CN109617494A - A kind of encoderless servomotor controller - Google Patents
A kind of encoderless servomotor controller Download PDFInfo
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- CN109617494A CN109617494A CN201811524241.0A CN201811524241A CN109617494A CN 109617494 A CN109617494 A CN 109617494A CN 201811524241 A CN201811524241 A CN 201811524241A CN 109617494 A CN109617494 A CN 109617494A
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- processor
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- encoderless
- phase
- input terminal
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/27—Devices for sensing current, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
This application involves a kind of encoderless servomotor controllers, belong to motor control technology field, the encoderless servomotor controller includes: the power module for power supply, first processor, second processor, signal processing module, current detection module, back-EMF determination module, three-phase power inverter and drive module；It can solve using the electric machine controller with encoder come when driving synchronous servo motor, detect position and the revolving speed of rotor using encoder, and the machining of encoder and the lower problem of the more demanding integrated efficiency for causing intelligent robot to integrate joint assembly of installation accuracy；It may be implemented to drive the motor in the integrated joint assembly of intelligent robot using encoderless servomotor controller；The integrated level and reliability of joint assembly can be improved.
Description
Technical field
The present invention relates to a kind of encoderless servomotor controllers, belong to motor control technology field.
Background technique
Joint assembly is the important core component for constituting robot especially mechanical arm.Joint of robot component mainly according to
Motor movement is controlled by electric machine controller to realize the movement in joint.
Currently, electric machine controller detects position and the revolving speed of rotor usually using encoder.However, encoder
Machining and the requirement of installation accuracy are very high, and the integrated difficulty that will lead to joint of robot component is high, and it is lower to integrate efficiency
The problem of.
Summary of the invention
The purpose of the present invention is to provide a kind of encoderless servomotor controllers.In order to achieve the above objectives, of the invention
It provides the following technical solutions: a kind of encoderless servomotor controller, for driving the synchronous servo motor of three-phase windings, institute
It states synchronous servo motor and the encoderless servomotor controller is installed in the integrated joint assembly of intelligent robot；
The encoderless servomotor controller includes:
The first processor and second processing that power module, power input for power supply are connected with the power module
Signal processing module, output end and the signal processing module that device, output end are connected with the input terminal of the second processor
The connected current detection module of first input end, the anti-electricity that is connected with the second input terminal of the signal processing module of output end
Gesture detection module, the first feedback end are connected with the input terminal of the current detection module and the second feedback end and the back-emf are examined
Survey the connected three-phase power inverter of the input terminal of module, the driving mould that input terminal is connected with the output end of the second processor
Block；
The output end of the second processor is connected with the input terminal of the first processor；
The output end of the drive module is connected with the input terminal of the three-phase power inverter；
The output end of the three-phase power inverter is connected with the synchronous servo motor.
Optionally, the signal processing module, three back-emfs for exporting to the back-EMF determination module carry out
Shaping obtains three back-emf zero-crossing pulses.
Optionally, the second processor, three back-emf zero-crossing pulses for being exported to the signal processing module
Interpolated value processing is carried out between any two, obtains the pulse signal of two group of 2 frequency multiplication；According to the pulse signal meter of two group of 2 frequency multiplication
Calculate the digitlization angular signal of the synchronous servo motor.
Optionally, the second processor is also used to the current value that the current detection module detects being sent to institute
State first processor；
The first processor, for using the motor of the synchronous servo motor based on Field orientable control FOC algorithm
Three-phase pulse wide modulation waveform is calculated in speed, the digitlization angular signal of second processor output and current value；
The three-phase pulse wide modulation waveform is exported to the drive module；
The drive module, for driving the three-phase power inverter according to the three-phase pulse wide modulation waveform；
The three-phase power inverter inputs to the synchronous servo motor for the driving according to the drive module and has
There is the electric current of the three-phase pulse wide modulation waveform.
Optionally, the first processor and the second processor are arm processor.
Optionally, the drive module is insulated gate bipolar transistor IGBT driving circuit.
