if the U-phase Level U _ Level _1 is a low Level, executing a step S6;
s5, executing step S8 by using initial position information PosInt = A-PosError2, wherein A represents a position counting value of 1 circle;
s6, executing step S8 by the initial position information PosInt = B-PosError2, wherein B represents a position counting value of 1.5 circles;
s7, identifying the fault at the initial position, needing to be identified again, and ending the identification;
s8, successfully identifying the initial position;
s9, sampling and recording a U-phase Level U _ Level _2 after the motor stops running every time, sampling the U-phase Level after the motor starts running, calibrating position information when the U-phase Level is captured to change every time, wherein a position compensation value PosComp = PosInt-Pos used for calibration, pos is position information of the U-phase Level, and PosInt is identified initial position information.
The initial position identification is realized once through the process, after the initial position identification is successful, the initial position identification is not needed by the follow-up reuse motor, the real-time position calibration can be realized only by compensating the difference between the position information of the U-phase level and the position information of the identification, the problem of offset is avoided while the initial position identification is realized through simple processing, and the effect is very prominent.
In the method for identifying the initial position of the linear motor with the UVW feedback signal, in step S2, when a rising edge or a falling edge is generated in the U-phase level captured during the moving process, position information Pos2 of the mover at that moment is recorded.
In the above method for identifying the initial position of the linear motor with the UVW feedback signal, in step S1, a current Id is input to a straight axis of the linear motor by a current output unit to set the straight axis current Id, and the mover is attracted to a position overlapping the straight axis.
In the method for identifying the initial position of the linear motor with the UVW feedback signal, in the steps S1 and S2, the position information Pos1, pos2 and Pos3 is recorded by a position information recording unit;
in steps S3 to S6, the initial position calculating unit calculates the position differences PosError1, posError2, and the initial position PosInt.
In the method for identifying the initial position of the linear motor with the UVW feedback signal, the position information recording unit is connected to the encoder, and acquires and records position information according to a count value of the encoder.
In the above method for identifying the initial position of the linear motor with the UVW feedback signal, in step S2, the mover is controlled by the position moving unit to move at a stable moving speed by a predetermined displacement amount PosCycle.
In the above method for identifying the initial position of the linear motor with the UVW feedback signal, in steps S1, S2, S8, and S9, the U-phase level unit samples the U-phase level and determines the change of the rising edge and the falling edge of the U-phase level.
In the above method for identifying the initial position of the linear motor with the UVW feedback signal, in step S9, the position real-time calibration unit calculates the position compensation value according to the identified initial position information and the U-phase level edge information during operation to calibrate the position information.
In the above method for identifying the initial position of the linear motor with the UVW feedback signal, the direct axis is a direct axis in a vector algorithm.
A linear motor initial position identification system with UVW feedback signals comprises a control module, wherein the control module comprises a current output unit, a position moving unit, a position information recording unit, a U-phase level unit, an initial position calculating unit and a position real-time calibrating unit, wherein,
the current output unit is used for outputting direct-axis current for the linear motor and attracting the rotor to move;
a position moving unit for moving the mover to a set position at a stable speed;
the position information recording unit is used for recording required position information in the identification process;
an initial position calculation unit for calculating a final identified initial position according to the recorded position information;
the U-phase level unit is used for sampling the U-phase level and judging the change of the rising edge and the falling edge of the U-phase level;
and the position real-time calibration unit is used for calculating and adjusting the position information in real time according to the identified initial position information and the U-phase level edge information in operation.
The invention has the advantages that: the scheme provides a linear motor initial position identification method and system with UVW feedback signals aiming at the problem that the linear motor without absolute position feedback cannot be normally started and controlled, and the method is simple, easy to operate and convenient to realize; the initial position is identified by the UVW feedback signal, the identification of the initial position can be realized, the requirement that only one motor needs to be identified is met, and meanwhile, the real-time position calibration of the motor in the operation process is further realized, so that the offset condition is avoided.
Drawings
FIG. 1 is a block flow diagram of a linear motor initial position identification and real-time calibration method with UVW feedback signals according to the present invention;
fig. 2 is a flowchart of a linear motor initial position identification and real-time calibration method with UVW feedback signals.
Reference numerals are as follows: a current output unit 1; a position moving unit 2; a position information recording unit 3; a U-phase level unit 4; an initial position calculation unit 5; the position real-time calibration unit 6.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
The scheme discloses a linear motor initial position identification method and system with UVW feedback signals.
Specifically, the control module comprises a current output unit 1, a position moving unit 2, a position information recording unit 3, a U-phase level unit 4, an initial position calculating unit 5 and a position real-time calibrating unit 6.
