TW202300871A - Magnetic encoder compensation system and method of compensating the same - Google Patents

Abstract

A magnetic encoder compensation system includes a permanent magnet motor module, a load motor module, a torque meter, a power meter, and a control module. The control module controls a permanent magnet motor of the permanent magnet motor module to rotate in a high speed range, and controls a load motor of the load motor module to perform a maximum torque dynamical loading to the permanent magnet motor to detect a torque information and a voltage information through the torque meter and the electricity meter. The control module determines whether to zero compensation for the magnetic encoder according to the torque information and the voltage information, calculate a compensation angle of the magnetic encoder according to the read angle, and writes the compensation angle into a magnetic encoder of the permanent magnet motor module.

Description

Magnetic encoder compensation system and its compensation method

The present invention relates to a magnetic encoder compensation system and its compensation method, in particular to a magnetic encoder compensation system and its compensation method for fine-tuning the zero point angle and programming correction through dynamic loading.

As shown in FIG. 1 , a conventional magnetic encoder compensation system 100 a includes a permanent magnet motor module 200 , a load motor module 1 and a control module 4 . The permanent magnet motor module 200 includes a permanent magnet motor 202 and a magnetic encoder 204 inside, and the load motor module 1 includes a load motor 12 and a high-precision encoder 18 . Since the permanent magnet motor module 200 must comply with predetermined specifications before leaving the factory, it is necessary to perform angle correction of the magnetic encoder 204 before leaving the factory. However, in the past technology, the load motor 12 of the load motor module 1 drives the permanent magnet motor 202 of the permanent magnet motor module 200 to rotate through the coupling 12A, and the high-precision encoder 18 in the load motor module 1 and the After comparing the signals of the magnetic encoder 204 of the permanent magnet motor 202 to be tested, the angle correction and compensation of the magnetic encoder 204 are performed. However, this method can only correct the angle of the magnetic encoder 204 alone, and after it is actually assembled into the motor drive system, the overall output performance will still be insufficient due to various errors. Moreover, using the high-precision encoder 18 will also increase the construction cost of the magnetic encoder compensation system 100a.

Specifically, the concentricity of the magnetic encoder 204 itself with respect to the rotating shaft is different after assembly, even if the controllers of the same type still have signal delay conditions and errors. As a result, even under the same process conditions and using the same motor controller to drive the same batch of permanent magnet motors, the output performance of each permanent magnet motor will still have a slight drop.

Due to the above shortcomings, even with the same incoming materials and the same manufacturing process, the output performance of each permanent magnet motor module 200 cannot be completely consistent, and some of them are even lower than the specification and cannot meet the standard. As a result, the permanent magnet motor module 200 needs to be reworked or even scrapped. However, most of the factors are only due to the deviation of the position signal of the magnetic encoder 204 .

Therefore, how to use the data collection under dynamic loading to fine-tune the angle of the magnetic encoder and correct the programming to ensure the consistency of the performance of the permanent magnet motor module, thereby reducing rework and man-hour costs and unnecessary scrap loss, It is a major subject of research that the author of this case wants to do.

In order to solve the above problems, the present invention provides a magnetic encoder compensation system to overcome the problems of the prior art. Therefore, the magnetic encoder compensation system of the present invention includes a permanent magnet motor module, a load motor module, a torque meter, a power meter and a control module. The permanent magnet motor module includes a permanent magnet motor, a permanent magnet motor driver and a magnetic encoder, and the load motor module includes a load motor and a load motor driver. The power meter is coupled to the permanent magnet motor driver, the torque meter is coupled to the permanent magnet motor, the load motor and the power meter, and the control module is coupled to the permanent magnet motor module, the load motor module and the power meter. The control module controls the permanent magnet motor to run in the high speed range between the rated speed and the maximum speed through the permanent magnet motor driver, and controls the load motor to run through the load motor driver to dynamically load the permanent magnet motor with the maximum torque Detecting the torque information corresponding to the high speed range of the permanent magnet motor through the torque meter, and detecting the voltage information corresponding to the high speed range of the permanent magnet motor driver through the power meter. The control module compares the torque information with the torque standard, and judges whether the performance of the permanent magnet motor meets the standard according to the comparison of the voltage information and the voltage standard. If either the torque information or the voltage information fails to meet the standard, the control module reads the magnetic The zero point angle of the encoder, and calculate the compensation angle corresponding to the zero point angle based on the zero point compensation control, and burn the magnetic encoder according to the compensation angle.

In order to solve the above problems, the present invention provides a magnetic encoder compensation method to overcome the problems of the prior art. Therefore, the magnetic encoder compensation method of the present invention includes: (a) controlling the permanent magnet motor to operate at a high speed range between the rated speed and the maximum speed. (b) Control the operation of the load motor to dynamically load the permanent magnet motor with the maximum torque, and at the same time obtain the torque information corresponding to the high speed range of the permanent magnet motor, and obtain the corresponding high speed range of the permanent magnet motor driver driving the permanent magnet motor voltage information. (c) Disable the permanent magnet motor drive. (d) Compare the torque information with the torque standard, and compare the voltage information with the voltage standard. (e) Judging whether the performance of the permanent magnet motor meets the standard according to the comparison result of step (d), including: (e1) If the torque information reaches the torque standard and the voltage information reaches the voltage standard, it is judged that the performance of the permanent magnet motor meets the standard and it is judged to be a good product. receive. (e2) If the torque information does not meet the torque standard and the voltage information does not meet the voltage standard at the same time, it is judged that the performance of the permanent magnet motor is not up to the standard and it is determined to be a defective product and returned. And (e3) If one of the torque information and voltage information does not meet the standard, it is judged that the magnetic encoder assembled with the permanent magnet motor needs to perform zero point compensation, and by reading the zero point angle of the magnetic encoder, based on the zero point compensation control calculation The compensation angle corresponding to the zero point angle, and the magnetic encoder is programmed according to the compensation angle. and (f) repeating steps (a) to (e3) to confirm whether the performance of the permanent magnet motor is up to standard.

