CN102829742B - Method for measuring absolute position of rotor in motor servo system - Google Patents
Method for measuring absolute position of rotor in motor servo system Download PDFInfo
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- CN102829742B CN102829742B CN201210264365.6A CN201210264365A CN102829742B CN 102829742 B CN102829742 B CN 102829742B CN 201210264365 A CN201210264365 A CN 201210264365A CN 102829742 B CN102829742 B CN 102829742B
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Abstract
The invention discloses a method for measuring the absolute position of a rotor in a motor servo system, comprising the steps of: integrally combining the motor and a position sensor; and by utilizing position information provided by a predetermined position as well as relative position information and pitch information provided by the sensor, and recombining the position information through using a proper method so as to obtain absolute position information of the motor rotor. According to the method, a zero position indicator is not required; after outage, the absolute position of a zero position of a relative system of the motor rotor can be obtained through the predetermined position of the motor rotor; compared with a coarse/fine coupling double-speed rotary transformer system, the high-precision absolute position information is obtained by using the simple and reliable sensor, so that the structure of the integrated high-performance servo motor is simplified and decreased, then the structure is more compact and the volume is decreased; and at the same time, a signal processing circuit and coarse/fine coupling operation are decreased, so that compared with the coarse/fine coupling double-speed rotary transformer system, the performance-price ratio is improved and the complexity level is reduced.
Description
Technical field
The present invention relates to a kind of measuring method of absolute position of rotor in motor servo system, particularly utilize the position transducer similar with multipolar resolver principle of work to obtain the method for rotor absolute position, be applicable to the applications such as servo driving electromechanical integrated product, servo instrument, servo turntable, electric automobile.
Background technology
Often will use position transducer in motor servo system, rotary transformer or inductosyn are the position transducers wherein commonly used.In the servo-drive system of absolute position, generally obtain absolute location information by Two-Channel Angle Measuring System, smart coupling scheme as thick in rotary transformer; For the absolute position servo-drive system of finite angle, also the situation using multipole magnetic resistance rotary transformer or multipolar resolver as absolute position transducer is had, as the extremely smart machine of 32 couple in the two speed resolver mentioned in the 12nd spaces, the whole nation in 2006 and movable body control technology Annual Conference paper " High Accuracy Oscillating Scan motor and control system research ".The thick smart coupling scheme of rotary transformer generally have following several form: a pair pole rotary transformer and multipolar resolver coupling, a pair pole rotary transformer and the coupling of multipole inductosyn, a pair pole inductosyn and the coupling of multipole inductosyn, a pair pole rotary transformer and the coupling of multipole magnetic resistance rotary transformer, a pair pole magnetic resistance rotary transformer and the coupling of multipole magnetic resistance rotary transformer.
" inertia device " first volume 289-295 page has carried out detailed elaboration to Two-Channel Angle Measuring System, mention full-shape measurement and have 3 kinds of schemes, first scheme is wherein proficient in be provided with angular measurement sensor, know a little about and do not establish angular measurement sensor, the reading of knowing a little about relies on the information be proficient in be formed by up-down counter.Complete a code period enter next code period when being proficient in angular measurement sensor, when namely the number of register again counts by maximal value proceeds to minimum value (zero passage), up-down counter adds 1; Do not complete a code period return to previous code period when being proficient in angular measurement sensor, namely register does not fill up and just returns minimum value (zero passage) and transfer to when depositing maximum code value, up-down counter subtracts 1, the coupling of the counting of register and up-down counter is just obtained the full-shape coding of alternative plan.First scheme is due to without knowing a little about angular measurement sensor, its reading of knowing a little about is the increment that angular measurement sensor angle information is proficient in accumulation, it does not need thick essence counting coupling error correction, but also just therefore it can not give actual zero point position, when needs are measured from a certain actual zero point position, need increase zero-bit indicating device, when measuring from zero-bit, zero-bit indicating device sends a pulse, thick channel counts is reset, and starts counting.Another shortcoming of first scheme is that it does not have recovery capability, once power-off, needs all to start anew.
