CN110535391A - Compensation method, system and the device of servo motor angular error - Google Patents
Compensation method, system and the device of servo motor angular error Download PDFInfo
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- CN110535391A CN110535391A CN201810507201.9A CN201810507201A CN110535391A CN 110535391 A CN110535391 A CN 110535391A CN 201810507201 A CN201810507201 A CN 201810507201A CN 110535391 A CN110535391 A CN 110535391A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention discloses the compensation method of servo motor angular error, system and devices；Method includes: the current value for calculating servo motor q axis under open loop operation state；According to the current value of servo motor q axis, the operation angular rate of servo motor is calculated；According to the operation angular rate of servo motor, the angular error offset of servo motor is calculated；System includes current value computing module, angular rate computing module and compensation value calculation module；Device includes memory and processor.Angle compensation of the invention does not need human intervention, it is easy to accomplish and cost of labor is low, avoids the error of artificial correction, and then improves the precision of angle detection；In addition, the present invention does not need to drive motor operation to certain speed by external movement mechanism, it is only necessary to which the current value for calculating servo q axis under open loop operation state can be widely applied to serve motor control technology field.
Description
Technical field
The present invention relates to serve motor control technology fields, the especially compensation method of servo motor angular error, system
And device.
Background technique
Servo motor (permasyn morot) is widely used in new-energy automobile, robot and numerically-controlled machine tool.Relative to
Other motor, the maximum advantage of servo motor are: servo motor has the sensor of detection angles, can answer for Practical Project
Value of feedback required for being provided with the high-precision closed-loop control of realization.But the error as caused by sensor: such as foozle, peace
Error etc. is filled, causes motor that cannot obtain higher control precision.
In order to solve the similar above-mentioned precision problem as caused by sensor error, application No. is 201280062593.3,
Authorization Notice No. is CN 104011992B, the Chinese invention patent needle of entitled " control device of electric motor, method of motor control "
To the angle decomposition device error problem of brushless motor, one kind is proposed from current instruction value and generates voltage instruction value, and utilize
The detection electric current of motor flowing carries out the method for motor control and device of feedback control.
There are following for angle decomposition device amendment scheme disclosed in above patent document (application No. is 201280062593.3)
Deficiency:
1) technology disclosed in needs to use current ratio-integral controller, it is desirable that so that the electric current of d axis and q axis is respectively
Zero.But there are the parameter regulations of noise and controller for the detection of electric current to the more demanding of operator, therefore, in reality
Engineer application is not easily accomplished；
2) makeover process of the angle decomposition device of the program needs external movement mechanism (such as motor or generator) to drive
Motor operation is unable to independent operating amendment to certain revolving speed, and practicability is not high；
3) the decomposer error correction process of the program is needed manually to adjust the angle by adjusting portion (such as potentiometer) and be missed
Difference, and observe whether corresponding current integration values are zero by display, the precision of adjustment depends on artificial experience, and precision is not high simultaneously
And makeover process is cumbersome；
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: provide a kind of practicability is high, be easily achieved and manually at
Compensation method, system and the device of this low servo motor angular error, to improve the precision of angular error adjustment.
First technical solution adopted by the present invention is:
The compensation method of servo motor angular error, comprising the following steps:
Calculate the current value of servo motor q axis under open loop operation state；
According to the current value of servo motor q axis, the operation angular rate of servo motor is calculated；
According to the operation angular rate of servo motor, the angular error offset of servo motor is calculated.
Further, the calculating servo motor is under open loop operation state the step for the current value of q axis, including following step
It is rapid:
According to the equivalent equation of servo motor, the open loop operation equation of servo motor is obtained；Wherein, the servo motor
Equivalent equation are as follows:
Wherein, udIndicate stator voltage in the component of d axis；RsRepresent stator resistance；idIndicate stator current in point of d axis
Amount；Represent differential operator；ψdIndicate stator magnetic linkage in the component of d axis；ωeIndicate the operation angular rate of servo motor；ψq
Indicate stator magnetic linkage in the component of q axis；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in the component of q axis；
According to the open loop operation equation of servo motor, the current value of servo motor q axis is calculated；Wherein, the servo motor
Open loop operation equation are as follows:
Wherein, LqRepresent q axle inductance；LdRepresent d axle inductance；ψfRepresent rotor flux.
