JP2011087414A - Servo motor mechanism and operating method of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem where a servo drive device can identify only a motor identification code which is previously stored, and it is difficult to perform compensation required for several permanent magnet-incorporating motors, and especially the servo drive device in conventional technology cannot drive a subsequent servo motor unless it updates firmware. <P>SOLUTION: A servo motor mechanism is equipped with: the servo motor 20 and the servo drive means 10; and the servo motor is connected to the servo drive means. An operating method of the mechanism is also provided. The servo motor is equipped with: a motor unit 22; and an encoder 24 connected to the motor unit. The encoder is equipped with: a CPU24A; and a storage part 24B connected to the CPU. A data parameter of the motor unit is stored in the storage part. The servo drive means controls the motor unit by the data parameter of the motor unit, which is stored in the storage part. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a motor mechanism and an operating method thereof, and more particularly to a servo motor mechanism and an operating method thereof.

A mechanism that controls the control position, speed, or acceleration in a closed loop manner is called a servo mechanism. One servo mechanism usually includes elements such as a control object, an actuator, and a controller. The controlled object is an object to be controlled, such as a machine arm or a machine work table. The function of the actuator is to give power to the controlled object, and is realized by a gas, hydraulic or electric power drive system. If a hydraulic drive system is adopted, it is generally called a hydraulic servo mechanism. Currently, the majority of servo mechanisms employ an electric system.

The actuator includes a motor and a power amplifier. A motor specially designed to be applied to a servo mechanism is called a servo motor. Servo motors typically incorporate position feedback means such as an optical encoder, resolver, or angle detector / sensor. Currently, servo motors mainly used in the industry include DC servo motors, permanent magnet AC servo motors, and AC induction servo motors. Permanent magnet AC servo motors occupy the majority of these.

The function of the control device is to provide control such as torque control, speed control and position control over the entire closed loop of the servo motor mechanism. In general, a general industrial servo driver usually includes a control device and a power amplifier.

Please refer to FIG. This is a schematic view of a conventional servo motor mechanism. Please refer to FIG. 2 at the same time. This is a block diagram of a conventional servo motor mechanism. The conventional servo motor mechanism includes a servo drive device 100 and a servo motor 400. The servo motor 400 includes an encoder 420 and a motor unit 440. The servo drive device 100 is electrically connected to the encoder 420 and the motor unit 440. The servo drive device 100 supplies a current to a stator (not shown) of the motor unit 440 to generate a magnetic field to drive a rotor (not shown) of the motor unit 440. Of these, the encoder 420 needs to feed back the rotor angle of the motor unit 440 in order to generate an accurate three-phase current.

The motor unit 440 transmits the angle information of the rotor in the motor unit 440 to the servo drive device 100 by the encoder 420 by serial communication and pulse method. As a possible method, after the power is turned on, the servo motor 400 may first transmit the motor identification code of the servo motor 400 to the servo drive device 100. Accordingly, the servo drive device 100 can acquire the model number of the servo motor 400. Subsequently, the parameters of the corresponding motor stored in the servo drive device 100 are applied to the control circuit.

However, in this method, the servo drive device 100 can identify only the motor identification code of the servo motor 400 stored in advance in the servo drive device 100. When the servo drive device 100 receives a motor identification code that is not stored in the servo drive device 100, the servo drive device 100 cannot drive the servo motor 400.

Permanent magnet built-in (Internal Permanent Magnet, generally called IPM) motors are equipped with a magnetic body inside the rotor structure to improve motor torque-rotation speed performance and improve other motor characteristics. To do. Since 1990, motors with built-in permanent magnets have high efficiency, and thus have been widely applied to various consumer products such as automobiles and cooling equipment. In the not-too-distant future, it is likely that servo motors will become increasingly common in the use of permanent magnet built-in motors instead of surface magnet motors.

However, the characteristics of the motor with a built-in permanent magnet are relatively non-linear, for example, the back electromotive force is less likely to be a sine wave. Since there is a limit to the space in which the servo drive device 100 can store the motor identification code, it is difficult to perform necessary compensation for the motor with respect to several permanent magnet built-in motors. In particular, the servo drive device 100 in the prior art cannot drive the subsequent servo motor 400 unless the firmware is updated.

In order to improve the above-described drawbacks in the prior art, an object of the present invention is to provide a servo motor mechanism that can drive a later motor and perform necessary compensation for the motor.

Another object of the present invention is to provide a method of operating a servo motor mechanism that can drive a later motor and perform necessary compensation for the motor in order to improve the above-mentioned drawbacks in the prior art.