The main purpose and effect of the present invention are to correct the dynamic error through the maximum torque dynamic loading performance test in the high speed range, to slightly correct the compensation amount of the zero point angle of the magnetic encoder and burn it into the magnetic encoder, and then To achieve the effect of ensuring that the performance of the permanent magnet motor is fully consistent with the performance of mass production.

In order to further understand the technology, means and effects that the present invention adopts to achieve the predetermined purpose, please refer to the following detailed description and accompanying drawings of the present invention. It is believed that the purpose, characteristics and characteristics of the present invention can be obtained from this in depth and For specific understanding, however, the accompanying drawings are provided for reference and illustration only, and are not intended to limit the present invention.

Hereby, the technical content and detailed description of the present invention are described as follows in conjunction with the drawings:

Please refer to FIG. 2 , which is a circuit block diagram of a magnetic encoder compensation system for calibrating a magnetic encoder according to the present invention. Refer to FIG. 1 for complex coordination. The magnetic encoder compensation system 100b includes a permanent magnet motor module 200, a load motor module 1, a torque meter 2, a power meter 3, and a control module 4. The magnetic encoder compensation system 100b is used for the permanent magnet motor module 200. Before leaving the factory, carry out pre-calibration and testing operations before leaving the factory to ensure that the permanent magnet motor module 200 can meet the performance specification standards before it can be accepted. Otherwise, it is necessary to burn the magnetic encoder 204 to fine-tune the magnetic encoder The angle of 204 makes the performance of the permanent magnet motor 202 up to standard, and if the performance of the permanent magnet motor 202 is still not up to standard after several consecutive adjustments, the parts need to be returned. The permanent magnet motor module 200 includes a permanent magnet motor 202 , a magnetic encoder 204 and a permanent magnet motor driver 206 , and the permanent magnet motor driver 206 is coupled to the permanent magnet motor 202 and the magnetic encoder 204 . Wherein, the magnetic encoder 204 is assembled with the permanent magnet motor 202 . The permanent magnet motor driver 206 drives the permanent magnet motor 202 to rotate through the driving power Pd, and the magnetic encoder 204 detects the position of the rotor of the permanent magnet motor 202 to provide a detection signal Ss. Among them, the permanent magnet motor module 200 mainly uses the field weakening technology to control the permanent magnet motor 202 so as to exert better performance of the permanent magnet motor 202 at a high speed.

The load motor module 1 includes a load motor 12 , a load motor driver 14 and a load motor encoder 16 , and the load motor driver 14 is coupled to the load motor 12 and the load motor encoder 16 . The load motor driver 14 controls and adjusts the driving power Pd (ie, voltage and current) of the load motor 12 through the detection signal Ss. The load motor 12 is coupled to the permanent magnet motor 202 to dynamically load the permanent magnet motor 202 with maximum torque. Among them, the easier method is to mechanically connect the load motor 12 to the permanent magnet motor 202 through the coupling 12B, so as to perform the pre-calibration and testing of the maximum torque dynamic loading through the coupling 12B to the permanent magnet motor 202 .

The torque meter 2 is coupled to the permanent magnet motor 202 , the load motor 12 and the power meter 3 , and is used to detect the torque of the permanent magnet motor 202 to provide the actual torque T _real . The power meter 3 is coupled to the permanent magnet motor driver 206, and is used to detect the voltage on the permanent magnet motor driver 206 for driving the permanent magnet motor 202 to provide the actual voltage V _real and obtain the voltage information V _info through calculation, and the actual torque T _real is calculated as torque information T _info . The control module 4 is coupled to the permanent magnet motor module 200, the load motor module 1 and the power meter 3, and performs pre-calibration and Test assignment. Specifically, the control module 4 controls the operation of the permanent magnet motor 202 by controlling the permanent magnet motor driver 206 , and controls the operation of the load motor 12 by controlling the load motor driver 14 . When the permanent magnet motor 202 and the load motor 12 are running, the control module 4 obtains the operating conditions of the permanent magnet motor 202 and the permanent magnet motor driver 206 by receiving the torque information T _info and the voltage information V _info , so as to determine the permanent magnet motor module 200 Is it a good product.

Furthermore, when the permanent magnet motor module 200 is assembled, the DC suction method is usually used to perform zero compensation of the magnetic encoder 204 to correct the static error of the permanent magnet motor module 200 . However, the permanent magnet motor module 200 after the static error correction will still cause the reference position signal to deviate due to component dimensional tolerances, material performance variations, and assembly differences. Wherein, the deviation of the reference position signal is usually caused by the delay of signal transmission, which is a dynamic error of the permanent magnet motor module 200 . In the permanent magnet motor module 200 controlled by the field weakening technology, due to the effect of current control, this dynamic error will produce a significant amount of error for the performance of the permanent magnet motor 202, especially at high speeds, for the accuracy of position feedback Very demanding. Under higher rotational speed or deeper field weakening conditions, the dynamic error will be greatly amplified, resulting in misalignment of the feedback position of the magnetic encoder 204 . Therefore, the main purpose and function of the present invention is to correct the dynamic error through the maximum torque dynamic loading performance test (for example, but not limited to, above 3000rpm) at a high speed, so as to slightly correct the zero point angle Az of the magnetic encoder 204 , so as to achieve the effect of ensuring that the performance of the permanent magnet motor 202 is fully consistent with the mass production performance.