Chang Yahui utilizes 64 to the magnetic pole position sensor realization drived control to motor of pole magnetic resistance rotary transformer as 6 pairs of pole brushless DC torque motors in its Master's thesis " driving circuit of brushless electric machine based on gyroaccelerometer integration realizes ", the pre-determined bit of rotor is utilized to realize the determination of motor pole initial position in literary composition, then utilize the relative position revolving and become and export and pitch number comprehensively to obtain the absolute position of rotor, and then realize the drived control to brushless D. C. torque motor." multipole magnetoresistance transformer digital angle measurement system " literary composition that " navigation and vehicle controL " of the 2nd phase in 2008 (total 24th phase) is delivered utilize FPGA to achieve 64 to revolve change excitation and angular displacement measuring circuit to pole magnetic resistance.Can find out: Chang Yahui utilizes the pre-determined bit of rotor to produce initial zero position signal in its Master's thesis, complete the function of the zero-bit indicating device that " inertia device " first volume P294 page is mentioned, foot point is not that it can only be used for the location of rotor magnetic pole, realize the effect of magnetic pole sensor, the absolute position that cannot be applied to rotor relative system zero-bit is determined, cannot play the effect of absolute position transducer in motor servo system.In other words, in this paper, the object of pre-determined bit is just alignd to realize rotor magnetic pole and the motor stator winding direction, stationary magnetic field formed that is energized, to produce initial zero position, but this initial zero position is not unique, its quantity is identical with the number of pole-pairs of rotor, and is not unique at the relative position angle that initial zero position multipole magnetic resistance rotary transformer exports.Therefore, this paper realizes the function of rotor magnetic pole as initial zero position by motor pre-determined bit method, still has the shortcoming of the first scheme that " inertia device " first volume P294 page is mentioned: cannot provide actual zero point position, not have recovery capability, once power-off, all are needed to start anew.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, a kind of measuring method of absolute position of rotor in motor servo system is provided, the relative position angle that the present invention only utilizes position transducer to export and pitch number obtain the absolute location information of rotor indirectly, reduce the structure of servomotor, and measuring accuracy is high.
Technical solution of the present invention is: a kind of measuring method of absolute position of rotor in motor servo system, and step is as follows:
(1) position transducer of relative position angle and pitch number can be measured and motor coaxle is rigidly connected or by motor and being combined into one of the position transducer servomotor can measuring relative position angle and pitch number, allow to measure relative position angle identical with the mechanical angle that the position transducer of pitch number and the relatively respective stator of the rotor of motor turn over;
(2) utilize localization method described position transducer rotor to be navigated to successively M and determine position, determine that position measurement obtains the angle, absolute position of described position transducer rotor, relative position angle and pitch number at each, to set up between the relative position angle of described position transducer rotor and pitch number mapping relations, wherein M >=2 one to one;
(3) localization method identical with step (2) is utilized, described position transducer rotor fixed position is determined any one position in position to step (2) M, measure the relative position angle obtaining described position transducer rotor, mapping relations one to one between the relative position angle of the described position transducer rotor utilizing step (2) to set up and pitch number, obtain determining at this initial pitch number that position is corresponding with the relative position angle of described position transducer rotor;
(4) on the basis of step (3), when described position transducer rotor is rotated further, described position transducer measurement is utilized to obtain the relative position angle of described position transducer rotor current location; The pitch signal produced in described position transducer rotor turns process is utilized to carry out to the initial pitch number that step (3) obtains the pitch number that reversible counting obtains described position transducer rotor current location;
(5) on the basis of step (4), utilize the relative position angle of the pitch number of described position transducer rotor current location and described position transducer rotor current location, calculate the angle, absolute position of described position transducer rotor current location, thus obtain the absolute position of motor servo system rotor.
Described localization method adopts electrical power pre-determined bit, servo-drive system mechanism location or motor location torque self-align.When localization method adopts electrical power pre-determined bit, the numerical value of M is determined by the be energized lowest common multiple of umber of beats of the number of pole-pairs of rotor or the number of teeth and motor stator winding; When localization method adopts servo-drive system mechanism location, then the numerical value of M is determined by the number of teeth of end-toothed disc; When localization method adopts motor location torque self-align, the numerical value of M is determined by the number of pole-pairs of rotor or the number of teeth.
Described position transducer adopts multipole symmetrical structure form, number of pole-pairs N >=2, and when the rotor relative stator rotation of position transducer does not exceed a pole span, position transducer exports the relative position angle in a pitch; When the rotor relative stator of position transducer rotate exceed a pole span time, position transducer exports relative position angle in next pitch and a pitch signal.
