CN107872177A - A kind of permagnetic synchronous motor multi sensor combination full closed loop control method - Google Patents
A kind of permagnetic synchronous motor multi sensor combination full closed loop control method Download PDFInfo
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- CN107872177A CN107872177A CN201610850347.4A CN201610850347A CN107872177A CN 107872177 A CN107872177 A CN 107872177A CN 201610850347 A CN201610850347 A CN 201610850347A CN 107872177 A CN107872177 A CN 107872177A
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- permagnetic synchronous
- synchronous motor
- control method
- loop control
- closed loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention discloses a kind of permagnetic synchronous motor multi sensor combination full closed loop control method, and step is：Hall sensor is installed on permagnetic synchronous motor output shaft, realizes the bigness scale of rotor magnetic pole position, judges the electrical angle section of rotor magnetic pole；Incremental optical-electricity encoder is installed on permagnetic synchronous motor output shaft, realizes the accurate measurement of rotor magnetic pole position, while realizes the detection of velocity feedback and position；Absolute type encoder is installed on the output shaft of harmonic speed reducer, processing is corrected to rotor-position, so as to obtain the position of motor load.Such a control method can eliminate existing system error, mechanically deform and fit-up gap to being influenceed caused by permagnetic synchronous motor Three-loop control, improve the control performance of motor.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor, more particularly to a kind of permagnetic synchronous motor multi sensor combination closed-loop
Control method.
Background technology
AC servo motor is widely used in the neck very high to governing system performance requirement such as robot control, Digit Control Machine Tool
Domain, in fields such as high-performance numerical control lathe, robots, the AC servomotor of application is almost required for configuring photo-electric coding
The position feedback elements such as device, its control mode is more by the way of vector controlled.Oriented in the rotor magnetic pole of permagnetic synchronous motor
In vector controlled, the dynamic of permagnetic synchronous motor, control accuracy, low speed have important influence to servo-drive system.At present,
It is in traditional permanent-magnetic synchronous motor rotor magnetic pole direct field-oriented control to use electric current loop, speed ring and position ring three close-loop control more,
As shown in figure 1, in especially being controlled in position, generally encoder is arranged on motor output shaft.But we are often
The accurate location of motor load, rather than the rotor-position of motor are obtained, simultaneously because in systematic error and running
Mechanically deform and fit-up gap reason, motor control performance are often difficult to meet to require.Therefore, how motor is preferably improved
Control performance, design is a kind of rationally, the permagnetic synchronous motor closed loop control method of higher precision is significant.
The content of the invention
The purpose of the present invention, it is to provide a kind of permagnetic synchronous motor multi sensor combination full closed loop control method, it can
Existing system error, mechanically deform and fit-up gap are eliminated on influence caused by permagnetic synchronous motor Three-loop control, improves electricity
The control performance of machine.
In order to reach above-mentioned purpose, solution of the invention is：
A kind of permagnetic synchronous motor multi sensor combination full closed loop control method, comprises the following steps：
Step 1, the bigness scale of rotor magnetic pole position is carried out, judges the electrical angle section of rotor magnetic pole；
Step 2, the accurate measurement of rotor magnetic pole position is carried out, while realizes the detection of velocity feedback and position；
Step 3, the position detected to step 2 is corrected processing, so as to obtain the position of motor load.
In above-mentioned steps 1, Hall sensor is installed on permagnetic synchronous motor output shaft, so as to realize rotor magnetic pole position
Bigness scale.
Above-mentioned steps 1 comprise the concrete steps that：
S101, read the output signal HU, HV, HW of Hall sensor；
S102, according to Hall sensor output signal HU, HV, HW arrangement, determine every 60 ° of electrical angle sections.
In above-mentioned steps S102, electrical angle section is determined using following table：
In above-mentioned steps 2, incremental optical-electricity encoder is installed on permagnetic synchronous motor output shaft, so as to detect rotor position
Put.
In above-mentioned steps 2, test position comprises the concrete steps that：
S201, incremental optical-electricity encoder export three prescription wave impulse A, B and Z phases using photoelectricity transformation principle；
90 ° of two group pulse phase difference of S202, A, B, direction of rotation is judged by the phase difference between A phases and B phases, and Z
It is mutually every turn of pulse, for benchmark point location；
S203, incremental optical-electricity encoder export pulse when rotating, know its position by counting equipment, work as coding
When device is motionless or has a power failure, position is remembered by the memory internal of counting equipment.
In above-mentioned steps 3, absolute type encoder is installed on the output shaft of harmonic speed reducer, realizes correction process, and obtain
To the position of motor load.