The beneficial effects of the present invention are: it is watched by the way that encoderless is arranged in the integrated joint assembly of intelligent robot
Electric machine controller is taken to drive synchronous servo motor, the power supply of electricity is provided in the encoderless servomotor controller
Module, first processor, second processor, signal processing module, current detection module, back-EMF determination module, three phase power
Inverter and drive module；It can solve using the electric machine controller with encoder and when driving synchronous servo motor, use
Encoder detects position and the revolving speed of rotor, and the machining of encoder and installation accuracy is more demanding leads to intelligence machine
The lower problem of the integrated efficiency of the integrated joint assembly of people；It may be implemented to drive intelligence using encoderless servomotor controller
Motor in the integrated joint assembly of robot；The integrated level and reliability of joint assembly can be improved.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the electrical block diagram for the encoderless servomotor controller that the application one embodiment provides；
Fig. 2 is that the digitlization angular signal for the encoderless servomotor controller that the application one embodiment provides calculates
Schematic illustration.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Firstly, to this application involves several nouns be introduced.
Counter electromotive force: referring to, which has the tendency that revolting electric current, changes and generates electromotive force, substantially belongs to induced electricity
Kinetic potential.Counter electromotive force is generally present in electromagnetic coil, such as relay coil, solenoid valve, contactor coil, motor, inductance
Deng.
Field orientable control (Filed Oriented Control, FOC): being to realize three-phase motor using mathematical method
The decoupling control of torque and excitation.FOC algorithm is mainly to carry out resolution of vectors to the control electric current of motor, become exciting current and
Quadrature axis current, exciting current mainly generate excitation, control be magnetic field intensity, and quadrature axis current is for control moment.
The input of FOC algorithm is the location information (such as: for the digitlization angular signal of motor) of motor, two-phase sampling electricity
Flow valuve and motor speed；Output is three-phase pulse width modulated (Pulse Width Modulation, PWM) waveform.FOC algorithm
Matrixing in inherently some linear algebra.Sampling obtains the i of motor firsta, ibBiphase current information；Kiel is suddenly
Husband's current law, the same node inflow current value is equal with outflow electric current, therefore can be according to iaAnd ibCalculate ic；Later
Converted by Clark, can by threephase stator coordinate system (120 ° each other of three axis, ia, ib, ic) be converted into two-phase stator it is straight
Angular coordinate system (iα, iβ)；It is converted by Park and two-phase stator coordinate is transformed into two-phase rotor coordinate (iq, id).It is converting
The location information using rotor is needed in the process, which is the digitlization angular signal of motor, wherein idFor excitation electricity
Flow component, iqFor torque current component, it can establish two pi regulators and two current components be adjusted respectively.Usual feelings
Under condition, excitation current component 0, and torque current component is that given value either passes through speed ring output valve.Speed ring can be with
The size of the electric current is controlled according to velocity feedback, the pi regulator of torque current exports V laterq, the PI adjusting of exciting current
Device exports Vd.Two-phase stator coordinate (V is translated by anti-Park transformation again laterα, Vβ), it is obtained by Clark inverse transformation
To the voltage value (V for needing to be applied on threephase statora, Vb, Vc) three-phase pulse width is then obtained by PWM wave modulation technique
The three-phase pulse wide modulation waveform is output to three-phase power inverter by modulation waveform.
Insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT) is by ambipolar
Triode (Bipolar Junction Transistor, BJT) and insulating gate type field effect tube (metal oxide
Semiconductor, MOS) composition compound full-control type voltage driven type power semiconductor, have the high input of MOSFET concurrently
Advantage of both the low conduction voltage drop of impedance and GTR.GTR saturation pressure reduces, and current carrying density is big, but driving current is larger；
MOSFET driving power very little, switching speed is fast, but conduction voltage drop is big, and current carrying density is small.IGBT combines both the above device
The advantages of, driving power is small and saturation pressure reduces.Be highly suitable to be applied for DC voltage be 600V or more converter system such as
The fields such as alternating current generator, frequency converter, Switching Power Supply, lighting circuit, Traction Drive.
For popular: IGBT is a kind of powerful power electronic devices, is a non-through i.e. disconnected switch, and IGBT does not have
Amplify the function of voltage, when conducting can be considered as conducting wire, and when disconnection is considered as open circuit.Three big features are exactly high pressure, high current, height
Speed.
