TW202209803A - Motor calibration system - Google Patents

Abstract

The invention discloses a motor calibration system. The motor correction system is used to correct the zero position of the motor and the phase sequence of the motor. The motor calibration system includes a control module, a drive module, an angle reader, a data writer, and a steering sensor. The control module includes a memory and a processor, and the processor can control the rotation of the motor according to predetermined steering information stored in the memory. The control module can change the forward and reverse commands of the motor control module of the motor according to the direction of the motor rotation detected by the steering sensor. The control module can control the motor control module to rotate a predetermined angle, and write the current angle read by the angle reader into the motor control module as the zero offset value of the motor control module.

Description

Correction system for motors

The present invention relates to a calibration system, in particular to a calibration system for a motor used for calibrating zero point position and phase sequence.

The existing common motor calibration method is: first fix the motor encoder (Encoder) and the motor shaft to fix each other, then use a driver to drive the motor to rotate, and obtain the waveform output by the encoder through an oscilloscope. Finally, the relevant personnel You can judge whether the relative position of the rotor of the motor and the turntable of the encoder is correct by watching the waveform on the oscilloscope. until the relative positions of the two are correct. The above-mentioned conventional methods for calibrating the zero position of the motor and the encoder are not only time-consuming and labor-intensive, but also cannot precisely adjust the relative positions of the encoder's turntable and the motor rotor relative to each other by manual methods.

The invention discloses a correction system for a motor, which is mainly used to improve the inconvenience caused by the manual way of performing zero-point position correction on a motor rotor and an encoder.

One embodiment of the present invention discloses a motor calibration system, which is used to calibrate a zero position of a motor and a phase sequence of the motor, the motor includes a motor control module, and the motor calibration system includes: a control module , a drive module, an angle reader, a data writer and a steering sensor. The control module is used for electrically connecting to a power source, and the control module includes a storage, and the storage stores a predetermined steering information. The driving module is electrically connected to the control module, and the driving module is used for connecting the three-phase line of the motor. The angle reader is used for connecting the motor control module, and the angle reader is used for reading an angle information output by the motor control module. The data writer is used for writing at least one correction angle data into the motor control module. The steering sensor is used for setting the motor, and the steering sensor is used for sensing the rotation direction of the motor, so as to generate a steering information correspondingly; wherein, the control module can execute a phase sequence correction program, when the control module executes the phase sequence correction program , the control module will control the rotation of the motor through the drive module according to the predetermined steering information, and the control module will judge whether the rotation direction of the motor is consistent with the predetermined steering information according to the steering information returned by the steering sensor; When the module determines that the rotation direction of the motor does not match the predetermined steering information, the control module will control the data writer to change a forward rotation command and a reverse rotation command in the control chip; wherein, when the control module finishes executing the phase sequence After the calibration procedure, the control module will execute an angle calibration procedure. When the control module executes the angle calibration procedure, the control module will pass the driving module to rotate the motor to a predetermined angle, and the control module will pass through the angle reader. The angle information is read, and a current angle included in the angle information is written into the motor control module through the data writer to be used as a zero offset value of the motor control module.

One embodiment of the present invention discloses a motor calibration system, which is used to calibrate a zero position of a motor and a phase sequence of the motor, the motor includes a motor control module, and the motor calibration system includes: a control module , a drive module, an angle reader and a data writer. The control module is used for being electrically connected to a power source. The control module includes a storage and a processor. The storage stores a predetermined steering information, and the processor is electrically connected to the storage. The driving module is electrically connected to the control module, and the driving module is used for connecting the three-phase line of the motor. The angle reader is used for connecting the motor control module, and the angle reader is used for reading an angle information output by the motor control module. The data writer is used for writing at least one correction angle data into the motor control module. The control module can execute a phase sequence correction program. When the control module executes the phase sequence correction program, the control module will control the rotation of the motor through the driving module according to the predetermined steering information, and the control module will control the motor according to the motor control module. The returned steering information determines whether the rotation direction of the motor is consistent with the predetermined steering information; if the control module determines that the rotation direction of the motor does not match the predetermined steering information, the control module will control the data writer to change the motor A forward rotation command and a reverse rotation command in the control module; wherein, after the control module executes the phase sequence correction procedure, the control module will execute an angle correction procedure, and when the control module executes the angle correction procedure, the control module The group will pass the driving module to rotate the motor at a predetermined angle, and the control module will read the angle information through the angle reader, and write a current angle included in the angle information into the motor through the data writer The control module is used as a zero offset value of the motor control module.