The method setting up one_to_one corresponding mapping relations between the relative position angle of described position transducer rotor and pitch number in described step (2) is utilize localization method measurement to obtain relative position angle α that whole M is determined position transducer rotor described in position
(i), angle, absolute position θ
(i)with pitch number P
(i), determine the relative position angle α of position transducer rotor
(i)with pitch number P
(i)between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)× γ, i ∈ [1, M];
Wherein: γ is the pitch angle of known location sensor;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, can measure for this angle of given servo-drive system and obtain, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
Mapping relations one to one between the described position transducer rotor relative position angle utilizing step (2) to set up in described step (3) and pitch number, obtain determining that the implementation method of the initial pitch number that position is corresponding with the relative position angle of described position transducer rotor is at this: rotor is stabilized in the individual position determined in position of M, according to the rotor relative position angle α that described position transducer exports, mapping relations one by one between the relative position angle set up according to described step (2) and pitch number, obtain this and determine the initial pitch number P that position is corresponding with the relative position angle of described position transducer rotor
0: θ
0=(α-α
0) ± P
0× γ,
Wherein: θ
0for this determines the angle, initial absolute position that position is corresponding with the relative position angle of described position transducer rotor, it is the angle of the relative servo-drive system zero-bit of rotor;
α is that this determines the relative position angle of position, is the angle of position transducer rotor relative sensors zero-bit;
P
0initial pitch number corresponding to the relative position angle that this determines position and described position transducer rotor;
γ is the pitch angle of known location sensor;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
The implementation method that described step (5) obtains the absolute position of motor servo system rotor is: the computing formula at the angle, absolute position of motor servo system rotor is: θ=(α-α
0) ± P × γ,
Wherein: α is the relative position angle that position transducer exports in current location;
P is the pitch number of position transducer rotor in current location;
γ is the pitch angle of known location sensor;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
The present invention's advantage is compared with prior art:
(1) motor and position transducer are combined into one by the present invention, the relative position information that the positional information utilizing pre-determined bit to provide and sensor provide and pitch information, reconfigure above-mentioned positional information by suitable method, obtain the absolute location information of rotor.The present invention does not need zero-position indicator, after power-off, is obtained the absolute position of rotor relative system zero-bit by the pre-determined bit of rotor, actual zero point position can be provided, compared with revolving change system with the thick smart double speed that is coupled, simplify physical construction, reduce volume, decrease the signal processing circuit of thick machine and thick smart coupled operational, there is identical positioning precision, have stronger recovery capability, compared with revolving change system with the thick smart double speed that is coupled, improve cost performance, reduce complexity.
(2) at motor servo system production field, the kind of (or unified) sensor can be reduced, simplify the equipment adjustment zero-bit work of sensor, realize the software merit rating in assembling later stage, technology highly versatile, is conducive to realizing the more massive production of position transducer to reduce production cost, enhances productivity, be suitable for motor servo driving control unit integration field, as miniature precision turntable etc.; Be particularly suitable for electric automobile field, be conducive to the two-in-one function realizing magnetic pole position sensor and mileometer.
Accompanying drawing explanation
Fig. 1 of the present inventionly realizes schematic diagram;
Fig. 2 is realization flow figure of the present invention;
Fig. 3 is the first rotor absolute position acquisition methods schematic diagram;
Fig. 4 is the second rotor absolute position acquisition methods schematic diagram;
Fig. 5 is the third rotor absolute position acquisition methods schematic diagram;
Fig. 6 is the 4th kind of rotor absolute position acquisition methods schematic diagram;
Fig. 7 is the 5th kind of rotor absolute position acquisition methods schematic diagram;
Fig. 8 is the 6th kind of rotor absolute position acquisition methods schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
First the technical term related to is briefly introduced.Servo-drive system zero-bit, be called for short system zero-bit, referring in this motor servo system, is the null position, angle, absolute position being defined as rotor by people.For multipole sensor, the position angle exported at a pole span inner sensor is called relative position angle; Sensor export relative position angle be zero position be called transducer zeroing; The mechanical angle that a pole span of sensor is corresponding is called pitch angle; The pole span number striden across in the angle that rotor sensor turns over is called pitch number; When rotor sensor rotates and exceeds the scope of a pole span, its signal processing circuit will export pitch (pulse) signal, for representing that rotor sensor has just striden across a pitch, the pitch number that reversible counting can obtain current location is carried out to this pitch signal; System zero-bit is called angle, absolute position to the angle that rotor sensor current location turns over; In each use procedure, rotor sensor is positioned to the pitch number obtained behind precalculated position and is called initial pitch number, and the angle, absolute position obtained is called angle, initial absolute position.