Referring again to FIG. 1 , the control module 4 controls the permanent magnet motor driver 206 through the control signal Sc to control the permanent magnet motor 202 to run at the maximum speed. Among them, in practice, the fast enough operation can effectively capture the signal error and perform dynamic error compensation. Therefore, the control module 4 can control the permanent magnet motor 202 to operate at a high speed range between the rated speed and the maximum speed. The control module 4 also controls the load motor driver 14 through the control signal Sc to control the load motor 12 so that the load motor 12 dynamically loads the permanent magnet motor 202 with maximum torque through the coupling 12B. Then, the torque meter 2 detects the actual torque T _real of the permanent magnet motor 202 running in the high speed range, and the power meter 3 detects the actual voltage output by the permanent magnet motor driver 206 when the permanent magnet motor 202 runs in the high speed range V _real is calculated to provide voltage information V _info , and the actual torque T _real is calculated as torque information T _info . Specifically, the torque meter 2 is disposed between the coupling 12B and the permanent magnet motor 202 , and the torque meter 2 is electrically connected to the power meter 3 . The torque meter 2 detects the actual torque T _real of the permanent magnet motor 202 and provides it to the power meter 3 , the power meter 3 calculates the actual torque T _real as the torque information T _info , and the power meter 3 converts the torque information T _info and the voltage information V _info It is provided to the control module 4 together.

The control module 4 receives the torque information T _info and the voltage information V _info , and judges according to the torque information T _info whether the corresponding actual torque T _real reaches the torque standard, and judges according to the voltage information V _info whether the corresponding actual voltage V _real reaches voltage standard. That is, the control module 4 judges whether the performance of the permanent magnet motor 202 meets the torque standard and the voltage standard according to the torque information T _info and the voltage information V _info , so as to decide whether to adjust (fine-tune) the zero point angle Az of the magnetic encoder 204 . Specifically, the torque standard is the predetermined torque specification of the permanent magnet motor 202 according to the design, and the torque information T _info being greater than or equal to the predetermined torque standard means that the actual torque T _real is greater than or equal to the predetermined torque threshold. The voltage standard is a predetermined voltage specification according to the design of the permanent magnet motor driver 206 , and the voltage information V _info being less than or equal to the predetermined voltage standard means that the actual voltage V _real is less than or equal to the predetermined voltage threshold. The magnetic encoder compensation system 100b of the present invention mainly adjusts and confirms that the torque information T _info reaches the torque standard, and confirms that the voltage information V _info reaches the voltage standard, so as to obtain the angle parameter Pa that meets the torque standard and the voltage standard, wherein the angle parameter Pa includes One is used to write the compensated magnetic encoding angle Aw required by the magnetic encoder 204 .

When the control module 4 judges that the actual torque T _real reaches the torque standard according to the torque information T _info , and judges that the actual voltage V _real reaches the voltage standard according to the voltage information V _info , the control module 4 turns off the permanent magnet motor 202 of the permanent magnet motor module 200 The performance is up to standard, so it can be determined that the permanent magnet motor module 200 is accepted as a good product (that is, the calibration and testing of the magnetic encoder 204 are completed and the pre-delivery test is passed).

When the control module 4 judges that the actual torque T _real does not meet the torque standard according to the torque information T _info , or judges that the actual voltage V _real does not reach the voltage standard according to the voltage information V _info , if any of the above situations occurs, it is necessary to calculate and adjust the Angle parameter Pa, wherein the angle parameter Pa includes a compensated magnetic encoding angle Aw required for writing into the magnetic encoder 204 . Then, the calculated angle parameter Pa is written into the magnetic encoder 204 , such as by burning, so as to adjust the angle of the magnetic encoder 204 and compensate the performance of the permanent magnet motor 202 . Further, the control module 4 includes a controller 42 and a writing device 44 . The controller 42 is coupled to the permanent magnet motor module 200, the load motor module 1, the torque meter 2 and the power meter 3, and is used to read the zero point angle Az read from the magnetic encoder 204 and the torque information T provided by the power meter 3 _info and torque standard to calculate the angle parameter Pa. The writing device 44 (such as but not limited to, a device with a writing function such as a burner) is coupled to the controller 42 and the magnetic encoder 204, and is used to write the angle parameter Pa into the magnetic encoder 204 to adjust (ie Fine-tuning) the zero-point angle Az of the magnetic encoder 204 to perform zero-point compensation. Among them, the calculation method of the angle parameter Pa is mainly to read the zero point angle Az of the magnetic encoder 204 by detecting the permanent magnet motor module 200, and the control module 4 is based on the difference between the actual torque T _real and the torque threshold (that is, the torque standard). The torque error generates the compensation angle Ac, and the sum of the zero point angle Az and the compensation angle Ac is calculated as the angle parameter Pa, and the angle parameter Pa is written into the magnetic encoder 204 . In one embodiment, the power meter 3 is coupled to the controller 42 of the control module 4 .

However, in a certain situation, the permanent magnet motor module 200 may have flaws during assembly, resulting in the situation that the permanent magnet motor 202 of the permanent magnet motor module 200 may not meet the standard no matter how it is adjusted. Therefore, the control module 4 can preset a predetermined number of times for repeating the calibration of the magnetic encoder 204 . After the control module 4 repeatedly writes different angle parameters Pa into the magnetic encoder 204 for a predetermined number of times, if the performance of the permanent magnet motor 202 of the permanent magnet motor module 200 cannot meet the standard all the time, then it is judged that the permanent magnet motor module 200 Return for defective (NG) items.

Wherein, the control module 4 may optionally further include a switch 46 . The switch 46 is coupled between the writing device 44 and the magnetic encoder 204, and when the writing device 44 intends to write the angle parameter Pa into the magnetic encoder 204, the controller 42 controls the switch 46 to be turned on so that the angle parameter Pa can be written. Enter the magnetic encoder 204. When there is no need to write the angle parameter Pa into the magnetic encoder 204 , the controller 42 controls the switch 46 to turn off, so that the path between the writing device 44 and the magnetic encoder 204 is disconnected. It is worth mentioning that since the test platform of the magnetic encoder compensation system 100b of the present invention can simultaneously perform the calibration of the magnetic encoder 204 and the actual torque T _real of the permanent magnet motor 202 and the actual voltage V _real of the permanent magnet motor driver 206 Therefore, only a single platform can be used to complete the testing and calibration of the permanent magnet motor module 200 . In contrast, the magnetic encoder compensation system 100a of the prior art shown in FIG. 1 can only be calibrated for the magnetic encoder 204, and the voltage and torque tests of the permanent magnet motor module 200 need to be tested again using another platform. Therefore, compared with the conventional technology of FIG. 1 , the magnetic encoder compensation system 100 b of the present invention can achieve the effect of saving testing and calibration work time.