Further, the open loop operation equation according to servo motor calculates this step of the current value of servo motor q axis
Suddenly, comprising the following steps:
According to the open loop operation equation of servo motor, motor starting up is controlled；
The three-phase current of servo motor is detected by Hall sensor；
According to the three-phase current of servo motor, the current value of servo motor q axis is calculated.
Further, the step for open loop operation equation according to servo motor, control motor starting up, including with
Lower step:
The voltage setting value of servo motor d axis is converted to the voltage setting value of α axis, and by the voltage of servo motor q axis
Setting value is converted to the voltage setting value of β axis；
The voltage setting value of the voltage setting value of α axis and β axis is converted to corresponding pulse width；
According to the pulse width that conversion obtains, control Driven by inverter servo motor operation.
Further, the current value according to servo motor q axis, the step for calculating the operation angular rate of servo motor
In, the calculation formula of the operation angular rate are as follows:
Wherein, ωeIndicate the operation angular rate of servo motor；ψfRepresent rotor flux；ψqIndicate stator magnetic linkage in q axis
Component；RsRepresent stator resistance；LdRepresent d axle inductance；iqIndicate stator current in the component of q axis；uqIndicate that stator voltage exists
The component of q axis.
Further, the operation angular rate according to servo motor, calculate servo motor angular error offset this
One step, comprising the following steps:
The actual angular speed value of servo motor is acquired by angular-rate sensor；
According to the actual angular speed value of servo motor and operation angular rate, the angular speed error of servo motor is calculated；
According to the angular speed error of servo motor, the angular error of servo motor is calculated；
According to the angular error of servo motor, error compensation is carried out.
Second technical solution adopted by the present invention is:
The compensation system of servo motor angular error, comprising:
Current value computing module, for calculating the current value of servo motor q axis under open loop operation state；
Angular rate computing module calculates the operation electric angle speed of servo motor for the current value according to servo motor q axis
Degree；
Compensation value calculation module calculates the angular error of servo motor for the operation angular rate according to servo motor
Offset.
Further, the current value computing module includes:
Open loop operation equation acquiring unit obtains the open loop fortune of servo motor for the equivalent equation according to servo motor
Row equation；
Current value computing unit calculates the electric current of servo motor q axis for the open loop operation equation according to servo motor
Value.
Further, the compensation value calculation module includes:
Actual angular speed value computing unit, for acquiring the actual angular speed value of servo motor by angular-rate sensor；
Angular speed error calculation unit is calculated for the actual angular speed value and operation angular rate according to servo motor
The angular speed error of servo motor；
Angular error computing unit calculates the angular error of servo motor for the angular speed error according to servo motor；
Error compensation unit carries out error compensation for the angular error according to servo motor.
Third technical solution adopted by the present invention is:
The compensation device of servo motor angular error, comprising:
Memory, for storing program；
Processor is used for loading procedure, to execute the compensation of the servo motor angular error as described in the first technical solution
Method.
The beneficial effects of the present invention are: current value of the present invention by calculating servo motor q axis under open loop operation state
With the operation angular rate of servo motor, the angular error offset of servo motor is finally obtained；The present invention can be in servo electricity
Real-time perfoming angle compensation under machine open loop operation state, does not need human intervention, it is easy to accomplish and cost of labor is low, avoids simultaneously
The error of artificial correction, and then improve the precision of angle detection；In addition, the present invention is not needed through external movement mechanism band
Motor operation is moved to certain speed, it is only necessary to calculate the current value of servo q axis under open loop operation state, practicability is high.
Detailed description of the invention
Fig. 1 is the overall step flow chart of the compensation method of servo motor angular error of the present invention；
Fig. 2 is the structural schematic diagram of servo motor angular error compensation system in the embodiment of the present invention.
Specific embodiment
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.For of the invention real
The step number in example is applied, is arranged only for the purposes of illustrating explanation, any restriction is not done to the sequence between step, is implemented
The execution sequence of each step in example can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to Fig.1, the compensation method of servo motor angular error of the present invention, comprising the following steps:
Calculate the current value of servo motor q axis under open loop operation state；
According to the current value of servo motor q axis, the operation angular rate of servo motor is calculated；
According to the operation angular rate of servo motor, the angular error offset of servo motor is calculated.