As shown in Figure 1, be the determination Method And Principle schematic diagram of one 12 position transducer to pole and 5 to angle, rotor absolute position after the motor composition motor servo system of pole.The position indicating O in figure is the system zero-bit of this servo-drive system, indicates 1,2 ..., the position of 12 characters such as grade is transducer zeroing, and the position indicating I, II, III, IV, V character is pre-determined bit allocation really, α
0for system zero-bit is to the relative position angle of transducer zeroing, α
(i)for the relative position angle of precalculated position relative sensors zero-bit, θ
(i)for the angle, absolute position of precalculated position relative system zero-bit, θ is the angle, absolute position of rotor optional position relative system zero-bit, γ is the pitch angle of sensor, and rotor sensor is often crossed over transducer zeroing and just exported pitch (pulse) signal.
Principle of work of the present invention is: utilize certain localization method, successively rotor pre-determined bit is determined position to whole M, mapping relations are one by one set up between the pitch number of the relative position angle servo-drive system zero-bit relative to this precalculated position exported by position transducer, then by location technology as hereinbefore, rotor is navigated to the individual some positions determined in position of above-mentioned M, the relative position angle utilizing sensor to export, by the mapping relations one by one between the relative position angle set up and pitch number, obtain the initial pitch number that this determines position relative system zero-bit, then the pitch signal utilizing position transducer to export through signal transacting carries out reversible counting to initial pitch number, obtain the pitch number of rotor optional position relative system zero-bit, the relative position angle that combined sensor exports in real time, comprehensively obtain the angle, absolute position of rotor relative system zero-bit at an arbitrary position.
The number of phases of motor is m, stator "on" position possibility then during rotor pre-determined bit is that (n and m's n is correlated with, n >=m) plant, the number of pole-pairs of rotor is p, M (M is the lowest common multiple of n and p) can be obtained altogether and plant rotor precalculated position, assuming that the number of pole-pairs of rotor sensor is N, in a pole span angle of rotor sensor, be then distributed with the relative position angle of M rotor, set up motor stator "on" position, the angle, absolute position in rotor precalculated position, the relative position angle that sensor exports, mapping relations between the pitch number of rotor relative system zero-bit.Immediate stator "on" position is determined at the relative position angle exported by sensor during use, rotor is made to reach precalculated position, obtain the relative position angle that sensor exports, utilize the mapping relationship searching form of aforementioned foundation or calculate the initial pitch number of precalculated position relative system zero-bit, calculate the angle, initial absolute position in precalculated position, the relative position angle that the angle, absolute position of follow-up optional position is exported by this position transducer and pitch number COMPREHENSIVE CALCULATING obtain, the pitch signal that the pitch number of this optional position exports through signal transacting via sensor carries out reversible counting acquisition to initial pitch number.Utilize rotor pre-determined bit state as much as possible, the time that the angular displacement in rotor pre-determined bit process consumes can be shortened, closer to the situation of the original position instantaneous acquisition rotor absolute position of thick essence coupling two speed resolver, the practicality of new method is strengthened further.The maximal value M that rotor precalculated position is possible and position transducer number of pole-pairs N each other prime number time, man-to-man mapping relations can be realized; Otherwise need the mapping relations being eliminated one-to-many by the non complete symmetry of structure or additive method, realize man-to-man mapping relations.The pre-determined bit often utilizing a kind of stator "on" position to realize rotor in actual use is simpler and more direct, and stator "on" position can be selected arbitrarily according to actual needs between 1-n kind in fact.
As shown in Figure 2, specific implementation step of the present invention is as follows:
(1) position transducer of relative position angle and pitch number can be measured and motor coaxle is rigidly connected or by motor and being combined into one of the position transducer servomotor can measuring relative position angle and pitch number, allow to measure relative position angle identical with the mechanical angle that the position transducer of pitch number and the relatively respective stator of the rotor of motor turn over; Described position transducer adopts multipole symmetrical structure form, number of pole-pairs N >=2, and when the rotor relative stator rotation of position transducer does not exceed a tooth pitch, position transducer exports the relative position angle in a pitch; When the rotor relative stator of position transducer rotate exceed a tooth pitch time, position transducer exports relative position angle in next pitch and a pitch signal.
(2) utilize localization method described position transducer rotor to be navigated to successively M and determine position, determine that position measurement obtains the angle, absolute position of described position transducer rotor, relative position angle and pitch number at each, to set up between the relative position angle of described position transducer rotor and pitch number mapping relations, wherein M >=2 one to one; Wherein locator meams adopt the mechanism of electrical power pre-determined bit, servo-drive system location (as end-toothed disc etc.) or motor location torque self-align; The numerical value of described M is determined by adopted localization method, such as: localization method adopts motor stator winding energising pre-determined bit mode, then the numerical value of M is determined by the number of pole-pairs (or number of teeth) of rotor and the lowest common multiple of motor stator winding "on" position number (energising umber of beats), is generally not more than 4096; Localization method adopts Endtooth-disc fix mode, then the numerical value of M is determined by the number of teeth of end-toothed disc, is generally not more than 2048; Localization method adopts motor location torque self-localization method, then the numerical value of M is determined by the number of pole-pairs (or number of teeth) of rotor, is generally not more than 1024; Adopt other locator meams, then M numerical value by rotor rotate one week time rotor stability position number decision.