Please refer to FIGS. 3A to 3C , which are schematic vector diagrams of the basic principles of magnetic compensation (first to third embodiments) of the present invention, and refer to FIG. 2 for the combination. In FIGS. 3A-3C , the vertical axis is the q-axis, and the horizontal axis is the d-axis. The vectors of the counter electromotive force E and the current I of the permanent magnet motor module 200 are shown in FIGS. 3A-3C respectively. FIG. 3A assumes that the magnetic encoder provides an optimal origin reference of 70 degrees, and FIGS. 3B to 3C are respectively the magnetic encoders after angular offset. In FIG. 3A , the included angle θ between the counter electromotive force E and the current I (that is, the compensated magnetic encoding angle Aw for programming the magnetic encoder 204 ) is 70 degrees. Since the voltage V=E+Z*I (where Z is the impedance), the magnitude of the voltage V vector will vary with the magnitude of the included angle θ when the magnitude of the impedance Z vector remains unchanged. In FIG. 3B and FIG. 3C , it is assumed that the included angle θ is shifted from 70 degrees to 80 degrees and 60 degrees, respectively. As shown in FIG. 3B , when the origin reference provided by the magnetic encoder is shifted from 70 degrees to 80 degrees, the angle θ between the current I and the back EMF E will vary. As a result, the demand voltage V decreases, and the maximum rotational speed of the permanent magnet motor 202 increases. Conversely, as shown in FIG. 3C , when the origin reference provided by the magnetic encoder is shifted from 70 degrees to 60 degrees, the required voltage V will increase, and the maximum rotational speed of the permanent magnet motor 202 will decrease.

…(1)

…(2) Please refer to Fig. 4 which is a schematic diagram of the torque specific gravity curve of the present invention, and refer to Figs. 2-3C for complex coordination. The output torque performance of the permanent magnet motor 202 is significantly related to the angle θ between the back electromotive force E and the current I. Please refer to the following mathematical calculation formula:

…(1)

…(2)

為電磁轉矩，且

為磁阻轉矩，其合成的總轉矩

如圖4的虛線所示。其可以很明顯的看出，當磁編碼器204參考位置偏移，會導致夾角θ變動，造成永磁馬達202輸出轉矩性能產生變異。因此，可以得知實際扭力T _real的大小(即總轉矩

大小)與實際電壓V _real的大小(即圖3a~3c中的電壓V)呈正比。然而，在實務中，由於永磁馬達202運轉於高轉速區間時，永磁馬達驅動器206的實際電壓V _real不能超過永磁馬達模組200電壓規格(例如但不限於，內部元件的電壓規格)，若超過電壓規格則有失控風險。因此，控制模組4係在實際扭力T _real達到扭力標準，且實際電壓V _real也達到電壓標準的情況下，可選擇地通過調整(微調)角度參數Pa而調降實際電壓V _real(此時實際扭力T _real隨之降低)，但其仍須符合扭力標準與電壓標準。如此，即可達到提高永磁馬達模組200規格的電壓裕度之功效。另一方面，當控制模組4在判斷實際扭力T _real未達到扭力閾值，且同時實際電壓V _real也未達到電壓閾值的情況下，則可直接地判定永磁馬達模組200為殘次品(NG)退件。 in

is the electromagnetic torque, and

is the reluctance torque, and its combined total torque

As shown by the dotted line in Figure 4. It can be clearly seen that when the reference position of the magnetic encoder 204 deviates, the included angle θ will change, resulting in variation in the output torque performance of the permanent magnet motor 202 . Therefore, the size of the actual torque T _real (that is, the total torque

size) is proportional to the size of the actual voltage V _real (that is, the voltage V in Figure 3a~3c). However, in practice, since the permanent magnet motor 202 operates in a high speed range, the actual voltage V _real of the permanent magnet motor driver 206 cannot exceed the voltage specification of the permanent magnet motor module 200 (such as but not limited to, the voltage specification of internal components) , if the voltage specification is exceeded, there is a risk of loss of control. Therefore, when the actual torque T _real reaches the torque standard and the actual voltage V _real also reaches the voltage standard, the control module 4 can optionally adjust (fine-tune) the angle parameter Pa to lower the actual voltage V _real (at this time The actual torque T _real decreases accordingly), but it must still meet the torque standard and voltage standard. In this way, the effect of increasing the voltage margin of the permanent magnet motor module 200 can be achieved. On the other hand, when the control module 4 judges that the actual torque T _real has not reached the torque threshold and the actual voltage V _real has not reached the voltage threshold, it can directly determine that the permanent magnet motor module 200 is a defective product. (NG) returns.

Please refer to FIG. 5 which is a flow chart of the motor operation method of the magnetic encoder compensation method of the present invention, and refer to FIGS. 2-4 for complex coordination. The magnetic encoder compensation method is used to calibrate the magnetic encoder 204 of the permanent magnet motor module 200, and the magnetic encoder compensation method includes: after the permanent magnet motor 202 and the magnetic encoder 204 are assembled, the magnetic encoder 204 is relatively large Zero point correction of the angle (S100). When the permanent magnet motor module 200 is assembled, the DC suction method is usually used to calibrate the zero point position of the magnetic encoder 204 first, so as to correct the static error of the permanent magnet motor module 200 . Wherein, this step is not a necessary step, it all depends on the actual assembly requirements of the permanent magnet motor module 200 . Then, the permanent magnet motor 202 is docked with the load motor 12 . A preferred implementation method is that the load motor 12 is mechanically connected to the permanent magnet motor 202 through the coupling 12B, so as to perform the pre-calibration and test operation of the maximum torque dynamic loading on the permanent magnet motor 202 through the coupling 12B. detail.