It is further used as preferred embodiment, the current value for calculating servo motor q axis under open loop operation state
The step for, comprising the following steps:
According to the equivalent equation of servo motor, the open loop operation equation of servo motor is obtained；Wherein, the servo motor
Equivalent equation are as follows:
Wherein, udIndicate stator voltage in the component of d axis；RsRepresent stator resistance；idIndicate stator current in point of d axis
Amount；Represent differential operator；ψdIndicate stator magnetic linkage in the component of d axis；ωeIndicate the operation angular rate of servo motor；ψq
Indicate stator magnetic linkage in the component of q axis；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in the component of q axis；
According to the open loop operation equation of servo motor, the current value of servo motor q axis is calculated；Wherein, the servo motor
Open loop operation equation are as follows:
Wherein, LqRepresent q axle inductance；LdRepresent d axle inductance；ψfRepresent rotor flux.
It is further used as preferred embodiment, the open loop operation equation according to servo motor calculates servo motor q
The step for current value of axis, comprising the following steps:
According to the open loop operation equation of servo motor, motor starting up is controlled；
The three-phase current of servo motor is detected by Hall sensor；
According to the three-phase current of servo motor, the current value of servo motor q axis is calculated.
It is further used as preferred embodiment, the open loop operation equation according to servo motor, control motor booting
The step for starting, comprising the following steps:
The voltage setting value of servo motor d axis is converted to the voltage setting value of α axis, and by the voltage of servo motor q axis
Setting value is converted to the voltage setting value of β axis；
The voltage setting value of the voltage setting value of α axis and β axis is converted to corresponding pulse width；
According to the pulse width that conversion obtains, control Driven by inverter servo motor operation.
It is further used as preferred embodiment, the current value according to servo motor q axis calculates the fortune of servo motor
In the step for row angular rate, the calculation formula of the operation angular rate are as follows:
Wherein, ωeIndicate the operation angular rate of servo motor；ψfRepresent rotor flux；ψqIndicate stator magnetic linkage in q axis
Component；RsRepresent stator resistance；LdRepresent d axle inductance；iqIndicate stator current in the component of q axis；uqIndicate that stator voltage exists
The component of q axis.
It is further used as preferred embodiment, the operation angular rate according to servo motor calculates servo motor
Angular error offset the step for, comprising the following steps:
The actual angular speed value of servo motor is acquired by angular-rate sensor；
According to the actual angular speed value of servo motor and operation angular rate, the angular speed error of servo motor is calculated；
According to the angular speed error of servo motor, the angular error of servo motor is calculated；
According to the angular error of servo motor, error compensation is carried out.
It is corresponding with the method for Fig. 1, the compensation system of servo motor angular error of the present invention, comprising:
Current value computing module, for calculating the current value of servo motor q axis under open loop operation state；
Angular rate computing module calculates the operation electric angle speed of servo motor for the current value according to servo motor q axis
Degree；
Compensation value calculation module calculates the angular error of servo motor for the operation angular rate according to servo motor
Offset.
It is further used as preferred embodiment, the current value computing module includes:
Open loop operation equation acquiring unit obtains the open loop fortune of servo motor for the equivalent equation according to servo motor
Row equation；
Current value computing unit calculates the electric current of servo motor q axis for the open loop operation equation according to servo motor
Value.
It is further used as preferred embodiment, the compensation value calculation module includes:
Actual angular speed value computing unit, for acquiring the actual angular speed value of servo motor by angular-rate sensor；
Angular speed error calculation unit is calculated for the actual angular speed value and operation angular rate according to servo motor
The angular speed error of servo motor；
Angular error computing unit calculates the angular error of servo motor for the angular speed error according to servo motor；
Error compensation unit carries out error compensation for the angular error according to servo motor.
It is corresponding with the method for Fig. 1, the compensation device of servo motor angular error of the present invention, comprising:
Memory, for storing program；
Processor is used for loading procedure, to execute the compensation method of servo motor angular error of the invention.