To sum up, the motor calibration system of the present invention can directly change the pre-stored in the motor control module (the motor control module includes the encoder) through the cooperation of the control module and the data writer and other components. The forward rotation command, reverse rotation command and zero offset value can directly complete the phase sequence correction operation of the motor and the angle correction operation of the motor. The motor correction system of the present invention performs phase sequence correction operation on the motor and During the angle correction operation, there is no need for the user to manually adjust the turntable of the encoder or manually adjust the rotor of the motor.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and accompanying drawings of the present invention, but these descriptions and drawings are only used to illustrate the present invention, rather than make any claims to the protection scope of the present invention. limit.

In the following description, if it is indicated to refer to a specific figure or as shown in a specific figure, it is only used for emphasis in the subsequent description, and most of the related content mentioned appears in the specific figure, However, it is not limited that only the specific drawings may be referred to in this subsequent description.

Please refer to FIG. 1 , which is a schematic block diagram of a motor calibration system 100 of the present invention. The motor calibration system 100 of the present invention is used for calibrating a zero point position of a motor M and a phase sequence of the motor M (ie, the forward rotation direction and the reverse rotation direction). The motor calibration system 100 includes: a control module 1 , a driving module 2 , an angle reader 3 , a data writer 4 and a steering sensor 5 .

The control module 1 is used for electrically connecting a power source P. The power source is, for example, alternating current, direct current power supply, direct current battery, etc., which are not limited herein. The control module 1 includes a storage 11 and a processor 12 . The storage 11 stores a predetermined steering information 111 , and the processor 12 is electrically connected to the storage 11 . The storage 11 is, for example, various types of memory, hard disk, etc., and the processor 12 is, for example, various microprocessors, processing chips, etc., which are not limited herein. The predetermined steering information 111 refers to the user-defined forward rotation direction (and reverse rotation direction) of the motor input by the relevant user through the relevant input device (such as a smart phone, a keyboard, a mouse, a touch screen, etc.) and a relevant user interface. direction) information.

More specifically, as shown in FIG. 2 and FIG. 3 , FIG. 2 shows a schematic view of the motor being fixed to the fixing member, and FIG. 3 is a front view of FIG. 2 . In the case where a housing M1 of the motor M is fixedly disposed on one side of a fixing member M2, and a rotating shaft M3 of the motor M is exposed on the other side of the fixing member M2, the user can use the relevant input device and relevant user The interface defines that when the user faces the fixed member M2 with the rotating shaft M3 exposed (as shown in FIG. 3 ), the rotating shaft M3 rotates clockwise as the forward rotation direction, and the rotating shaft M3 rotates counterclockwise as the reverse rotation direction.

As shown in FIG. 1 and FIG. 3 , the driving module 2 is electrically connected to the control module 1 , and the driving module 2 is used to connect the three-phase line M4 of the motor M. In practical applications, the drive module 2 may include related protection mechanisms, for example, the drive module 2 may include a phase current detection circuit, an overcurrent protection circuit, etc., so as to ensure the current output to the motor M , Voltage stability.

The angle reader 3 is used for connecting to the motor control module M5, and the angle reader 3 is used for reading an angle information M51 output by the motor control module M5. In practical applications, the angle reader 3 may be a codec (Decoder), a quadrature encoder (QEI) module or an input capture (Input Capture) module. The motor control module M5 referred to here includes a rotary encoder. The rotary encoder can be, for example, an absolute encoder or an incremental encoder, which is not added here. Restriction; the codec (angle reader 3 ) is used to read the signal output from the rotary encoder (motor control module M5 ) to obtain the rotation angle of the rotation shaft M3 controlled by the motor control module M5 .