Then, the permanent magnet motor 202 is controlled to run in a high speed range defined between the rated speed Spd _rated and the maximum speed Spd _MAX ( S120 ). A preferred implementation method is that the control module 4 controls the permanent magnet motor driver 206 to control the permanent magnet motor 202 to operate in a high speed range between the rated speed Spd _rated and the maximum speed Spd _MAX , so that the permanent magnet motor 202 is sufficient It operates quickly and can effectively capture signal errors for dynamic error compensation. Then, the control module 4 controls the operation of the load motor 14 by controlling the load motor driver 14 to dynamically load the permanent magnet motor 202 with maximum torque, and at the same time, when the permanent magnet motor 202 runs stably at a specific speed in the high speed range Obtain the torque information T _info corresponding to the permanent magnet motor 202 in the high speed range, and the voltage information V _info corresponding to the permanent magnet motor driver 206 when the permanent magnet motor 202 is running in the high speed range (S140). A preferred implementation method is that the control module 4 controls the load motor 12 by controlling the load motor driver 14 to dynamically load the permanent magnet motor 202 with maximum torque through the coupling 12B. Then, the torque meter 2 detects the actual torque T _real of the permanent magnet motor 202 operating in the high speed range and provides it to the electric meter 3 , the electric meter 3 calculates the actual torque T _real as the torque information T _info , and the electric meter 3 detects The actual voltage V _real output by the permanent magnet motor driver 206 is calculated to provide voltage information V _info when the permanent magnet motor 202 is running in the high speed range. Finally, the power meter 3 provides the torque information T _info and the voltage information V _info to the controller 42 .

Then, the permanent magnet motor driver 206 is disabled ( S160 ). A preferred embodiment is to stop the power supply to the permanent magnet motor driver 206 or stop using the control signal Sc to control the permanent magnet motor driver 206, and confirm that the permanent magnet motor driver 206 is powered off, and confirm that the permanent magnet motor 202 and the magnetic encoder 204 are stopped . Preferably, the load motor 12 should also be controlled to stop for accurate detection. Among them, the purpose of disabling the permanent magnet motor driver 206 is to enable the control module 4 to accurately calculate the angle parameter Pa, and write it into the encoder 204, for example, by means of burning, to complete the adjustment of the angle of the magnetic encoder 204. Correcting and compensating the performance of the permanent magnet motor 202 , wherein the angle parameter Pa includes a compensated magnetic encoder angle Aw for writing into the magnetic encoder 204 .

Next, it is judged whether the performance of the permanent magnet motor 202 meets the standard according to the comparison between the torque information T _info and the torque standard, and according to the comparison between the voltage information V _info and the voltage standard ( S200 ). A preferred embodiment is that when the permanent magnet motor 202 and the load motor 12 are running, the control module 4 receives the actual torque T _real provided by the torque meter 2 through the power meter 3 and obtains the calculated torque information T _info , and the electric power Meter 3 uses the provided voltage information V _info calculated by the actual voltage V _eral to judge whether the corresponding actual torque T _real meets the torque standard according to the torque information T _info , and judges the corresponding actual voltage according to the voltage information V _info Whether V _real reaches the voltage standard. Specifically, the torque standard is the predetermined torque specification of the permanent magnet motor 202 according to the design, and the torque information T _info being greater than or equal to the predetermined torque standard means that the actual torque T _real is greater than or equal to the predetermined torque threshold. The voltage standard is a predetermined voltage specification according to the design of the permanent magnet motor driver 206 , and the voltage information V _info being less than or equal to the predetermined voltage standard means that the actual voltage V _real is less than or equal to the predetermined voltage threshold.

Then, if the torque information T _info reaches the torque standard and the voltage information V _info reaches the voltage standard, it is determined that the performance of the permanent magnet motor 202 meets the standard and the permanent magnet motor 202 and the magnetic encoder 204 assembled therewith are acceptable ( S220 ). Specifically, when the control module 4 judges that the actual torque T _real reaches the torque standard according to the torque information T _info , and judges that the actual voltage V _real reaches the voltage standard according to the voltage information V _info , the control module 4 turns off the permanent magnet motor module 200. The performance of the motor is up to standard, so it can be determined that the permanent magnet motor module 200 is accepted as a good product (that is, the calibration and testing of the magnetic encoder 204 are completed and the test before delivery is passed). In step (S220), it may also optionally include, when the actual torque T _real reaches the torque standard and the actual voltage V _real reaches the voltage standard, adjusting the angle parameter Pa to reduce the actual torque T _real and the actual voltage V _real . In practice, since the permanent magnet motor 202 operates in a high speed range, the actual voltage V _real of the permanent magnet motor driver 206 is relatively low, so it is difficult to exceed the voltage specification of the permanent magnet motor module 200 (for example, but not limited to, the voltage of internal components Specifications), to avoid the risk of loss of control. It should be noted that, when the actual torque T _real reaches the torque standard and the actual voltage V _real also reaches the voltage standard, the control module 4 adjusts (fine-tunes) the angle parameter Pa to lower the actual voltage V _real (actual torque T _real decreases accordingly), but it must still meet the torque standard and voltage standard. In this way, the effect of improving the voltage margin of the permanent magnet motor module 200 specification can be achieved, wherein the angle parameter Pa includes a parameter for writing the magnetic code The compensated magnetic encoder angle Aw required by the device 204.

Then, if the torque information T _info does not reach the torque standard, and at the same time the voltage information V _info does not reach the voltage standard, it is determined that the performance of the permanent magnet motor 202 is not up to standard and the permanent magnet motor 202 and the magnetic encoder 204 are determined to be defective products ( S240). Specifically, when the control module 4 judges that the actual torque T _real has not reached the torque threshold according to the torque information T _info , and at the same time judges that the actual voltage V _real has not reached the voltage threshold according to the voltage information V _info , it can directly It is determined that the permanent magnet motor module 200 is a defective product (NG) and returned.

