TWI748618B - 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

Motor calibration system

The invention relates to a correction system, in particular to a correction system for a motor for correcting zero position and phase sequence.

The existing common motor calibration method is: first fix the encoder of the motor and fix the shaft of the motor to 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 motor rotor and the encoder's turntable is correct by watching the waveform on the oscilloscope. If the relevant person judges that the relative position of the encoder's turntable and the motor rotor is incorrect, the relevant person will manually adjust the motor rotor. Until the relative position of the two is correct. The above-mentioned existing common methods for correcting the zero position of the motor and the encoder are time-consuming and labor-intensive, and the relative positions of the encoder's turntable and the motor rotor cannot be accurately adjusted using manual methods.

The present invention discloses a motor correction system, which is mainly used to improve the many inconveniences caused by manually correcting the motor rotor and encoder zero position.

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 memory in which predetermined steering information is stored. The drive module is electrically connected to the control module, and the drive module is used to connect the three-phase line of the motor. The angle reader is used for connecting with 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 corrected angle data into the motor control module. The steering sensor is arranged on the motor, and the steering sensor is used to sense the rotation direction of the motor to generate a corresponding steering information; wherein, the control module can execute a phase sequence correction procedure, and when the control module executes the phase sequence correction procedure , The control module will control the rotation of the motor through the drive module based on the predetermined steering information, and the control module will determine whether the rotation direction of the motor is consistent with the predetermined steering information based on the steering information returned by the steering sensor; When the module judges 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; among them, 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 drive module to rotate the motor a predetermined angle, and the control module will pass 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, as a zero point 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 to electrically connect a power source. The control module includes a memory and a processor. The memory stores a predetermined steering information, and the processor is electrically connected for storage. The drive module is electrically connected to the control module, and the drive module is used to connect the three-phase line of the motor. The angle reader is used for connecting with 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 corrected angle data into the motor control module. Among them, the control module can execute a phase sequence correction procedure. When the control module executes the phase sequence correction procedure, 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 control the motor according to the motor control module. The returned steering information determines whether the rotation direction of the motor matches 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 and change the motor A forward rotation command and a reverse rotation command in the control module; among them, 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 drive module to make the motor rotate 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.

In summary, the motor calibration system of the present invention can directly modify the pre-stored in the motor control module (the motor control module includes an encoder) through the cooperation of the control module and the data writer and other components. The forward rotation command, the reverse rotation command and the zero point 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 and During the angle correction operation, there is no need for the user to manually adjust the encoder's turntable or manually adjust the motor's rotor.

In order to further understand the features and technical content of the present invention, please refer to the following detailed descriptions and drawings about the present invention, but these descriptions and drawings are only used to illustrate the present invention, and do not make any claims about the protection scope of the present invention. limit.

In the following description, if it is pointed out, please refer to the specific drawing or as shown in the specific drawing, it is only used to emphasize in the subsequent description, and most of the related content appears in the specific drawing. However, it is not limited that only the specific drawings can be referred to in this subsequent description.

Please refer to FIG. 1, which shows a block diagram of the motor calibration system 100 of the present invention. The motor calibration system 100 of the present invention is used to calibrate a zero position of a motor M and a phase sequence of the motor M (that is, the direction of forward rotation and the direction of reverse rotation). 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 to electrically connect a power source P. The power source is, for example, AC power, DC power supply, DC battery, etc., which is not limited here. The control module 1 includes a storage 11 and a processor 12. The storage 11 stores predetermined steering information 111, and the processor 12 is electrically connected to the storage 11. The storage 11 is, for example, various types of memories, hard disks, etc., and the processor 12 is, for example, various types of microprocessors, processing chips, etc., which are not limited herein. The predetermined steering information 111 refers to the forward direction (and reverse direction) of the custom motor input by the relevant user through relevant input devices (such as smartphones, keyboards, mice, touch screens, etc.) and relevant user interfaces. Direction).

More specifically, as shown in FIGS. 2 and 3, FIG. 2 shows a schematic diagram of the motor being fixed to the fixing member, and FIG. 3 is a front view of FIG. 2. In the case that a housing M1 of the motor M is fixedly arranged 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 the 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 direction, and the rotating shaft M3 rotates counterclockwise as the reverse direction.

As shown in FIG. 1 and drawing 3, the drive module 2 is electrically connected to the control module 1, and the drive 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., to ensure the current output to the motor M , Voltage stability.

The angle reader 3 is used to connect to the motor control module M5, and the angle reader 3 is used to read 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 and an incremental encoder. Restrictions; the codec (angle reader 3) is used to read the signal output by the rotary encoder (motor control module M5), so as to obtain the rotation angle of the motor control module M5 to control the rotation axis M3.