The data writer 4 is used for writing at least one correction angle data 41 into the motor control module M5. In practical applications, the data writer 4 can be a component similar to a writer, and the data writer 4 can write data into the related control chip or memory of the motor control module M5. Wherein, the data writer 4 may write the correction angle data 41 into a blank address of the memory, or the data writer 4 may write the correction angle data 41 into the memory that has pre-stored corresponding data address, which has replaced the data originally stored in memory. For example, the control chip or the memory in the motor control module M5 may be preset with an address for storing the correction angle data 41, and the pre-stored data in this address may be 0, if the data is written When the controller 4 writes the correction angle data 41 into the motor control module M5 , the data 0 pre-stored at the address will be replaced with the correction angle data 41 .

The steering sensor 5 is arranged on the motor M, and the steering sensor 5 is used for sensing the rotation direction of the motor M, so as to generate a steering information 51 correspondingly. In practical applications, the steering sensor 5 can be various motor position sensors, such as a Hall sensor (Hall), an encoder (Encoder), a resolver (Resolver), etc., but this is not the case However, any sensing element that can be used to detect the rotation direction of the rotating shaft M3 of the motor M belongs to the applicable scope of the steering sensor 5 in this embodiment. It should be noted that, in different embodiments, the motor calibration system 100 may not include the steering sensor 5 , and the control module 1 of the motor calibration system 100 is obtained directly through the motor control module M5 The steering information 51 , that is, the motor control module M5 can output the steering information 51 to the control module 1 .

As shown in FIG. 1 and FIG. 4 , FIG. 4 is a schematic flowchart of a first embodiment of the motor calibration performed by the control module of the motor calibration system of the present invention. When the control module 1 of the motor calibration system 100 calibrates the motor M, the control module 1 may first execute a phase sequence calibration procedure, and then execute an angle calibration procedure.

When the control module 1 executes the phase sequence correction procedure, the control module 1 may successively execute a driving and judging step S11: according to the predetermined steering information 51, the motor M is controlled to rotate by the driving module 2; The steering information 51 returned by the detector 5 is used to determine whether the rotation direction of the motor M is consistent with the predetermined steering information 111 . If the control module 1 determines that the rotation direction of the motor M does not match the predetermined steering information 111, the control module 1 will execute a modification step S12: the control data writer 4 modifies a forward rotation command M52 in the motor control module M5 And a reverse command M53.

Specifically, in practice, the different winding methods and directions of the coils of the rotor of the motor M will result in different rotation directions of the rotor after the rotor is energized. Therefore, after the motor M is energized, the motor control module M5 passes the forward rotation command from the memory. When M52 and the reverse command M53 control the rotor of the motor M to rotate forward or reverse, the rotation direction of the rotor of the motor M may be different from the rotation direction expected by the user. For example, suppose that when the motor control module M5 controls the rotor to rotate according to the forward rotation command M52, the user sees that the rotating shaft M3 rotates counterclockwise, but the user expects that the rotating shaft M3 of the motor M rotates clockwise when it rotates forwardly. , this situation is the situation in which the control module 1 determines that the rotation direction of the motor M does not match the predetermined steering information 111; as described above, when the motor calibration system 100 of the present invention occurs in this situation, the control module 1 will Change the forward rotation command M52 and the reverse rotation command M53 of the motor control module M5 directly through the data writer 4, so that the motor control module M5 controls the rotation of the rotor of the motor M according to the forward rotation command M52 or the reverse rotation command M53. , the direction of rotation of the rotor is defined by the user.

After the control module 1 executes the phase sequence calibration procedure, the control module 1 will execute an angle calibration procedure. When the control module 1 executes the angle calibration procedure, the control module 1 will execute an angle reading step S21: through the drive module The group 2 rotates the motor M by a predetermined angle; then, the control module 1 will execute a writing step S22 : read the angle information M51 through the angle reader 3 , and use the data writer 4 to read the angle information M51 contained in the angle information M51 A current angle M511 of the motor control module M511 is written into the motor control module M5 as a zero offset value M54 of the motor control module M5.