Then, if one of the torque information T _info and the voltage information V _info does not meet the standard, it is judged that the magnetic encoder 204 needs to perform zero point compensation, and a zero point angle Az of the magnetic encoder 204 is read by the control module 4 Computing the compensation angle Ac corresponding to the magnetic encoder 204 based on the zero point compensation control based on the torque information T _info and the torque standard, and programming the magnetic encoder 204 according to the compensation angle Ac to realize the zero point compensation of the magnetic encoder 204 (S260). In a preferred embodiment, the control module 4 includes a controller 42 and a writing device 44 . The controller 42 calculates the compensation angle Ac according to the zero point angle Az, the torque information T _info and the torque standard. The controller 42 calculates an angle parameter Pa according to the zero point angle Az and the compensation angle Ac and sends it to the writing device 44, and the writing device 44 writes the angle parameter Pa is written into the magnetic encoder 204 by burning or other methods, so as to adjust (ie fine-tune) the zero point angle Az of the magnetic encoder 204 to perform zero point compensation. Among them, the preferred calculation method of the angle parameter Pa is to read the zero point angle Az of the magnetic encoder 204 by detecting the permanent magnet motor module 200, and the control module 4 is based on the actual torque T _real and the torque threshold (that is, the torque standard ) to calculate the torque error to generate the compensation angle Ac, to calculate the sum of the zero point angle Az and the compensation angle Ac as the angle parameter Pa, wherein the angle parameter Pa includes a magnetic encoder angle after compensation required for writing into the magnetic encoder 204 Aw. It should be noted that the compensation angle Ac calculated based on zero point compensation in step (S260) is a smaller angle than the adjustment angle based on zero point correction in step (S100). The former aims to compensate the performance of the permanent magnet motor 202, while the latter The purpose is to essentially zero the angle of the magnetic encoder 204 .

Then, repeat step ( S120 ) to step ( S260 ) to repeatedly fine-tune the angle of the magnetic encoder 204 and confirm whether the performance of the permanent magnet motor 202 is up to standard ( S280 ). In the cycle of repeating step ( S120 ) to step ( S260 ) multiple times, if the performance of the permanent magnet motor 202 reaches the standard after adjustment, then step ( S220 ) ends. Conversely, if one of the torque information T _info and the voltage information V _info has not reached the standard after the previous adjustment, repeat the step (S260) to reprogram the magnetic encoder 204 to adjust the zero point angle again Az. Finally, after the adjustments from step ( S120 ) to step ( S260 ) are repeatedly performed for a predetermined number of times, and the performance of the permanent magnet motor 202 is still not up to standard, it is determined that it is a defective product and returned ( S300 ). It should be noted that under certain conditions, the permanent magnet motor module 200 may have flaws during manufacture or assembly, resulting in the situation that the performance of the permanent magnet motor module 200 may not meet the standard no matter how it is adjusted. Therefore, the control module 4 can preset a predetermined number of repeated adjustments of the magnetic encoder 204 . When the control module 4 burns the magnetic encoder 204 to perform zero point compensation for a predetermined number of times, if the performance of the permanent magnet motor 202 of the permanent magnet motor module 200 cannot meet the standard all the time, then it is judged that the permanent magnet motor 202 is residual. Defective (NG) returns.

Please refer to FIG. 6, which is a detailed implementation diagram of the magnetic encoder compensation method of the present invention. Refer to FIGS. 2-5B for complex coordination, and repeatedly refer to FIG. 5. In step (S400), the magnetic encoder compensation system 100b performs a maximum torque dynamic loading test and executes steps (S100)-(S160) of FIG. 5 . The control module 4 controls the permanent magnet motor driver 206 to provide a speed command Spd _cmd to drive the permanent magnet motor 202 to a high speed range between the rated speed Spd _rated and the maximum speed Spd _MAX , and the permanent magnet motor 202 is stable in the high speed range When running at a specific speed, the maximum torque is dynamically loaded, and at the same time, the permanent magnet motor driver 206 provides a torque command T _cmd to control the torque output of the permanent magnet motor 202 to 100%. In step (S420), step (S200) in FIG. 5 is executed to determine whether the actual torque T _real is greater than or equal to the predetermined torque threshold T _target and whether the actual voltage V _real is less than or equal to the predetermined voltage threshold V _Limit . In step ( S440 ), that is, the performance of the permanent magnet motor 202 is up to standard and it is determined to be a good product. In step ( S460 ), neither the actual torque T _real nor the actual voltage V _real reaches the standard, so it is directly determined that the permanent magnet motor module 200 is a defective product (NG) and returned. In steps ( S480 - 1 ) and ( S480 - 2 ), since one of the actual torque T _real and the actual voltage V _real does not reach the standard, the calibration steps of steps ( S500 )˜( S560 ) are continued.

In step (S500), the controller 42 receives the actual torque T _real provided by the torque meter 2 through the electric meter 3, and calculates the actual torque T _real as the torque information T _info . The torque provided by the electric meter 3 to the controller 42 The information T _info , the voltage information V _info , and the zero point angle ZeroOffset _read (Az) provided by the magnetic encoder 204 are prepared for subsequent calculation of the angle parameter Pa. In step ( S520 ), the controller 42 calculates the compensation angle of the magnetic encoder 204 to be compensated, which can be expressed as: ZeroOffset _compensate (Ac)=(T _real −T _target )T _coefficient . Wherein, T _coefficient is the torque coefficient, and the torque coefficient T _coefficient can be obtained through the simulation analysis of the controller 42 . In step ( S540 ), the controller 42 calculates the compensated magnetic encoder angle Aw to be written into the magnetic encoder 204 , which can be expressed as: ZeroOffset _write (Aw)=ZeroOffset _read (Az)−ZeroOffset _compensate .