The data writer 4 is used for writing at least one corrected angle data 41 into the motor control module M5. In practical applications, the data writer 4 can be a component similar to a burner, and the data writer 4 can write data to the relevant control chip or memory of the motor control module M5. Among them, the data writer 4 can write the corrected angle data 41 into a blank address of the memory, or the data writer 4 can write the corrected angle data 41 into the memory which has corresponding data stored in advance. The address has replaced the data originally stored in the memory. For example, the control chip or memory in the motor control module M5 can preset an address for storing the corrected angle data 41, and the pre-stored data at this address can be 0. If the data is written When the device 4 writes the corrected angle data 41 into the motor control module M5, the data 0 stored in advance at the address will be replaced with the corrected angle data 41.

The steering sensor 5 is used to be disposed on the motor M, and the steering sensor 5 is used to sense the rotation direction of the motor M to correspondingly generate a steering information 51. In practical applications, the steering sensor 5 can be various types of motor position sensors, such as: Hall, Encoder, Resolver, etc., but not 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 range 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 directly obtained 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 the first embodiment of the motor calibration 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 sequentially perform a driving and determining step S11: according to the predetermined steering information 51, the drive module 2 controls the rotation of the motor M; the control module 1 will control the rotation of the motor M according to the steering feel The steering information 51 returned by the detector 5 determines 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 perform a modification step S12: control the data writer 4 to modify a forward rotation command M52 in the motor control module M5 And a reverse instruction M53.

Specifically, in practice, the different winding methods and directions of the coils of the rotor of the motor M will cause the rotor to rotate in a different direction after being energized. Therefore, after the motor M is energized, the motor control module M5 passes the forward rotation command in the memory M52 and the reverse rotation command M53 control the forward or reverse rotation of the rotor of the motor M, and 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 the rotating shaft M3 of the motor M to rotate clockwise when it rotates forward , This situation is the situation in which the control module 1 judges that the rotation direction of the motor M does not match the predetermined steering information 111; as described above, when this situation occurs, the control module 1 will Directly use the data writer 4 to change the forward rotation command M52 and reverse rotation command M53 of the motor control module M5, 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 rotation direction of the rotor is in line with the user's definition.

After the control module 1 has executed the phase sequence correction procedure, the control module 1 will execute an angle correction procedure. When the control module 1 executes the angle correction procedure, the control module 1 will execute an angle reading step S21: by driving the module Group 2 rotates the motor M by a predetermined angle; then, the control module 1 will perform a writing step S22: read the angle information M51 through the angle reader 3, and use the data writer 4 to write the angle information M51 contained in the angle information M51 A current angle M511 of the motor control module M5 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 program, the control module 1 can control the rotor of the motor M to rotate forward 30 degrees (that is, the predetermined angle) through the drive module 2, and then the control module 1 The angle information M51 output by the motor control module M5 will be read through the angle reader 3 to determine whether the motor M is rotating 30 degrees. Suppose that the control module 1 reads the motor through the angle reader 3 M is actually rotating forward 60 degrees, 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 use the 30 degrees of the multi-rotation as the current angle M511, which is written 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 a forward rotation command 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 of the embodiments 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 , 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 Without changing the forward rotation command M52 and the reverse rotation command M53 in the motor control module M5, when the control module 1 executes the angle correction program, the zero offset value M54 is θ*(4096/360).

Regarding the order in which the control module 1 executes the phase sequence correction procedure and the angle correction procedure, it can be changed according to requirements and is not limited here; in a preferred embodiment, the control module 1 may execute the phase sequence correction procedure first, and then Execute the angle correction procedure. In this way, when the control module 1 executes the angle correction procedure, 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 diagram showing the flow of calibration of the motor by the control module of the motor calibration system of the present invention, and FIG. 6 is a block diagram of the second embodiment of the motor calibration system of the present invention. . One of the differences between this embodiment and the previous embodiments is that after the control module 1 has executed the phase sequence calibration 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 perform a phase sequence verification step S13: control the motor M to rotate according to the predetermined steering information 111, and determine according to the steering information 51 returned by the steering sensor 5 Whether the rotation direction of the motor M is correct. If the control module 1 determines that the rotation direction of the motor M is incorrect, the control module 1 re-executes the phase sequence correction procedure, or the control module 1 issues 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 first re-execute the phase sequence correction procedure, or it may repeat the phase sequence for a predetermined number of times (for example, 3 times). Calibration procedure.

One difference 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, which is electrically connected to the control module 1, and the warning module 6. When receiving the phase sequence correction failure signal 13, the warning module 6 will warn the user that the motor calibration system 100 has failed to correct the phase sequence of the motor M. For example, the warning module 6 may include components such as lights and horns, and the warning When the module 6 receives the phase sequence correction failure signal 13, it can control the light and the speaker to emit light and sound of corresponding colors.

One of the differences between this embodiment and the previous embodiments is that after the control module 1 executes the angle calibration 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 Group 1 will perform an angle verification step S23: the drive module 2 will rotate the motor M by a verification angle, 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 the control module 1 issues an angle correction failure signal 14. If the control module 1 determines 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 module 1 can store related basic data, calibration result data, calibration process and other related data of the motor M in a specific database, for example.

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. 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 related lights or horns to emit relative light and sound.