In order to achieve the above-described object of the present invention, the servo motor mechanism of the present invention includes a servo motor. The servo motor includes a motor unit and an encoder. The encoder is mechanically connected to the motor unit. The encoder further includes a CPU and a storage unit. The storage unit is electrically connected to the CPU. The storage unit stores data parameters of the motor unit.

In order to achieve the above-described other object of the present invention, the operating method of the servo motor mechanism of the present invention is applied to the servo drive means and the servo motor. The servo motor includes a motor unit and an encoder. The encoder includes a CPU and a storage unit. The storage unit stores data parameters of the motor unit. The operating method of the servo motor mechanism includes the step of the CPU reading the data parameter of the motor unit from the storage unit, the step of transmitting the data parameter of the motor unit to the servo driving means, and the servo driving. And means for controlling the motor unit based on data parameters of the motor unit.

1. The servo drive means can drive the later servo motor.
2. It is possible to reduce the characteristic difference between the different motor units.

It is the schematic of the conventional servomotor mechanism. It is a block diagram of the conventional servo motor mechanism. It is a block diagram of the servo motor mechanism of the present invention. It is a flowchart of the operating method of the servomotor mechanism of this invention. It is the schematic of non-interference compensation of the servo motor mechanism of the present invention. It is an operation | movement time chart of the servo drive means and encoder of this invention.

Please refer to FIG. This is a block diagram of the servo motor mechanism of the present invention. The servo motor mechanism of the present invention includes a servo motor 20 and servo drive means 10. The servo drive means 10 is electrically connected to the servo motor 20. The servo motor 20 includes a motor unit 22 and an encoder 24. The encoder 24 is mechanically connected to the motor unit 22. The encoder 24 includes a CPU 24A and a storage unit 24B. The storage unit 24B is electrically connected to the CPU 24A.

The storage unit 24B stores data parameters including the resistance value, inductance, counter electromotive force, cogging torque, and the like of the direct axis (d axis) and the intersecting axis (q axis) of the motor unit 22. The servo drive means 10 controls the motor unit 22 based on the data parameters of the motor unit 22 stored in the storage unit 24B. The servo motor 20 may be, for example, a permanent magnet built-in type motor, and the encoder 24 may be an absolute value type encoder.

Please refer to FIG. This is a flowchart of the operating method of the servo motor mechanism of the present invention. At the same time, see FIG. First, when the power is turned on (step S10), the servo motor 20 transmits a motor identification code to the servo drive means 10 (step S20). Subsequently, the servo drive means 10 requests the encoder 24 to transmit the data parameter of the motor unit 22 based on the motor identification code (step S30). Subsequently, the CPU 24A of the encoder 24 reads the data parameter of the motor unit 22 from the storage unit 24B of the encoder 24 (step S40). Thereafter, the encoder 24 transmits the data parameters of the motor unit 22 to the servo drive means 10 (step S50). At this point, the servo drive means 10 recognizes the motor unit 22. Finally, the servo drive means 10 controls the motor unit 22 based on the data parameters of the motor unit 22 such as non-interference compensation, cogging torque cancellation, or flux weakening control (step S60).

Please refer to FIG. This is a schematic diagram of non-interference compensation of the servo motor mechanism of the present invention. Since the encoder 24 (for example, an absolute value type encoder) provides an absolute angle, accurate compensation can be obtained in a physical quantity related to the rotation angle. For example, when the three-phase counter electromotive force of the motor with a built-in permanent magnet approaches a trapezoid, after the power is turned on, the processing means 12 of the servo drive means 10 moves from the encoder 24 to the reverse of the motor unit 22. Get the electromotive force waveform. Therefore, the processing means 12 of the servo driving means 10 controls the non-interference compensation circuit 14, the pulse modulation unit 16, and the insulated gate bipolar transistor 18, and performs subsequent compensation to generate torque smoothing control.

See FIG. This is an operation time chart of the servo drive means and encoder of the present invention. S1 in the figure represents the motor identification code that the servo driving means 10 sends to the encoder 24. After each servomotor 20 is attached to the servomotor mechanism, a unique motor identification code is set. Therefore, the motor identification code is the first data for the servo drive means 10 to identify each servo motor 20. A data parameter corresponding to the motor identification code is stored in the storage unit 24B of the encoder 24. S2 to S5 in the figure represent what the encoder 24 feeds back data corresponding to the motor identification code to the servo drive means 10. When the servo drive means 10 is energized, reading of the data parameters of all the motors is started (S2, S3, etc. in the figure), and the real-time angular position is fed back (S4, S5, etc. in the figure). For example, S2 is resistance value data of the straight axis (d axis) and the intersecting axis (q axis) of the motor unit 22, and S3 is a straight axis (d axis) and the intersecting axis (q axis) of the motor unit 22. Inductance data. After the transmission of all motor data parameters is completed, the real-time angular position is fed back.
The data parameters stored in the storage unit 24B of the encoder 24 are organized by a measuring device when the servo motor 20 is manufactured, and then stored again in the storage unit 24B of the encoder 24. Each motor has a different data parameter. Therefore, the servo drive means 10 and the servo motor 20 contribute to the leveling of the overall performance by acquiring different data parameters of the individual motors. In other words, the characteristic gap between different motors is thereby reduced.