Below by taking angular error compensation system shown in Fig. 2 as an example, servo motor angular error of the present invention is discussed in detail
The specific implementation step of compensation method:
S1, the equivalent equation according to servo motor obtain the open loop operation equation of servo motor；
Wherein, the equivalent equation of servo motor is as follows in step S1:
Wherein, udIndicate stator voltage in the component of d axis；RsRepresent stator resistance；idIndicate stator current in point of d axis
Amount；Represent differential operator；ψdIndicate stator magnetic linkage in the component of d axis；ωeIndicate the operation angular rate of servo motor；ψq
Indicate stator magnetic linkage in the component of q axis；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in the component of q axis；
In the present embodiment, the u in equivalent equation is enabledd=0,AndIt obtains:
0=Rsid-ωeψq
uq=Rsiq+ωeψd,
Wherein, ψq=iqLq；ψq=idLd+ψf；LdRepresent d axle inductance；LqRepresent q axle inductance；ψfRepresent rotor flux；
Final arrange obtains the open loop operation equation of servo motor:
S2, the open loop operation equation according to servo motor calculate the current value of servo motor q axis；
Wherein, step S2 specifically includes the following steps:
S21, the open loop operation equation according to servo motor control motor starting up；Step S21 specifically includes following step
Suddenly；
S211, the voltage setting value that the voltage setting value of servo motor d axis is converted to α axis, and by servo motor q axis
Voltage setting value is converted to the voltage setting value of β axis；
S212, the voltage setting value of the voltage setting value of α axis and β axis is converted to corresponding pulse width；
S213, the pulse width obtained according to conversion, control Driven by inverter servo motor operation.
Such as: pass through the u in control open loop operation equationqIn the range of 0~10V, it just can control servo motor and open
Begin to start.
S22, the three-phase current that servo motor is detected by Hall sensor；
S23, the three-phase current according to servo motor calculate the current value of servo motor q axis.
The present embodiment obtains the current value of servo motor q axis using matrix calculation, wherein the matrix calculation are as follows:
Wherein, iA、iBAnd iCRepresent the three-phase current of servo motor；It can be calculated and watch by above-mentioned two matrix equation
Take the current value i of motor q axisq。
S3, according to the current value of servo motor q axis, calculate the operation angular rate of servo motor；The operation electric angle speed
The calculation formula of degree are as follows:
Wherein, ωeIndicate the operation angular rate of servo motor；ψfRepresent rotor flux；ψqIndicate stator magnetic linkage in q axis
Component；RsRepresent stator resistance；LdRepresent d axle inductance；iqIndicate stator current in the component of q axis；uqIndicate that stator voltage exists
The component of q axis.
S4, the operation angular rate according to servo motor, calculate the angular error offset of servo motor.
Wherein, step S4 specifically includes the following steps:
S41, the actual angular speed value that servo motor is acquired by angular-rate sensor；
S42, actual angular speed value and operation angular rate according to servo motor, the angular speed for calculating servo motor miss
Difference；The calculation formula of the angular speed error of the servo motor are as follows:
Wherein, e (ω) represents angular speed error；ωrIndicate the actual corners of the collected servo motor of angular-rate sensor
Velocity amplitude；ωeIndicate the operation angular rate of servo motor；ψfRepresent rotor flux；RsRepresent stator resistance；LdRepresent d axis electricity
Sense；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in the component of q axis.
S43, the angular speed error according to servo motor, calculate the angular error of servo motor；The meter of the angular error
Calculate formula are as follows: Δ θ=e (ω) T, wherein Δ θ indicates angular error；E (ω) represents angular speed error；T is adopting for servo motor
The sample time.
S44, the angular error according to servo motor carry out error compensation.Step S44 specifically: pass through angular transducer
Acquire the actual rotation angle, θ of servo motor1, then according to actual rotation angle and the obtained angular error of clearing, calculate
The ideal rotation angle, θ of servo motor, its calculation formula is: θ=θ1+ Δ θ, finally sends corresponding control for ideal rotation angle
Molding block carries out error compensation.
In conclusion compensation method, system and the device of servo motor angular error of the present invention have the advantage that
1), the present invention can under servo motor open loop operation state real-time perfoming angle compensation, do not need human intervention,
It is easily achieved and cost of labor is low, while also improving the precision of angle detection；
2) real-time angular compensation, is carried out using the period to each, motor operation dynamic error compensation is able to achieve, obtains essence
Quasi- operation angle detection and control；
3), the present invention does not need to drive motor operation to certain speed by external movement mechanism, it is only necessary to be transported according to open loop
Row equation can calculate the current value of servo motor q axis, and practicability is high.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. the compensation method of servo motor angular error, it is characterised in that: the following steps are included:
Calculate the current value of servo motor q axis under open loop operation state；
According to the current value of servo motor q axis, the operation angular rate of servo motor is calculated；
According to the operation angular rate of servo motor, the angular error offset of servo motor is calculated.