For example, when the control module 1 executes the angle correction procedure, the control module 1 may, for example, control the rotor of the motor M to rotate forward 30 degrees (ie, the predetermined angle) through the drive module 2, and then, the control module 1 will read the angle information M51 output by the motor control module M5 through the angle reader 3 to determine whether the motor M rotates 30 degrees forward, assuming that the control module 1 reads the motor through the angle reader 3 M actually rotates 60 degrees in the forward direction, then the control module 1 will know that the rotor of the motor M has rotated 30 degrees more, and the control module 1 will take the multi-rotation 30 degrees as the current angle M511, and write it as the motor control The zero offset value of the module M5 is M54. In this way, when the motor control module M5 is subsequently powered on and executes the command of forward rotation of 30 degrees, the motor control module M5 will correct the rotation angle according to the zero offset value M54, and the motor The control module M5 will correctly control the rotor to rotate forward 30 degrees.

In one embodiment of the present invention, assuming that the current angle is defined as θ, when the control module 1 executes the phase sequence correction program, if the control module 1 changes the forward rotation command M52 and the reverse rotation command M53 in the motor control module M5 , then when the control module 1 executes the angle correction procedure, the zero offset value M54 is (360-θ)*(4096/360); on the contrary, when the control module 1 executes the phase sequence correction procedure, if the control module 1 If the forward rotation command M52 and the reverse rotation command M53 in the motor control module M5 are not changed, when the control module 1 executes the angle correction procedure, the zero offset value M54 is θ*(4096/360).

The order in which the control module 1 executes the phase sequence correction procedure and the angle correction procedure can be changed according to requirements, which is not limited here; Execute the angle correction program. In this way, when the control module 1 executes the angle correction program, the control module 1 can directly write the current angle M511 obtained by the angle reader 3 into the motor control module M5 through the data writer 4. middle.

Please refer to FIG. 5 and FIG. 6 together. FIG. 5 is a schematic flowchart of a control module of the motor calibration system of the present invention calibrating a motor, and FIG. 6 is a block diagram of a second embodiment of the motor calibration system of the present invention. . One of the differences between this embodiment and the foregoing embodiments is that after the control module 1 completes the phase sequence correction procedure, the control module 1 can also execute a phase sequence verification procedure. When the control module 1 executes the phase sequence verification procedure, the control module 1 will execute a phase sequence verification step S13 : control the rotation of the motor M according to the predetermined steering information 111 , and determine according to the steering information 51 returned by the steering sensor 5 Is the rotation direction of the motor M correct? If the control module 1 determines that the rotation direction of the motor M is incorrect, the control module 1 executes the phase sequence correction procedure again, or the control module 1 sends a phase sequence correction failure signal 13 . In practical applications, when the control module 1 executes the phase sequence verification procedure for the first time, the control module 1 may re-execute the phase sequence correction procedure once, or may execute the phase sequence repeatedly for a predetermined number of times (for example, 3 times). Correction procedure.

One of the differences between the motor calibration system 100 of this embodiment and the previous embodiments is that the motor calibration system 100 further includes a warning module 6 , the warning module 6 is electrically connected to the control module 1 , and the warning module 6 is electrically connected to the control module 1 . When receiving the phase sequence calibration failure signal 13, the warning module 6 will warn the user that the calibration system 100 of the motor fails to correct the phase sequence of the motor M. When the module 6 receives the phase sequence correction failure signal 13, it can control the lamp and the speaker to emit light and sound of corresponding colors respectively.

One of the differences between this embodiment and the previous embodiments is that after the control module 1 completes the angle correction procedure, the control module 1 can also execute an angle verification procedure. When the control module 1 executes the angle verification procedure, the control module The group 1 will execute an angle verification step S23: the motor M is rotated by a verification angle through the drive module 2, and the control module 1 will read the angle information M51 through the angle reader 3 to determine whether the rotation angle of the motor M is correct . If the control module 1 determines that the rotation angle of the motor M is incorrect, the control module 1 re-executes the angle correction procedure or the phase sequence correction procedure, or sends an angle correction failure signal 14 . If the control module 1 judges that the rotation angle of the motor M is correct, the control module 1 will execute a calibration end step S24. In the calibration end step S24, the control module 1 will end the calibration operation of the motor M, and control the For example, the module 1 can store the relevant basic data, calibration result data, calibration process and other relevant data of the motor M in a specific database.

In the embodiment where the motor calibration system 100 includes the warning module 6 , the warning module 6 is electrically connected to the control module 1 , and when the warning module 6 receives the angle calibration failure signal 14 , the warning module 6 will warn the user of the motor The correction system 100 fails to correct the angle of the motor M, and the control module 1 can control the relevant lamps or horns to emit relative light and sound.