In step (S560), the control module 4 calculates according to the compensation angle ZeroOffset _compensate , and writes the corresponding angle parameter Pa into the magnetic encoder 204 through the writing device 44, so as to adjust (that is, fine-tune) the angle of the magnetic encoder 204 and compensate the permanent offset. Magnetic motor 202 performance. After the step (S560) is completed, proceed to step (S580) to determine whether the angle parameter Pa has been written into the magnetic encoder 204 for a predetermined number of times. If yes, it is determined that the permanent magnet motor module 200 is a defective product (NG) and returned (S600). If not, return to step ( S400 ), where the angle parameter Pa includes a compensated magnetic encoder angle Aw required for writing into the magnetic encoder 204 .

Please refer to Figure 7A, which is the torque analysis diagram under the test and verification of the magnetic encoder compensation method of the present invention, and Figure 7B is the voltage analysis diagram under the test verification of the magnetic encoder compensation method of the present invention, refer to Figures 2 to 6 for complex coordination, and repeat See Figures 7A, 7B. In FIG. 7A , the experimental test shows that the permanent magnet motor 202 is in the high speed range (9000rpm), and the torque output specification that meets the specification needs to be >6Nm. It needs to be confirmed that if the torque reaches the standard in the high speed range, it can be guaranteed to be a permanent magnet motor. The performance of 202 can still meet the standard when the speed is lower than 9000rpm. Similarly, in FIG. 7B , it is defined that the voltage output specification conforming to the specification needs to be <35V, so as to ensure that the permanent magnet motor driver 206 will not cause system runaway due to excessive voltage when operating at various speeds.

In Fig. 7A and 7B, for example, when the permanent magnet motor 202 is running at 9000rpm, the curve Test1 of the test result meets the performance specification because the voltage meets the performance specification, but the torque does not meet the performance specification ((for example, torque: 5.58Nm, voltage: 31.28V), it must be passed through Zero point compensation adjusts the zero point angle Az to correct the performance of the permanent magnet motor module 200. The curve Test2 of the test results meets the performance specification because the torque meets the performance specification, but the voltage exceeds the performance specification (torque: 6.5Nm, voltage: 35.1V), and the zero point must be passed through Compensate and adjust the zero point angle Az to correct the performance of the permanent magnet motor module 200. The curve Test3 of the test result is the test result after adjusting the zero point angle Az through zero point compensation, and the torque and voltage meet the performance specifications (torque: 6.3Nm, Voltage: 34.217V), it can be proved that the compensation mechanism of the present invention can effectively improve the performance of the permanent magnet motor module 200 .

According to the magnetic encoder compensation system and magnetic encoder compensation method proposed by the present invention, the dynamic error correction is performed through the maximum torque dynamic loading performance test in the high speed range, and the compensation amount of the zero point angle of the magnetic encoder is slightly corrected and It is burned into the magnetic encoder to achieve the effect of ensuring that the performance of the permanent magnet motor is fully consistent with the performance of mass production.

However, the above description is only a detailed description and drawings of preferred embodiments of the present invention, but the features of the present invention are not limited thereto, and are not intended to limit the present invention. The entire scope of the present invention should be applied for as follows The scope of the patent shall prevail, and all embodiments that conform to the spirit of the patent scope of the present invention and its similar changes shall be included in the scope of the present invention, and any person familiar with the art can easily think of it in the field of the present invention Changes or modifications can be covered by the scope of the following patents in this case.

100a, 100b: Magnetic encoder compensation system 1: Load motor module 12: Load motor 14: Load motor driver 16: Load motor encoder 18: High-precision encoder 12A, 12B: Coupling 2: Torque meter 3: Electric power Meter 4: Control Module 42: Controller 44: Writing Device 46: Switch 200: Permanent Magnet Motor Module 202: Permanent Magnet Motor 204: Magnetic Encoder 206: Permanent Magnet Motor Driver Pd: Driving Power Ss: Detection Signal Sc: control signal T _info : torque information V _info : voltage information Spd _cmd : speed command Spd _MAX : maximum speed Spd _rated : rated speed T _cmd : torque command T _real : actual torque T _target : torque threshold T _coefficient : torque coefficient V _real : actual voltage V _Limit : voltage threshold Aw(ZeroOffset _write ): magnetic encoder angle after compensation Az(ZeroOffset _read ): zero point angle Ac(ZeroOffset _compensate ): compensation angle Pa: angle parameter E: back electromotive force I: current θ: included angle Z: Impedance (S100)~(S600): Step Test1~ Test3: Curve

Fig. 1 is the circuit block diagram of conventional magnetic encoder compensation system;

Fig. 2 is the circuit block diagram of the magnetic encoder compensation system used for correcting the magnetic encoder in the present invention;

Fig. 3A is a vector schematic diagram of the first embodiment of the basic principle of magnetic compensation of the present invention;

Fig. 3B is a vector schematic diagram of the second embodiment of the basic principle of magnetic compensation of the present invention;

Fig. 3C is a vector schematic diagram of the third embodiment of the basic principle of magnetic compensation of the present invention;

Fig. 4 is the curve schematic diagram of torque specific gravity of the present invention;

Fig. 5 is the flow chart of magnetic encoder compensation method of the present invention;

Figure 6 is a detailed implementation diagram of the magnetic encoder compensation method of the present invention;

Fig. 7A is a torque analysis diagram under test verification of the magnetic encoder compensation method of the present invention; and

FIG. 7B is a voltage analysis diagram under test verification of the magnetic encoder compensation method of the present invention.