The method setting up one_to_one corresponding mapping relations between the relative position angle of described position transducer rotor and pitch number is utilize localization method measurement to obtain relative position angle α that whole M is determined position transducer rotor described in position
(i), angle, absolute position θ
(i)with pitch number P
(i), determine the relative position angle α of position transducer rotor
(i)with pitch number P
(i)between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)× γ, i ∈ [1, M];
Wherein: γ is the pitch angle of position transducer; α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, can measure for this angle of given servo-drive system and obtain, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
Wherein: θ
(i)for angle, absolute position, be the angle of the relative servo-drive system zero-bit of rotor, individual angle, the absolute position θ determining position of M
(i)obtain by measuring;
α
(i)for relative position angle, it is the angle of position transducer relative sensors zero-bit;
γ is pitch angle, is the mechanical angle that position transducer often pair is extremely corresponding;
P
(i)(P
(i)>=0) be pitch number, be position transducer rotor from servo-drive system zero-bit to current location through the number of pitch, the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
At θ
(i), α
0, γ is when determining, α
(i)with P
(i)between can set up mapping relations; If mapping relations θ
(i)=(α
(i)-α
0) ± P
(i)× γ, i ∈ [1, M] is monotonic quantity, then can pass through α
(i)determine P uniquely
(i); Above-mentioned localization method requires that location is reliable and stable, and resetting does not affect positioning precision, and positioning precision is generally by the accuracy guarantee of sensor;
(3) localization method identical with step (2) is utilized, described position transducer rotor fixed position is determined any one position in position to step (2) M, measure the relative position angle obtaining described position transducer rotor, mapping relations one to one between the described position transducer rotor relative position angle utilizing step (2) to set up and pitch number, obtain determining at this initial pitch number P that position is corresponding with the relative position angle of described position transducer rotor
0; Its implementation is: rotor is stabilized in the individual position determined in position of M, according to the rotor relative position angle α that described position transducer exports, mapping relations one by one between the relative position angle set up according to described step (2) and pitch number, obtain this and determine the initial pitch number P that position is corresponding with the relative position angle of described position transducer rotor
0: θ
0=(α-α
0) ± P
0× γ;
Wherein:
θ
0for this determines the angle, initial absolute position that position is corresponding with the relative position angle of described position transducer rotor, it is the angle of the relative servo-drive system zero-bit of rotor;
α is that this determines the relative position angle of position, is the angle of position transducer rotor relative sensors zero-bit;
P
0initial pitch number corresponding to the relative position angle that this determines position and described position transducer rotor;
γ is the pitch angle of known location sensor;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
(4) on the basis of step (3), when after rotor turns, described position transducer exports pitch signal, utilizes the initial pitch number P that this pitch signal obtains step (3)
0carry out reversible counting, described position transducer rotor pitch number P at an arbitrary position can be obtained; When rotor arrives optional position, the angle, absolute position of rotor optional position can be expressed as: θ=(α-α
0) ± P × γ,
Wherein, α is the relative position angle that position transducer exports at an arbitrary position;
P is that position transducer rotor pitch number pitch counter at an arbitrary position exports corresponding pitch number;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of position transducer zero-bit to servo-drive system zero-bit, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
Locator meams of the present invention can adopt the modes such as the mechanism of electrical power pre-determined bit, servo-drive system locates or motor location torque is self-align.Electrical power pre-determined bit mode refer in motor stator winding a phase or a few communicate steady current time, the situation that rotor aligns with motor stator magnetic pole through certain hour; The mechanism location of servo-drive system refers to utilize the detent mechanisms such as end-toothed disc to provide the position location of the determination of degree of precision when motor is static; Motor location torque self-localization method refers to the effect generation magnetic resistance moment of magneto due to magnet steel, the trend making rotor determine position has opposing external force to keep it on this position at some, makes rotor remain on when the effect not by external force and above-mentionedly determines position.