The current output unit 1 is used for outputting a direct-axis current for the linear motor, attracting the permanent magnet rotor to move, and attracting the rotor to move to a position overlapped with the direct axis if the direct-axis current Id is output for the linear motor, wherein the direct-axis current Id is the direct-axis current when the fixed electrical angle is 0, and the current can enable the rotor to move to the position overlapped with the direct axis;
the position moving unit 2 is used for moving the permanent magnet mover to move the mover to a set position at a stable speed, for example, moving the mover to a given displacement PosCycle at the stable speed;
a position information recording unit 3 for recording required position information in the identification process;
an initial position calculation unit 5 for calculating a final identified initial position based on the recorded position information;
a U-phase level unit 4 for sampling a U-phase level and judging a rising edge and a falling edge of the U-phase level;
and the position real-time calibration unit 6 is used for calculating and adjusting the position information in real time according to the identified initial position information and the U-phase level edge information in operation.
As shown in fig. 1 and fig. 2, the implementation steps of the present solution are as follows:
s1, inputting current Id to a straight shaft of a linear motor by a current output unit 1, sucking a permanent magnet rotor to a position coinciding with the straight shaft based on the given current Id, recording position information Pos1 of the rotor at the moment by a position information recording unit 3, and recording a U-phase Level U _ Level _1 at the moment by a U-phase Level unit 4;
s2, the control module gives a displacement PosCycle, and the position moving unit 2 controls the mover to move a displacement PosCycle in the positive direction at a stable moving speed; the displacement amount PosCycle is typically a position count of one cycle.
The U-phase level unit 4 continuously samples the U-phase level in the moving process of the rotor, and informs the position information recording unit 3 to record position information Pos2 of the rotor at the moment when the U-phase level is captured to change for the first time; the U-phase level is changed from low level to high level or from high level to low level, namely, a rising edge or a falling edge is generated;
after the displacement is finished, the position information recording unit 3 records position information Pos3 of the mover at the moment;
s3, calculating a position difference PosError1= Pos3-Pos1 by an initial position calculating unit 5, judging whether the displacement of the actual mover is in accordance with a given amount or not according to the position difference PosError1 and the given displacement PosCycle, if so, executing a step S4, otherwise, executing a step S7;
and S4, the initial position calculating unit 5 calculates the position difference PosError2= Pos3-Pos2, and calculates initial position information according to the position difference PosError2 and the U-phase Level U _ Level _ 1.
Specifically, the U-phase Level U _ Level _1 being high indicates that the sampling at this moment is a falling edge, the U-phase Level U _ Level _1 being low indicates that the sampling at this moment is a rising edge, and the position information recorded by the rising edge and the falling edge is not the same, so the calculated values are different. In the scheme, if the U-phase Level U _ Level _1 is a high Level, calculating initial position information through a step S5; if the U-phase Level U _ Level _1 is a low Level, calculating initial position information through step S6;
s5, executing step S8, wherein the initial position information PosInt = A-PosError2, and A represents a position counting value of 1 circle and is subtracted from PosError2 to calculate the real position information of the U-phase edge;
s6, executing step S8 when the initial position information PosInt = B-PosError2, wherein B represents a position counting value of 1.5 circles and is subtracted from PosError2 to calculate the real position information of the U-phase edge;
s7, identifying the fault at the initial position, needing to identify again, and ending the identification process;
s8, successfully identifying the initial position, and executing the step S9 to carry out real-time calibration on the position information;
s9, after the motor stops running each time, the U-phase Level unit 4 samples and records the U-phase Level U _ Level _2, after the motor starts running and in the running process of the motor, the U-phase Level unit 4 continuously samples the U-phase Level U _ Level _3, the real-time position calibration unit 6 is informed to calibrate position information once when the U-phase Level is captured to change each time, the position compensation value PosComp = PosInt-Pos for calibration, pos is the position information of the U-phase Level, and PosInt is the identified initial position information. In the motion process, as long as the U-phase level conversion is sampled, difference compensation position information is carried out, and correction of actual position information is achieved.
The UVW three-phase signal is the feedback signal, and this scheme utilizes this feedback signal that linear electric motor itself exists to realize initial position and discern, and only need distinguish once, need not to go up at every turn and all discern once. In addition, the scheme also realizes real-time calibration of the position by using the identification position information as an input parameter, and ensures that the problem of faults caused by position information offset does not occur.
According to the scheme, the position information of the rising edge and the falling edge of the U phase is recorded, the difference is made between the position information and the position information after PosCycle displacement (namely the position of the rotor when being superposed with the straight shaft), the installation position of the U phase can be known, the UVW three-phase signals are 6 states in total, and the rough positions corresponding to the six states can be obtained by knowing the installation position of the U phase. One cycle is 360 degrees, and the angular range of the position information can be roughly judged according to the state value of reading UVW, for example: 001 corresponds to the range of 0-60 degrees and 010 corresponds to the range of 60-120 degrees. In the subsequent process, the power-on initial position can be known according to the rough position information of the UVW three-phase signal during power-on, and the accurate position can be corrected through position correction.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (10)