The detailed content of above-mentioned steps 3 is：
S301, absolute type encoder detect to obtain the position of motor load；
S302, the position of the motor load of absolute type encoder detection, and the rotor-position that step 2 detects pass through
The rotor-position of motor is calculated in the speed reducing ratio of harmonic speed reducer；
S303, servo controller timing empty current rotor site error.
After such scheme, the present invention is compiled by installing Hall sensor and increment photoelectric on the output shaft of motor
Code device, absolute type encoder is installed on the output shaft of harmonic speed reducer, and rotor magnetic pole position is carried out by Hall sensor
Bigness scale, judge the electrical angle section of rotor magnetic pole, the accurate measurement of rotor magnetic pole position is carried out by incremental optical-electricity encoder, together
Shi Shixian velocity feedbacks and the detection of position, the absolute type encoder pair at (motor load end) on harmonic speed reducer output shaft
The rotor-position that incremental optical-electricity encoder detects further is corrected processing, eliminates in systematic error and running
Mechanically deform and the influence of fit-up gap, obtain the accurate location of motor load.Hall sensor and incremental optical-electricity encoder
Combined use is advantageous to accelerate to rotor magnetic pole position search procedure, and reduces hunting range, has preferable starting performance；Together
When on the output shaft of harmonic speed reducer (motor load end) high-precision absolute encoder is housed, realize the position to motor load
Put control (rear end feedback), it is possible to reduce assembly problem and in motor operation due to influence of the mechanically deform to control accuracy,
So as to improve the control performance of motor.
Brief description of the drawings
Fig. 1 is existing permagnetic synchronous motor machine Three-loop control block diagram；
Fig. 2 is permagnetic synchronous motor multi sensor combination full closed loop control block diagram of the present invention；
Fig. 3 is the flow chart of the present invention.
Embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
As shown in figure 3, the present invention provides a kind of permagnetic synchronous motor multi sensor combination full closed loop control method, including such as
Lower step：
Step 1, Hall sensor is installed on permagnetic synchronous motor output shaft, realizes the bigness scale of rotor magnetic pole position, sentence
Break and the electrical angle section of rotor magnetic pole；
Coordinate comprising the concrete steps that for the electrical angle section for obtaining rotor magnetic pole shown in Fig. 2 using Hall sensor：
S101, the output signal HU, HV, HW of Hall sensor are read by controller I/O port；
S102, according to Hall sensor output signal HU, HV, HW arrangement, every 60 ° of electrical angle sections are determined, had
Body is referred to shown in table 1.
The Hall sensor output signal of table 1 and electrical angle section corresponding relation
| HU, HV, HW | 5 | 4 | 6 | 2 | 3 | 1 |
| Electrical angle section | 0°-60 | 60-120 | 120-180 | 180-240 | 240-300 | 300-360 |
Step 2, incremental optical-electricity encoder is installed on permagnetic synchronous motor output shaft, realizes the essence of rotor magnetic pole position
Survey, while realize the detection of velocity feedback and position；
Wherein, test position comprises the concrete steps that：
S201, incremental optical-electricity encoder export three prescription wave impulse A, B and Z phases using photoelectricity transformation principle；
90 ° of two group pulse phase difference of S202, A, B, direction of rotation is judged by the phase difference between A phases and B phases, and Z
It is mutually every turn of pulse, for benchmark point location；
S203, incremental optical-electricity encoder export pulse when rotating, know its position by counting equipment, work as coding
When device is motionless or has a power failure, position is remembered by the memory internal of counting equipment.
Step 3, (namely motor load end) installs absolute type encoder on the output shaft of harmonic speed reducer, to step 2
The position of detection is corrected processing, so as to obtain the position of motor load；
The detailed content of the step 3 is：
S301, absolute type encoder detect to obtain the position of motor load；
S302, by the position of the motor load of absolute type encoder detection, and turn of incremental optical-electricity encoder detection
Sub- position, the rotor-position of motor is calculated by the speed reducing ratio of harmonic speed reducer；
S303, servo controller empty current rotor site error per 20ms.
The technological thought of above example only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, the scope of the present invention is each fallen within
Within.
Claims (8)
- A kind of 1. permagnetic synchronous motor multi sensor combination full closed loop control method, it is characterised in that comprise the following steps：Step 1, the bigness scale of rotor magnetic pole position is carried out, judges the electrical angle section of rotor magnetic pole；Step 2, the accurate measurement of rotor magnetic pole position is carried out, while realizes the detection of velocity feedback and position；Step 3, the position detected to step 2 is corrected processing, so as to obtain the position of motor load.
- A kind of 2. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 1, it is characterised in that： In the step 1, Hall sensor is installed on permagnetic synchronous motor output shaft, so as to realize the bigness scale of rotor magnetic pole position.