In the science and technology that are constantly evolving, servo motors are constantly changing to meet different requirements. In other words, the firmware needs to be upgraded and updated so that the servo drive device is attached. However, this consumes a lot of human and physical resources. According to the present invention, it is possible to greatly reduce the consumption of human and physical resources in firmware upgrades and updates. The technical features of the present invention mainly include the following.
1. The encoder 24 includes the CPU 24A and the storage unit 24B. The storage unit 24B is used to store a back electromotive force and a cogging torque waveform related to data parameters and angles of the motor unit 22.
2. When the servo drive means 10 is energized, the reading of all data parameters of the motor unit 22 is started, and the real-time angular position is fed back. The servo drive means 10 compensates with the data parameters of the motor unit 22 to smooth the motor unit 22 and improve efficiency.
3. 3. Data parameters stored in the storage unit 24B of the encoder 24 are organized by a measuring device when the servo motor 20 is manufactured, and then stored again in the storage unit 24B of the encoder 24. Since the permanent magnet built-in type motor cannot provide accurate compensation without the rotor angle information, the absolute value encoder is used to provide an absolute angle, and accurate compensation can be obtained in the physical quantity related to the rotational angle.

The advantages of the present invention mainly include:
1. The servo drive means 10 can drive the servo motor 20 that is later.
2. It is possible to reduce the characteristic difference between the different motor units 22.

In summary, the present invention has industrial applicability, novelty, and inventive step, and the structure of the present invention is not found in similar products and is not publicly used. In order to fully satisfy the filing requirements of the present invention, a patent is filed here under the Patent Law.

DESCRIPTION OF SYMBOLS 100 Servo drive device 400 Servo motor 420 Encoder 440 Motor unit 10 Servo drive means 20 Servo motor 22 Motor unit 24 Encoder 24A CPU
24B Storage units S10 to S60 Step 12 Processing unit 14 Non-interference compensation circuit 16 Pulse modulation unit 18 Insulated gate bipolar transistors S1 to S5 Transmission signal between servo driving unit and encoder

Claims (10)

A servo motor mechanism including a servo motor, wherein the servo motor is
A motor unit;
An encoder mechanically connected to the motor unit, and the encoder is
CPU,
A servo motor mechanism, further comprising a storage unit electrically connected to the CPU and storing data parameters of the motor unit. The servo drive means that is electrically connected to the servo motor and controls the motor unit based on data parameters of the motor unit stored in the storage unit. The servo motor mechanism according to 1. The servo motor mechanism according to claim 1, wherein the servo motor is a motor with a built-in permanent magnet. 4. The servo motor mechanism according to claim 3, wherein the encoder is an absolute value type encoder. 5. The servo according to claim 4, wherein the storage unit stores data parameters including a resistance value, inductance, counter electromotive force, cogging torque, and the like of the direct axis and the intersecting axis of the motor unit. Motor mechanism. An operating method of a servo motor mechanism applied to a servo drive means and a servo motor, wherein the servo motor includes a motor unit and an encoder, and the encoder stores a CPU and data parameters of the motor unit. And an operating method of the servo motor mechanism,
A. The CPU reading data parameters of the motor unit from the storage unit;
B. The encoder transmitting data parameters of the motor unit to the servo drive means;
C. And a step of controlling the motor unit based on data parameters of the motor unit. Before step A,
The method according to claim 6, further comprising: A1: requesting the encoder to transmit the data parameter of the motor unit. Before step A1,
The servo motor mechanism operating method according to claim 7, further comprising: A2: the servo motor transmitting a motor identification code to the servo driving means. 8. The method of operating a servo motor mechanism according to claim 6, wherein the servo motor is a permanent magnet built-in type motor and the encoder is an absolute value type encoder. 10. The servo according to claim 9, wherein the storage unit stores data parameters including a resistance value, inductance, counter electromotive force, cogging torque, and the like of a straight axis and an intersecting axis of the motor unit. Actuation method of motor mechanism.

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