Fig. 3,4,5,6,7,8 gives 6 kinds and realizes block diagram, the wherein determination of Fig. 3,4 for utilizing motor cogging torque location or stator winding electrifying pre-determined bit to realize rotor precalculated position; Fig. 5,6 locates for utilizing the mechanism in servo-drive system (as end-toothed disc or ratchet etc.) determination realizing rotor precalculated position; Fig. 7,8 locates for utilizing motor cogging torque the determination realizing rotor precalculated position with the Mechanism Combination of servo-drive system, or utilizes motor stator winding energising pre-determined bit and Mechanism Combination to realize the determination in rotor precalculated position.At Fig. 3,5, in 7, the function of up-down counter merges realization in absolute location information is comprehensive; At Fig. 4,6, in 8, the function of up-down counter puts forward separately, is no longer included in the comprehensive middle realization of absolute location information.
As shown in table 1, the number of pole-pairs of a stepper motor is 50, it is 32 that multipole magnetic resistance revolves change sensor number of pole-pairs, when stator winding a certain direct current "on" position is constant, regulation is positive dirction clockwise, assuming that system zero-bit overlaps with transducer zeroing, the absolute position angle of rotor when different precalculated position and the relation between pitch number and relative position angle, can see: angle, the absolute position=sensor pitch angle * pitch number+relative position angle in precalculated position.Due to motor number of pole-pairs 50 and the highest common factor 2 of sensor number of pole-pairs 32, therefore we see that cycle index is 2 in Table 1, namely the situation of corresponding 2 pitch numbers in 1 relative position angle is always had, form the mapping relations of a pair two, therefore need in practice to utilize the asymmetry of rotor tooth pitch, mechanism location or servicing unit to realize mapping one to one: 1 corresponding 1 pitch number in relative position angle.In fact, in actual applications, the appearance that we select the situation of the number of pole-pairs of the number of pole-pairs of motor and sensor prime number each other that above-mentioned one-to-many just can be avoided to map consciously, realizes man-to-man mapping relations.Such as: motor number of pole-pairs be 3,5,7,9,11,13,15 and sensor number of pole-pairs be 2,4,8,16,32,64,128,256 to match, or the number of pole-pairs of motor be 2,4,6,8,10,12...50,100,200 and the number of pole-pairs of sensor be 31 to match.
Motor in the present invention can be that the rotors such as stepping motor, brshless DC motor, permagnetic synchronous motor, switched reluctance machines have the motor of magnetic pole (or salient pole) and the various motors of band mechanism's locating device (as end-toothed disc), and position transducer can be the multicycle high precision relative position sensor of the kinds such as multipole magnetic resistance rotary transformer, multipolar resolver, multipole inductosyn, multipole ball bar sensor, multipole grating sensor, multipole capacitor grid transducer.What practicality was the highest surely belong to motor and multipole magnetic resistance revolve the array configuration of change.
Table 1 stepper motor (50 tooth) and magnetic resistance revolve the mapping relations becoming (32 to pole)
Embodiment one:
The present invention can alternatively realize, and its specific implementation step (1), (3), (4) are identical with foregoing invention performing step, and the implementation method of step (2) is as follows:
First, M the relative position angle α determining any one position in position is known
1with pitch number P
1mapping relations one by one;
Then, relational expression is utilized: α
(i)=α
1+ (β × m-γ × P
(i)), i ∈ [1, M]
Calculate all the other M-1 and determine the relative position angle of position and the mapping relations one by one of pitch number.Wherein:
0≤m≤M，0≤P
(i)≤N，0≤α
1≤360°/N，0≤α
(i)≤360°/N；
N is the number of pole-pairs of position transducer;
γ is the pitch angle of position transducer;
M be rotor rotate one week time settling position periodicity;
β is the cycle angle between two settling positions that rotor is adjacent;
α
1for the relative position angle of servo-drive system pre-determined bit zero-bit, refer under certain localization method effect, rotor is stabilized in the individual position determined in position of M, this position is called servo-drive system pre-determined bit zero-bit, and the angle between this position and transducer zeroing is called the relative position angle of servo-drive system pre-determined bit zero-bit.