Fig. 1 is the electrical block diagram for the encoderless servomotor controller that the application one embodiment provides, such as
Shown in Fig. 1, for driving the synchronous servo motor of three-phase windings, synchronous servo motor and encoderless servomotor controller are pacified
In integrated joint assembly loaded on intelligent robot.Encoderless servomotor controller includes: the power supply mould for power supply
The first processor 120 and second processor 130, output end and second that block 110, power input are connected with power module 110
The first input end phase of the connected signal processing module 140 of the input terminal of processor 130, output end and signal processing module 140
The back-EMF determination module that current detection module 150 even, output end are connected with the second input terminal of signal processing module 140
160, the first feedback end is connected and the second feedback end and back-EMF determination module 160 with the input terminal of current detection module 150
The drive module 180 that the connected three-phase power inverter 170 of input terminal, input terminal are connected with the output end of second processor 130.
The output end of second processor 130 is connected with the input terminal of first processor 120.The output end and three-phase function of drive module 180
The input terminal of rate inverter 170 is connected.The output end of three-phase power inverter 170 is connected with synchronous servo motor.
Optionally, first processor 120 and second processor 130 are arm processor；Drive module 180 is that insulated gate is double
Bipolar transistor IGBT drive circuit.
Optionally, three-phase power inverter 170 is the three-phase inverter bridge circuit being combined by three your single-phase power transformation roads.
In three-phase inverter bridge circuit, the conducting order of each pipe is the same with rectification circuit.The trigger signal of each pipe successively 60 ° of mutual deviation,
In the inverter circuit of 180 ° of conducting types, there are three pipe conductings in any moment, and each pipe turn-on time is 180 °, same bridge arm
In up and down two pipes be connected in turn, referred to as complementary pipe.In 120 ° of conducting type inverter circuits, each pipe is connected 120 °, any wink
Between only out of phase two pipes conducting, two pipes in same bridge arm are not instantaneous complementary conductings but have between 60 °
The gap time, when not having the conducting of inversion pipe in certain phase, inductance current circulates through the diode in the phase.
Wherein, signal processing module 140, three back-emfs for exporting to back-EMF determination module 160 carry out shaping,
Obtain three back-emf zero-crossing pulses.
Second processor 130, three back-emf zero-crossing pulses for being exported to signal processing module 140 between any two into
The processing of row interpolated value, obtains the pulse signal of two group of 2 frequency multiplication；Synchronous servo motor is calculated according to the pulse signal of two group of 2 frequency multiplication
Digitlization angular signal.
Schematically, it is assumed that A opposite potential zero-crossing pulse, the B opposite potential zero-crossing pulse of the output of signal processing module 140
With C opposite potential zero-crossing pulse as shown in Fig. 2, second processor 130 is to A opposite potential zero-crossing pulse and B opposite potential zero passage
Interpolated value processing is carried out between pulse, obtains the pulse signal of first group of 2 frequency multiplication；It is opposite with C to A opposite potential zero-crossing pulse electric
Interpolated value processing is carried out between gesture zero-crossing pulse, obtains the pulse signal of second group of 2 frequency multiplication；Wherein, A opposite potential zero-crossing pulse
Phase difference between B opposite potential zero-crossing pulse is θ0, the obtained umber of pulse of interpolation processing be N0；A opposite potential zero-crossing pulse
Phase difference between C opposite potential zero-crossing pulse is θ1, the obtained umber of pulse of interpolation processing be N1；Then rotor is practical turns
Angle, θ=the θ crossed1-θ0, actually the corresponding umber of pulse of angle that turns over be N2；Each pulse period corresponding umber of pulse is N3；
The then digitlization angular signal θ of synchronous servo motor are as follows:
Second processor 130 is also used to the current value that current detection module 150 detects being sent to first processor；
First processor 120, the number for being exported based on FOC algorithm using the motor speed of synchronous servo motor, second processor 130
Three-phase pulse wide modulation waveform is calculated in word angular signal and current value；By three-phase pulse wide modulation waveform export to
Drive module 180；Drive module 180, for driving three-phase power inverter 170 according to three-phase pulse wide modulation waveform；Three
Phase power inverter 170, for there is three-phase pulse width modulated to synchronous servo motor input according to the driving of drive module
The electric current of waveform.