100b: Magnetic encoder compensation system

1: Load motor module

12: Load motor

14: Load motor driver

16: Load motor encoder

12B:Coupling

2: Torque meter

3: power meter

4: Control module

42: Controller

44: Write device

46: switch

200: Permanent magnet motor module

202:Permanent magnet motor

204: Magnetic encoder

206:Permanent magnet motor driver

Pd: drive power

Ss: detection signal

Sc: control signal

T _info : Torque information

V _info : voltage information

T _real : actual torque

V _real : actual voltage

Pa: angle parameter

Claims (11)

A magnetic encoder compensation system comprising: A permanent magnet motor module, including a permanent magnet motor, a permanent magnet motor driver and a magnetic encoder; A load motor module, including a load motor and a load motor driver; an electric meter coupled to the permanent magnet motor driver; a torque meter coupled to the permanent magnet motor, the load motor and the power meter; and a control module, coupled to the permanent magnet motor module, the load motor module and the power meter; Wherein, the control module controls the permanent magnet motor to run in a high speed range between the rated speed and the maximum speed through the permanent magnet motor driver, and controls the load motor to run through the load motor driver to control the permanent magnet While the motor is being dynamically loaded with a maximum torque, the torque information corresponding to the permanent magnet motor in the high speed range is detected by the torque meter, and the corresponding torque information of the permanent magnet motor driver in the high speed range is detected by the electric meter. A voltage information of Wherein, the control module compares the torque information with a torque standard, and judges whether the performance of the permanent magnet motor meets the standard according to the voltage information compared with a voltage standard, if one of the torque information and the voltage information If the standard is not met, the control module reads a zero angle of the magnetic encoder, calculates a compensation angle corresponding to the zero angle based on zero compensation control, and performs programming of the magnetic encoder according to the compensation angle. The magnetic encoder compensation system as described in Claim 1, wherein the torque meter detects an actual torque of the permanent magnet motor operating in the high speed range and provides the torque information after calculation, and the power meter detects the permanent magnet motor When the magnetic motor is operating in the high speed range, an actual voltage of the permanent magnet motor driver is calculated to provide the voltage information, and the control module judges whether the torque information reaches the threshold according to whether the actual torque is greater than or equal to a torque threshold. Torque standard, and judging whether the voltage information reaches the voltage standard according to whether the actual voltage is less than or equal to a voltage threshold. The magnetic encoder compensation system as described in claim 2, wherein when the performance of the permanent magnet motor is not up to standard, the control module calculates the compensation angle according to a torque error between the actual torque and the torque threshold, and calculates the compensation angle The sum of the zero point angle and the compensation angle is calculated and burned into an angle parameter of the magnetic encoder. The magnetic encoder compensation system according to claim 1, wherein the load motor and the permanent magnet motor are connected by a coupling, the torque meter is arranged between the coupling and the permanent magnet motor, and the torque meter Electrically connect the power meter. The magnetic encoder compensation system as described in Claim 1, wherein the control module includes: a controller, coupled to the permanent magnet motor module, the load motor module and the power meter, for calculating the compensation angle according to the zero point angle, the torque information and the torque standard; and A writing device, coupled to the controller and the magnetic encoder, is used for burning the magnetic encoder according to the compensation angle. A magnetic encoder compensation method, comprising: (a) controlling a permanent magnet motor to operate in a high speed range between the rated speed and the maximum speed; (b) controlling the operation of a load motor to dynamically load the permanent magnet motor with a maximum torque, and at the same time obtain a torque information corresponding to the high speed range of the permanent magnet motor, and obtain a permanent magnet motor driving the permanent magnet motor A voltage information corresponding to the high speed range of the magnetic motor driver; (c) disable the permanent magnet motor drive; (d) comparing the torque information with a torque standard, and comparing the voltage information with a voltage standard; (e) judging whether the performance of the permanent magnet motor is up to standard according to the comparison result of step (d), including: (e1) If the torque information reaches the torque standard and the voltage information reaches the voltage standard, it is judged that the performance of the permanent magnet motor meets the standard and it is judged as a good product for acceptance; (e2) If the torque information does not meet the torque standard, and the voltage information does not meet the voltage standard, it is judged that the performance of the permanent magnet motor does not meet the standard and it is judged to be a defective product and returned; and (e3) If one of the torque information and the voltage information does not meet the standard, then it is judged that a magnetic encoder assembled with the permanent magnet motor needs to perform zero point compensation, by reading a zero point angle of the magnetic encoder , and calculate a compensation angle corresponding to the zero point angle based on the zero point compensation control, and program the magnetic encoder according to the compensation angle; and (f) Repeat step (a) to step (e3) to confirm whether the performance of the permanent magnet motor is up to standard. As the magnetic encoder compensation method described in claim 6, before the step (a), it further includes: Perform zero calibration on the magnetic encoder. The magnetic encoder compensation method as described in claim 6, wherein the step (d) includes: (d1) Detecting an actual torque of the permanent magnet motor in the high speed range and calculating to provide the torque information, and judging whether the torque information meets the torque standard according to whether the actual torque is greater than or equal to a torque threshold; and (d2) Detecting an actual voltage output by the permanent magnet motor driver when the permanent magnet motor is operating in the high speed range, and providing the voltage information by calculating, and judging the voltage information according to whether the actual voltage is less than or equal to a voltage threshold Whether to meet the voltage standard. The magnetic encoder compensation method as described in Claim 8, wherein the step (e1) further includes: The actual torque and the actual voltage are lowered by adjusting an angle parameter, wherein the angle parameter is calculated according to the sum of the zero point angle and the compensation angle. The magnetic encoder compensation method as described in Claim 8, wherein the step (e3) includes: (e31) reading the zero point angle of the magnetic encoder by detecting the permanent magnet motor module; (e32) calculating the compensation angle according to a torque error between the actual torque and the torque threshold; and (e33) Calculating an angle parameter programmed into the magnetic encoder according to the sum of the zero point angle and the compensation angle. The magnetic encoder compensation method as described in claim 6, further comprising: (g) After step (e3) is repeated for a predetermined number of times, and the performance of the permanent magnet motor is still not up to standard, then it is determined that the permanent magnet motor is a defective product and returned.

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