Embodiment two:
The present invention can also realize by the third method, and its specific implementation step (1), (4) are identical with the invention process step, and the implementation method of step (2) is as follows:
Measure and obtain the relative position angle α that M is determined any one position in position
1with pitch number P
1mapping relations one by one;
The implementation method of step (3) is as follows:
First, utilize the localization method identical with step (2), described position transducer rotor fixed position is determined any one position in position to step (2) M, measure the relative position angle obtaining described position transducer rotor;
Then, relational expression is utilized: α
(i)=α
1+ (β × m-γ × P
0), i ∈ [1, M]
Calculate the relative position angle α that this determines position
(i)with initial pitch number P
0mapping relations one by one.Wherein:
0≤m≤M，0≤P
0≤N，0≤α
1≤360°/N，0≤α
0≤360°/N；
N is the number of pole-pairs of position transducer;
α
(i)for relative position angle, it is the angle of original position of electric motor's rotator relative sensors zero-bit;
γ is the pitch angle of position transducer;
M be rotor rotate one week time settling position periodicity;
β is the cycle angle between two settling positions that rotor is adjacent;
P
0(P
0>=0) be initial pitch number, be position transducer rotor from servo-drive system zero-bit to initial position through the number of pitch, the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
α
1for the relative position angle of servo-drive system pre-determined bit zero-bit, refer under certain localization method effect, rotor is stabilized in the individual position determined in position of M, this position is called servo-drive system pre-determined bit zero-bit, and the angle between this position and transducer zeroing is called the relative position angle of servo-drive system pre-determined bit zero-bit.
Finally, relational expression is below utilized:
θ
0＝(α
(i)-α
0)±P
0×γ，i∈[1，M]
Calculate and determine at this initial absolute position angle θ that position is corresponding with the relative position angle of described position transducer rotor
0, wherein:
θ
0for angle, absolute position, it is the angle of the relative servo-drive system zero-bit of original position of electric motor's rotator;
α
(i)for relative position angle, it is the angle of original position of electric motor's rotator relative sensors zero-bit;
γ is pitch angle, is the mechanical angle that position transducer often pair is extremely corresponding;
M be rotor rotate one week time settling position periodicity;
P
0(P
0>=0) be pitch number, be position transducer rotor from servo-drive system zero-bit to initial position through the number of pitch, the pitch number of regulation servo-drive system zero-bit place pitch angle is zero;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of position transducer zero-bit to servo-drive system zero-bit, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0.
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
Those skilled in the art are after grasp core concept of the present invention, can according to different requirements and design parameter, carry out various supplement, improvement and replacing without deviating from the invention, adopt different implementations, as: pure hardware, FPGA, CPLD, DSP or computer software are realized its function, the method is not only applicable to the measurement of rotary motion absolute position angle, and is applicable to the measurement of rectilinear motion absolute position.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (5)
1. a measuring method for absolute position of rotor in motor servo system, is characterized in that step is as follows:
(1) position transducer of relative position angle and pitch number can be measured and motor coaxle is rigidly connected or by motor and being combined into one of the position transducer servomotor can measuring relative position angle and pitch number, allow to measure relative position angle identical with the mechanical angle that the position transducer of pitch number and the relatively respective stator of the rotor of motor turn over;
(2) utilize localization method described position transducer rotor to be navigated to successively M and determine position, determine that position measurement obtains the angle, absolute position of described position transducer rotor, relative position angle and pitch number at each, to set up between the relative position angle of described position transducer rotor and pitch number mapping relations, wherein M >=2 one to one;
(3) localization method identical with step (2) is utilized, described position transducer rotor fixed position is determined any one position in position to step (2) M, measure the relative position angle obtaining described position transducer rotor, mapping relations one to one between the relative position angle of the described position transducer rotor utilizing step (2) to set up and pitch number, obtain determining at this initial pitch number that position is corresponding with the relative position angle of described position transducer rotor;
(4) on the basis of step (3), when described position transducer rotor is rotated further, described position transducer measurement is utilized to obtain the relative position angle of described position transducer rotor current location; The pitch signal produced in described position transducer rotor turns process is utilized to carry out to the initial pitch number that step (3) obtains the pitch number that reversible counting obtains described position transducer rotor current location;
(5) on the basis of step (4), utilize the relative position angle of the pitch number of described position transducer rotor current location and described position transducer rotor current location, calculate the angle, absolute position of described position transducer rotor current location, thus obtain the absolute position of motor servo system rotor;
Described localization method adopts electrical power pre-determined bit, servo-drive system mechanism location or motor location torque self-align; When localization method adopts electrical power pre-determined bit, the numerical value of M is determined by the be energized lowest common multiple of umber of beats of the number of pole-pairs of rotor or the number of teeth and motor stator winding; When localization method adopts servo-drive system mechanism location, then the numerical value of M is determined by the number of teeth of end-toothed disc; When localization method adopts motor location torque self-align, the numerical value of M is determined by the number of pole-pairs of rotor or the number of teeth.
2. the measuring method of a kind of absolute position of rotor in motor servo system according to claim 1, it is characterized in that: described position transducer adopts multipole symmetrical structure form, number of pole-pairs N >=2, when the rotor relative stator rotation of position transducer does not exceed a pole span, position transducer exports the relative position angle in a pitch; When the rotor relative stator of position transducer rotate exceed a pole span time, position transducer exports relative position angle in next pitch and a pitch signal.