- A kind of 3. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 2, it is characterised in that： The step 1 comprises the concrete steps that：S101, read the output signal HU, HV, HW of Hall sensor；S102, according to Hall sensor output signal HU, HV, HW arrangement, determine every 60 ° of electrical angle sections.
- A kind of 4. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 3, it is characterised in that： In the step S102, electrical angle section is determined using following table：
- A kind of 5. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 1, it is characterised in that： In the step 2, incremental optical-electricity encoder is installed on permagnetic synchronous motor output shaft, so as to detect rotor-position.
- A kind of 6. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 5, it is characterised in that： In the step 2, test position comprises the concrete steps that：S201, incremental optical-electricity encoder export three prescription wave impulse A, B and Z phases using photoelectricity transformation principle；90 ° of two group pulse phase difference of S202, A, B, judges direction of rotation by the phase difference between A phases and B phases, and Z phases are Every turn of pulse, for benchmark point location；S203, incremental optical-electricity encoder rotate when export pulse, its position is known by counting equipment, when encoder not During dynamic or power failure, position is remembered by the memory internal of counting equipment.
- A kind of 7. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 1, it is characterised in that： In the step 3, absolute type encoder is installed on the output shaft of harmonic speed reducer, realizes correction process, and obtains motor and bears The position of load.
- A kind of 8. permagnetic synchronous motor multi sensor combination full closed loop control method as claimed in claim 7, it is characterised in that： The detailed content of the step 3 is：S301, absolute type encoder detect to obtain the position of motor load；S302, by the position of the motor load of absolute type encoder detection, and the rotor-position that step 2 detects, pass through harmonic wave The rotor-position of motor is calculated in the speed reducing ratio of decelerator；S303, servo controller timing empty current rotor site error.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
| CN108847750A (en) * | 2018-06-04 | 2018-11-20 | 东南大学 | Electricity generation system and its control method based on cylindrical linear vibration motor |
| CN109600092A (en) * | 2018-12-17 | 2019-04-09 | 北京无线电测量研究所 | A kind of monitoring of permanent-magnet synchronous motor rotor position and modification method, system and motor |
| CN110323975A (en) * | 2019-07-02 | 2019-10-11 | 北京云迹科技有限公司 | The control system and control method of hub motor |
| CN111070237A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Integrated joint and integrated joint multi-sensor control system and method |
| CN111146989A (en) * | 2019-12-26 | 2020-05-12 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN113639770A (en) * | 2020-05-11 | 2021-11-12 | 中车株洲电力机车研究所有限公司 | Position calculation method based on synchronous motor photoelectric encoder and storage medium |
| CN113865516A (en) * | 2021-08-17 | 2021-12-31 | 中国北方车辆研究所 | Method for measuring load pointing angle of vehicle-mounted turntable |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108847750A (en) * | 2018-06-04 | 2018-11-20 | 东南大学 | Electricity generation system and its control method based on cylindrical linear vibration motor |
| CN108768220B (en) * | 2018-07-23 | 2024-04-26 | 南京工程学院 | Multi-joint robot integrated cooperative control device |
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
| CN109600092A (en) * | 2018-12-17 | 2019-04-09 | 北京无线电测量研究所 | A kind of monitoring of permanent-magnet synchronous motor rotor position and modification method, system and motor |
| CN109600092B (en) * | 2018-12-17 | 2020-11-27 | 北京无线电测量研究所 | Permanent magnet synchronous motor rotor position monitoring and correcting method and system and motor |
| CN110323975A (en) * | 2019-07-02 | 2019-10-11 | 北京云迹科技有限公司 | The control system and control method of hub motor |
| CN111146989A (en) * | 2019-12-26 | 2020-05-12 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
| CN111146989B (en) * | 2019-12-26 | 2021-11-05 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
| CN111070237B (en) * | 2019-12-27 | 2024-02-27 | 深圳市越疆科技有限公司 | Integrated joint and integrated joint multi-sensor control system and method |
| CN111070237A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Integrated joint and integrated joint multi-sensor control system and method |
| CN113639770A (en) * | 2020-05-11 | 2021-11-12 | 中车株洲电力机车研究所有限公司 | Position calculation method based on synchronous motor photoelectric encoder and storage medium |
| CN113639770B (en) * | 2020-05-11 | 2024-04-02 | 中车株洲电力机车研究所有限公司 | Position calculating method based on synchronous motor photoelectric encoder and storage medium |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN113865516B (en) * | 2021-08-17 | 2023-10-27 | 中国北方车辆研究所 | Method for measuring load pointing angle of vehicle-mounted turntable |
| CN113865516A (en) * | 2021-08-17 | 2021-12-31 | 中国北方车辆研究所 | Method for measuring load pointing angle of vehicle-mounted turntable |
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Application publication date: 20180403 |