Please refer to FIG. 7 , which is a block diagram of a second embodiment of the motor calibration system of the present invention. The biggest difference between the motor calibration system 100 of the present invention and the foregoing embodiments is that the motor calibration system 100 further includes a communication module 7 . The communication module 7 is electrically connected to the control module 1, and the communication module 7 can receive a predetermined steering information A1 transmitted by a production system A, and the control module 1 can receive the predetermined steering information A1 through the communication module 7, and send the predetermined steering information A1 to the predetermined steering information A1. The steering information A1 is stored in the memory 11 . Specifically, the communication module 7 can be any wired or wireless communication unit, and the production system A can be an input device (such as a computer, smart phone, tablet, etc.) that can provide relevant personnel to input the predetermined steering information A1 computer, etc.) connection, and the relevant personnel can generate the predetermined steering information A1 through the input device according to their own needs, and the production system A is used to transmit the predetermined steering information A1 input by the relevant personnel to the motor calibration system. 100 communication module 7.

To sum up, the calibration system of the motor of the present invention can completely eliminate the need for relevant personnel to manually operate the relevant components of the motor in the process of calibrating the motor. Therefore, the calibration system of the motor of the present invention The manual method, which is more efficient and has relatively better calibration accuracy, is to operate the turntable of the encoder of the motor and observe the waveform corresponding to the output of the motor with the oscilloscope.

The above descriptions are only preferred feasible embodiments of the present invention, which do not limit the scope of the present invention. Therefore, any equivalent technical changes made by using the contents of the description and drawings of the present invention are included in the protection scope of the present invention. .

100: Correction system of the motor 1: Control module 11: Storage 111: Scheduled steering information 12: Processor 13: Phase sequence correction failure signal 14: Angle correction failure signal 2: drive module 3: Angle Reader 4: Data writer 41: Correct angle data 5: Steering sensor 51: Steering Information 6: Warning module 7: Communication module M: motor M1: Shell M2: Fixed member M3: Rotary axis M4: Three-phase line M5: Motor Control Module M51: Angle Information M511: Current angle M52: Forward rotation command M53: Reverse command M54: Zero offset value P: Power A: Production system A1: Scheduled turn information

FIG. 1 is a schematic block diagram of a calibration system for a motor of the present invention.

FIG. 2 is a schematic perspective view of the motor.

FIG. 3 is a front view of the motor of FIG. 2 .

FIG. 4 is a schematic flowchart of the first embodiment of the motor calibration performed by the control module of the motor calibration system of the present invention.

FIG. 5 is a schematic flowchart of a second embodiment of the motor calibration performed by the control module of the motor calibration system of the present invention.

FIG. 6 is a schematic block diagram of a second embodiment of the motor calibration system of the present invention.

FIG. 7 is a schematic block diagram of a third embodiment of the motor calibration system of the present invention.

100: Correction system of the motor

1: Control module

11: Storage

111: Scheduled steering information

12: Phase sequence correction failure signal

2: drive module

3: Angle Reader

4: Data writer

41: Correct angle data

5: Steering sensor

51: Steering Information

M: motor

M5: Motor Control Module

M51: Angle Information

M511: Current angle

M52: Forward rotation command

M53: Reverse command

M54: Zero offset value

P: Power

Claims (9)