3. the measuring method of a kind of absolute position of rotor in motor servo system according to claim 1, is characterized in that: the method setting up one_to_one corresponding mapping relations between the relative position angle of described position transducer rotor and pitch number in described step (2) is utilize localization method measurement to obtain relative position angle α that whole M is determined position transducer rotor described in position
(i), angle, absolute position θ
(i)with pitch number P
(i), determine the relative position angle α of position transducer rotor
(i)with pitch number P
(i)between mapping relations: θ one to one
(i)=(α
(i)-α
0) ± P
(i)× γ, i ∈ [1, M];
Wherein: γ is the pitch angle of known location sensor;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, can measure for this angle of given servo-drive system and obtain, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
4. the measuring method of a kind of absolute position of rotor in motor servo system according to claim 1, it is characterized in that: mapping relations one to one between the described position transducer rotor relative position angle utilizing step (2) to set up in described step (3) and pitch number, obtain determining that the implementation method of the initial pitch number that position is corresponding with the relative position angle of described position transducer rotor is at this: rotor is stabilized in the individual position determined in position of M, according to the rotor relative position angle α that described position transducer exports, mapping relations one by one between the relative position angle set up according to described step (2) and pitch number, obtain this and determine the initial pitch number P that position is corresponding with the relative position angle of described position transducer rotor
0: θ
0=(α-α
0) ± P
0× γ,
Wherein: θ
0for this determines the angle, initial absolute position that position is corresponding with the relative position angle of described position transducer rotor, it is the angle of the relative servo-drive system zero-bit of rotor;
α is that this determines the relative position angle of position, is the angle of position transducer rotor relative sensors zero-bit;
P
0initial pitch number corresponding to the relative position angle that this determines position and described position transducer rotor;
γ is the pitch angle of known location sensor;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
5. the measuring method of a kind of absolute position of rotor in motor servo system according to claim 1, is characterized in that: the implementation method that described step (5) obtains the absolute position of motor servo system rotor is: the computing formula at the angle, absolute position of motor servo system rotor is: θ=(α-α
0) ± P × γ,
Wherein: α is the relative position angle that position transducer exports in current location;
P is the pitch number of position transducer rotor in current location;
γ is the pitch angle of known location sensor;
α
0for the relative position angle of servo-drive system zero-bit, be the mechanical angle of servo-drive system zero-bit to position transducer zeroing, when servo-drive system zero-bit overlaps with position transducer zero-bit, α
0=0;
± be direction symbol, when being defined as positive dirction clockwise, getting "+" number when rotor clockwise rotates, getting "-" number when rotating counterclockwise; When being defined as positive dirction counterclockwise, getting "+" number when rotor rotates counterclockwise, getting "-" number when rotating clockwise.
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| CN103235182B (en) * | 2013-03-22 | 2015-04-29 | 南京南瑞继保电气有限公司 | Method for measuring generator internal electric potential phase position by adopting rotating speed pulses of hydroelectric generating set |
| CN106155101B (en) * | 2015-03-31 | 2019-02-01 | 北京航天计量测试技术研究所 | It is a kind of to seek zero method for the rapid location with limit turntable |
| CN104993748A (en) * | 2015-07-21 | 2015-10-21 | 深圳谱能科技有限公司 | Method for position recognition in direct instantaneous torque control of switch reluctance motor |
| CN106787463B (en) * | 2016-12-28 | 2019-02-12 | 江西顶翔智控科技有限公司 | A kind of unmanned plane brshless DC motor encoder and rotor magnetic pole phase alignment method |
| CN106685277A (en) * | 2017-03-22 | 2017-05-17 | 江南大学 | Method for driving brushless motor in auto-enhanced stability control system |
| CN107036599B (en) * | 2017-04-20 | 2020-04-03 | 西北工业大学 | Permanent magnet synchronous motor rotor position detection method based on MEMS inertial device |
| CN109738799B (en) * | 2019-01-22 | 2021-09-07 | 浙江众邦机电科技有限公司 | Method, device and equipment for detecting phase angle of magnetic pole of motor |
| US11431231B2 (en) | 2019-02-15 | 2022-08-30 | Shaun William FETHERSTON | Cable-actuated position sensors and gear motors |
| CN110048574A (en) * | 2019-05-13 | 2019-07-23 | 青岛大学 | A kind of novel double-stator compound machine suitable for rotor absolute position sensorless strategy |
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