2. the compensation method of servo motor angular error according to claim 1, it is characterised in that: the calculating servo electricity
Machine is under open loop operation state the step for the current value of q axis, comprising the following steps:
According to the equivalent equation of servo motor, the open loop operation equation of servo motor is obtained；Wherein, the servo motor is equivalent
Equation are as follows:
Wherein, udIndicate stator voltage in the component of d axis；RsRepresent stator resistance；idIndicate stator current in the component of d axis；
Represent differential operator；ψdIndicate stator magnetic linkage in the component of d axis；ωeIndicate the operation angular rate of servo motor；ψqIndicate fixed
Component of the sub- magnetic linkage in q axis；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in the component of q axis；
According to the open loop operation equation of servo motor, the current value of servo motor q axis is calculated；Wherein, the servo motor is opened
Inscription of loop equation are as follows:
Wherein, LqRepresent q axle inductance；LdRepresent d axle inductance；ψfRepresent rotor flux.
3. the compensation method of servo motor angular error according to claim 2, it is characterised in that: described according to servo electricity
The step for open loop operation equation of machine, the current value of calculating servo motor q axis, comprising the following steps:
According to the open loop operation equation of servo motor, motor starting up is controlled；
The three-phase current of servo motor is detected by Hall sensor；
According to the three-phase current of servo motor, the current value of servo motor q axis is calculated.
4. the compensation method of servo motor angular error according to claim 3, it is characterised in that: described according to servo electricity
The step for open loop operation equation of machine, control motor starting up, comprising the following steps:
The voltage setting value of servo motor d axis is converted to the voltage setting value of α axis, and the voltage of servo motor q axis is set
Value is converted to the voltage setting value of β axis；
The voltage setting value of the voltage setting value of α axis and β axis is converted to corresponding pulse width；
According to the pulse width that conversion obtains, control Driven by inverter servo motor operation.
5. the compensation method of servo motor angular error according to claim 1, it is characterised in that: described according to servo electricity
The current value of machine q axis, in the step for calculating the operation angular rate of servo motor, the calculation formula of the operation angular rate
Are as follows:
Wherein, ωeIndicate the operation angular rate of servo motor；ψfRepresent rotor flux；ψqIndicate stator magnetic linkage in point of q axis
Amount；RsRepresent stator resistance；LdRepresent d axle inductance；iqIndicate stator current in the component of q axis；uqIndicate stator voltage in q axis
Component.
6. the compensation method of servo motor angular error according to claim 1, it is characterised in that: described according to servo electricity
The operation angular rate of machine, the step for calculating the angular error offset of servo motor, comprising the following steps:
The actual angular speed value of servo motor is acquired by angular-rate sensor；
According to the actual angular speed value of servo motor and operation angular rate, the angular speed error of servo motor is calculated；
According to the angular speed error of servo motor, the angular error of servo motor is calculated；
According to the angular error of servo motor, error compensation is carried out.
7. the compensation system of servo motor angular error, it is characterised in that: include:
Current value computing module, for calculating the current value of servo motor q axis under open loop operation state；
Angular rate computing module calculates the operation angular rate of servo motor for the current value according to servo motor q axis；
Compensation value calculation module calculates the angular error compensation of servo motor for the operation angular rate according to servo motor
Value.
8. the compensation system of servo motor angular error according to claim 7, it is characterised in that: the current value calculates
Module includes:
Open loop operation equation acquiring unit obtains the open loop operation side of servo motor for the equivalent equation according to servo motor
Journey；
Current value computing unit calculates the current value of servo motor q axis for the open loop operation equation according to servo motor.
9. the compensation system of servo motor angular error according to claim 7, it is characterised in that: the compensation value calculation
Module includes:
Actual angular speed value computing unit, for acquiring the actual angular speed value of servo motor by angular-rate sensor；
Angular speed error calculation unit calculates servo for the actual angular speed value and operation angular rate according to servo motor
The angular speed error of motor；
Angular error computing unit calculates the angular error of servo motor for the angular speed error according to servo motor；
Error compensation unit carries out error compensation for the angular error according to servo motor.
10. the compensation device of servo motor angular error, it is characterised in that: include:
Memory, for storing program；
Processor is used for loading procedure, to execute the compensation of servo motor angular error as claimed in any one of claims 1 to 6
Method.
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| CN111600519B (en) * | 2020-05-26 | 2024-02-23 | 佛山金华信智能科技有限公司 | Servo motor control method and device, electronic equipment and storage medium |
| CN113746392A (en) * | 2021-09-17 | 2021-12-03 | 广州市香港科大***研究院 | Servo motor current control method and control system based on two-dimensional system |
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| CN110535391B (en) | 2021-06-04 |
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