A calibration system for a motor is used to calibrate a zero position of a motor and a phase sequence of the motor, the motor includes a motor control module, and the calibration system for the motor includes: A control module is used for electrically connecting to a power source, the control module includes a storage and a processor, the storage stores a predetermined steering information, and the processor is electrically connected to the storage ; a drive module, which is electrically connected to the control module, and the drive module is used to connect the three-phase line of the motor; an angle reader, which is used for connecting the motor control module, and the angle reader is used for reading an angle information output by the motor control module; a data writer for writing at least one correction angle data into the motor control module; a steering sensor, which is arranged on the motor, and the steering sensor is used for sensing the rotation direction of the motor, so as to generate a steering information correspondingly; Wherein, the control module can execute a phase sequence correction program, and when the control module executes the phase sequence correction program, the control module will control the driving module according to the predetermined steering information. The motor rotates, and the control module will determine whether the rotation direction of the motor is consistent with the predetermined steering information according to the steering information returned by the steering sensor; if the control module If it is judged that the rotation direction of the motor does not match the predetermined steering information, the control module will control the data writer to change a forward rotation command and a reverse rotation command in the motor control module; Wherein, after the control module executes the phase sequence correction program, the control module will execute an angle correction program, and when the control module executes the angle correction program, the control module will pass the The drive module rotates the motor at a predetermined angle, and the control module reads the angle information through the angle reader, and writes the angle information through the data writer A current angle contained in is written into the motor control module as a zero offset value of the motor control module. The motor calibration system according to claim 1, wherein after the control module executes the phase sequence calibration program, the control module can also execute a phase sequence verification program, and the control module executes the During the phase sequence verification procedure, the control module will control the rotation of the motor according to the predetermined steering information, and the control module will determine the rotation of the motor according to the steering information returned by the steering sensor. Whether the rotation direction of the motor is correct; if the control module determines that the rotation direction of the motor is incorrect, the control module re-executes the phase sequence correction procedure, or the control module issues a phase sequence correction procedure failure signal. The motor calibration system according to claim 2, wherein the motor calibration system further comprises a warning module, the warning module is electrically connected to the control module, and the warning module receives the phase signal. When the sequence calibration failure signal is received, the warning module will alert the user that the motor calibration system fails to perform the phase sequence calibration of the motor. The motor calibration system according to claim 1, wherein after the control module executes the angle calibration program, the control module can further execute an angle verification program, and the control module executes the angle calibration program. During the verification process, the control module will rotate the motor by a verification angle through the drive module, and the control module will read the angle information through the angle reader to determine the Whether the rotation angle of the motor is correct; if the control module determines that the rotation angle of the motor is incorrect, the control module re-executes the angle correction program or the phase sequence correction program, or the control The module sends an angle correction failure signal. The motor calibration system according to claim 4, wherein the motor calibration system further comprises a warning module, the warning module is electrically connected to the control module, and the warning module receives the angle When the calibration failure signal is detected, the warning module will warn the user that the motor calibration system fails to calibrate the angle of the motor. The motor calibration system according to claim 1, wherein the current angle is defined as θ; when the control module executes the phase sequence calibration program, if the control module changes the When the control module executes the angle correction program, the zero offset value is (360-θ)*(4096/360). The motor calibration system according to claim 1, wherein the current angle is defined as θ; when the control module executes the phase sequence calibration program, if the control module does not change the motor control module If the forward rotation command and the reverse rotation command are in the control module, when the control module executes the angle correction program, the zero offset value is θ*(4096/360). The motor calibration system according to claim 1, wherein the motor calibration system further comprises a communication module, the communication module is electrically connected to the control module, and the communication module can receive a production system For the transmitted predetermined steering information, the control module can receive the predetermined steering information through the communication module, and store the predetermined steering information in the storage. A calibration system for a motor is used to calibrate a zero position of a motor and a phase sequence of the motor, the motor includes a motor control module, and the calibration system for the motor includes: A control module is used for electrically connecting to a power source, the control module includes a storage and a processor, the storage stores a predetermined steering information, and the processor is electrically connected to the storage ; a driving module, which is electrically connected to the control module, and the driving module is used for connecting the three-phase line of the motor; an angle reader, which is used for connecting the motor control module, and the angle reader is used for reading an angle information output by the motor control module; a data writer for writing at least one correction angle data into the motor control module; Wherein, the control module can execute a phase sequence correction program, and when the control module executes the phase sequence correction program, the control module will control the driving module according to the predetermined steering information. The motor rotates, and the control module will determine whether the rotation direction of the motor is consistent with the predetermined steering information according to a steering information returned by the motor control module; if the control module determines If the rotation direction of the motor does not match the predetermined steering information, the control module will control the data writer to change a forward rotation command and a reverse rotation command in the motor control module; Wherein, after the control module executes the phase sequence correction program, the control module will execute an angle correction program, and when the control module executes the angle correction program, the control module will pass the The drive module rotates the motor at a predetermined angle, and the control module reads the angle information through the angle reader, and writes the angle information through the data writer A current angle contained in is written into the motor control module as a zero offset value of the motor control module.

Images