1. A linear motor initial position identification method with UVW feedback signals is characterized by comprising the following steps:
s1, giving a direct-axis current Id, sucking a rotor to a position coincident with a direct axis, and recording position information Pos1 and a U-phase Level U _ Level _1 of the rotor at the moment;
s2, setting a displacement PosCycle, and enabling the mover to move a section of displacement PosCycle in the positive direction;
sampling a U-phase level in the moving process, and recording position information Pos2 of the mover at the moment when the U-phase level is captured to change;
after the displacement is finished, recording position information Pos3 of the mover at the moment;
s3, judging whether the displacement of the actual mover meets a given amount or not according to the position difference PosError1= Pos3-Pos1 and the given displacement PosCycle, if so, executing a step S4, and if not, executing a step S7;
s4, calculating initial position information according to the position difference PosError2= Pos3-Pos2 and the U-phase Level U _ Level _1, and if the U-phase Level U _ Level _1 is a high Level, executing the step S5; if the U-phase Level U _ Level _1 is a low Level, executing a step S6;
s5, executing step S8 by using initial position information PosInt = A-PosError2, wherein A represents a position counting value of 1 circle;
s6, executing step S8 by using initial position information PosInt = B-PosError2, wherein B represents a position count value of 1.5 circles;
s7, identifying the fault at the initial position, needing to be identified again, and ending the identification;
s8, successfully identifying the initial position;
s9, sampling and recording a U-phase Level U _ Level _2 after the motor stops running every time, sampling the U-phase Level after the motor starts running, calibrating position information when the U-phase Level is captured to change every time, wherein a position compensation value PosComp = PosInt-Pos used for calibration, pos is position information of the U-phase Level, and PosInt is identified initial position information.
2. The method for identifying the initial position of the linear motor with the UVW feedback signal of claim 1, wherein in step S2, when a rising edge or a falling edge of a U-phase level is captured during the moving process, position information Pos2 of the mover at the moment is recorded.
3. The method for identifying the initial position of the linear motor with the UVW feedback signal of claim 1, wherein in step S1, the current output unit (1) inputs a current Id to a straight axis of the linear motor to set the straight axis current Id, and thereby the mover is attracted to a position coinciding with the straight axis.
4. The method for identifying the initial position of the linear motor with the UVW feedback signal according to claim 1, wherein in the steps S1 and S2, the position information Pos1, pos2 and Pos3 is recorded by a position information recording unit (3);
in steps S3-S6, the initial position calculating unit (5) calculates the position differences PosError1, posError2 and the initial position PosInt.
5. The method for identifying the initial position of the linear motor with the UVW feedback signal as claimed in claim 4, wherein said position information recording unit (3) is connected to an encoder, and acquires and records position information according to the count value of the encoder.
6. The method for identifying the initial position of the linear motor with the UVW feedback signal as claimed in claim 1, wherein in step S2, the mover is controlled by the position moving unit (2) to move at a stable moving speed by a given displacement PosCycle.
7. The method for identifying the initial position of the linear motor with the UVW feedback signal according to claim 1, wherein in steps S1, S2, S8, and S9, the U-phase level is sampled by the U-phase level unit (4), and the rising edge and the falling edge of the U-phase level are determined.
8. The method for identifying an initial position of a linear motor having a UVW feedback signal according to claim 1, wherein the position compensation value is calculated by the position real-time calibration unit (6) according to the identified initial position information and the U-phase level edge information in operation to calibrate the position information in step S9.
9. The method as claimed in claim 1, wherein the linear motor initial position identification method with UVW feedback signal is a linear motor initial position identification method with UVW feedback signal.
10. The linear motor initial position identification system with the UVW feedback signal is characterized by comprising a control module, wherein the control module comprises a current output unit (1), a position moving unit (2), a position information recording unit (3), a U-phase level unit (4), an initial position calculating unit (5) and a position real-time calibrating unit (6),
the current output unit (1) is used for outputting direct-axis current for the linear motor and attracting the rotor to move;
a position moving unit (2) for moving the mover to a set position at a stable speed;
a position information recording unit (3) for recording the required position information during the identification process;
an initial position calculation unit (5) for calculating a final identified initial position based on the recorded position information;
a U-phase level unit (4) for sampling a U-phase level and judging the change of the rising edge and the falling edge of the U-phase level;
and the position real-time calibration unit (6) is used for calculating and adjusting the position information in real time according to the identified initial position information and the U-phase level edge information in operation.
CN202211184236.6A 2022-09-27 2022-09-27 Linear motor initial position identification method and system with UVW feedback signals Pending CN115632590A (en)

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CN202211184236.6A CN115632590A (en) 2022-09-27 2022-09-27 Linear motor initial position identification method and system with UVW feedback signals

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Application Number Priority Date Filing Date Title
CN202211184236.6A CN115632590A (en) 2022-09-27 2022-09-27 Linear motor initial position identification method and system with UVW feedback signals

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CN115632590A true CN115632590A (en) 2023-01-20

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