In conclusion encoderless servomotor controller provided in this embodiment, by intelligence machine people's activity
Change and encoderless servomotor controller is set in joint assembly to drive synchronous servo motor, in the encoderless servo motor
Power module, the first processor, second processor, signal processing module, current detecting mould of electricity are provided in controller
Block, back-EMF determination module, three-phase power inverter and drive module；It can solve using the electric machine controller with encoder
When driving synchronous servo motor, position and the revolving speed of rotor detected using encoder, and the machining of encoder and peace
The lower problem of the higher integrated efficiency for causing intelligent robot to integrate joint assembly of dress required precision；It may be implemented using no volume
Motor in the integrated joint assembly of code device servomotor controller driving intelligent robot；The collection of joint assembly can be improved
Cheng Du and reliability.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of encoderless servomotor controller, which is characterized in that for driving the synchronous servo motor of three-phase windings, institute
It states synchronous servo motor and the encoderless servomotor controller is installed in the integrated joint assembly of intelligent robot；
The encoderless servomotor controller includes:
First processor and second processor that power module, power input for power supply are connected with the power module,
The of signal processing module that output end is connected with the input terminal of the second processor, output end and the signal processing module
The back-emf inspection that the connected current detection module of one input terminal, output end are connected with the second input terminal of the signal processing module
Module, the first feedback end is surveyed to be connected with the input terminal of the current detection module and the second feedback end and the back-EMF determination mould
The drive module that the connected three-phase power inverter of the input terminal of block, input terminal are connected with the output end of the second processor；
The output end of the second processor is connected with the input terminal of the first processor；
The output end of the drive module is connected with the input terminal of the three-phase power inverter；
The output end of the three-phase power inverter is connected with the synchronous servo motor.
2. encoderless servomotor controller according to claim 1, which is characterized in that the signal processing module,
Three back-emfs for exporting to the back-EMF determination module carry out shaping, obtain three back-emf zero-crossing pulses.
3. encoderless servomotor controller according to claim 1, which is characterized in that the second processor is used
In carrying out interpolated value processing between any two to three back-emf zero-crossing pulses that the signal processing module exports, two group 2 is obtained
The pulse signal of frequency multiplication；The digitlization corner letter of the synchronous servo motor is calculated according to the pulse signal of two group of 2 frequency multiplication
Number.
4. encoderless servomotor controller according to claim 1, which is characterized in that
The second processor is also used to for the current value that the current detection module detects being sent to first processing
Device；
The first processor, for based on Field orientable control FOC algorithm using the synchronous servo motor motor speed,
Three-phase pulse wide modulation waveform is calculated in the digitlization angular signal and current value of the second processor output；It will be described
Three-phase pulse wide modulation waveform is exported to the drive module；
The drive module, for driving the three-phase power inverter according to the three-phase pulse wide modulation waveform；
The three-phase power inverter, for there is institute to synchronous servo motor input according to the driving of the drive module
State the electric current of three-phase pulse wide modulation waveform.
5. encoderless servomotor controller according to any one of claims 1 to 4, which is characterized in that at described first
It manages device and the second processor is arm processor.
6. encoderless servomotor controller according to any one of claims 1 to 4, which is characterized in that the driving mould
Block is insulated gate bipolar transistor IGBT driving circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811524241.0A CN109617494A (en) | 2018-12-13 | 2018-12-13 | A kind of encoderless servomotor controller |
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|---|---|---|---|
| CN201811524241.0A CN109617494A (en) | 2018-12-13 | 2018-12-13 | A kind of encoderless servomotor controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112260602A (en) * | 2020-10-19 | 2021-01-22 | 珠海格力电器股份有限公司 | Motor drive control circuit and system |
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| US20100256782A1 (en) * | 2009-04-04 | 2010-10-07 | Dyson Technology Limited | Control system for an electric machine |
| CN105391364A (en) * | 2015-11-24 | 2016-03-09 | 哈尔滨理工大学 | Position-sensor-free control system and control method for brushless direct current motor |
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