Please refer to FIG. 7, which shows a block diagram of the 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 previous embodiment is that the motor calibration system 100 also includes a communication module 7. The communication module 7 is electrically connected to the control module 1. 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 make a reservation The steering information A1 is stored in the storage 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, a smart phone, a tablet) 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. The production system A is used to transmit the predetermined steering information A1 input by the relevant personnel to the calibration system of the motor 100 communication module 7.

In summary, in the motor calibration system of the present invention, in the process of calibrating the motor, there is no need for relevant personnel to manually operate the relevant components of the motor. Therefore, the motor calibration system of the present invention is compared with the traditional manual operation. The manual method is to operate the turntable of the encoder of the motor and cooperate with the oscilloscope to observe the waveform of the motor's corresponding output, which is more efficient and has relatively better calibration accuracy.

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

100: Motor calibration system 1: Control module 11: Storage 111: Scheduled turn information 12: processor 13: Phase sequence calibration failure signal 14: Angle calibration failure signal 2: drive module 3: Angle reader 4: Data writer 41: Correction of angle data 5: Steering sensor 51: Turn to Information 6: Warning module 7: Communication module M: Motor M1: shell M2: fixed member M3: Rotation axis M4: Three-phase line M5: Motor control module M51: Angle Information M511: current angle M52: Forward rotation command M53: Reverse instruction M54: Zero offset value P: Power A: Production system A1: Scheduled turn information

Fig. 1 is a block diagram of the motor calibration system of the present invention.

Figure 2 is a three-dimensional schematic diagram 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 by the control module of the motor calibration system of the present invention.

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

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

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

100: Motor calibration system

1: Control module

11: Storage

111: Scheduled turn information

12: Phase sequence calibration failure signal

2: drive module

3: Angle reader

4: Data writer

41: Correction of angle data

5: Steering sensor

51: Turn to Information

M: Motor

M5: Motor control module

M51: Angle Information

M511: current angle

M52: Forward rotation command

M53: Reverse instruction

M54: Zero offset value

P: Power

Claims (9)

A motor calibration system for calibrating 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 for electrically connecting to a power source, the control module including a memory and a processor, the memory storing predetermined steering information, and the processor electrically connecting to the memory ； A drive module electrically connected to the control module, and the drive module is used to connect the three-phase line of the motor; An angle reader for connecting to the motor control module, the angle reader for reading an angle information output by the motor control module; A data writer for writing at least one corrected angle data into the motor control module; A steering sensor for being arranged on the motor, the steering sensor for sensing the rotation direction of the motor to correspondingly generate a steering information; Wherein, the control module can execute a phase sequence correction procedure, and when the control module executes the phase sequence correction procedure, the control module will control the driving module through the drive module according to the predetermined steering information. The motor rotates, and the control module will determine whether the rotation direction of the motor matches the predetermined steering information according to the steering information returned by the steering sensor; if the control module If it is determined 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 calibration procedure, the control module will execute an angle calibration procedure, and when the control module executes the angle calibration procedure, the control module will pass The driving module is configured to rotate the motor by a predetermined angle, and the control module will read the angle information through the angle reader and send 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 procedure, the control module can also execute a phase sequence verification procedure, and the control module executes all the phase sequence verification procedures. In 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 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 program, or the control module issues a phase sequence correction Failure signal. The motor calibration system according to claim 2, wherein the motor calibration system further includes a warning module, the warning module is electrically connected to the control module, and the warning module receives the phase When the sequence calibration fails signal, the warning module will warn the user that the motor calibration system has failed in the phase sequence calibration of the motor. The motor calibration system according to claim 1, wherein after the control module executes the angle calibration procedure, the control module can also execute an angle verification procedure, and the control module executes the angle calibration procedure. 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 procedure or the phase sequence correction procedure, or the control The module sends out an angle calibration failure signal. The motor calibration system according to claim 4, wherein the motor calibration system further includes 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 performed, 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 procedure, if the control module changes the motor control module When the control module executes the angle correction program, the zero point 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 procedure, if the control module does not change the motor control module When the control module executes the angle correction program, the zero point offset value is θ*(4096/360). The motor calibration system according to claim 1, wherein the motor calibration system further includes 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 motor calibration system for calibrating 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 for electrically connecting to a power source, the control module including a memory and a processor, the memory storing predetermined steering information, and the processor electrically connecting to the memory ； A drive module electrically connected to the control module, and the drive module is used to connect the three-phase line of the motor; An angle reader for connecting to the motor control module, the angle reader for reading an angle information output by the motor control module; A data writer for writing at least one corrected angle data into the motor control module; Wherein, the control module can execute a phase sequence correction procedure, and when the control module executes the phase sequence correction procedure, the control module will control the driving module through the drive module according to the predetermined steering information. The motor rotates, and the control module will determine whether the rotation direction of the motor matches 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 calibration procedure, the control module will execute an angle calibration procedure, and when the control module executes the angle calibration procedure, the control module will pass The driving module is configured to rotate the motor by a predetermined angle, and the control module will read the angle information through the angle reader and send 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.

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