CN113276985A - Driver control method for automatically zeroing steering wheel by using incremental encoder motor - Google Patents

Driver control method for automatically zeroing steering wheel by using incremental encoder motor Download PDF

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Publication number
CN113276985A
CN113276985A CN202110647669.XA CN202110647669A CN113276985A CN 113276985 A CN113276985 A CN 113276985A CN 202110647669 A CN202110647669 A CN 202110647669A CN 113276985 A CN113276985 A CN 113276985A
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China
Prior art keywords
motor
zero
position switch
steering wheel
switch
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CN202110647669.XA
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Chinese (zh)
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CN113276985B (en
Inventor
王瑞豪
潘孝威
霍俊岭
刘海涛
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Jinan Keya Electronic Co ltd
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Jinan Keya Electronic Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/30—Arrangements for controlling the direction of rotation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a driver control method for a steering wheel to automatically zero by using an incremental encoder motor, which is characterized in that configuration parameters are used for setting so as to control the direction of the steering wheel, the parameter setting comprises different modes, after a servo system is electrified, a servo driver automatically reads an internally set zero-seeking mode parameter, and zero-seeking operation is carried out according to a zero-seeking starting instruction.

Description

Driver control method for automatically zeroing steering wheel by using incremental encoder motor
Technical Field
The invention relates to the field of steering wheels, in particular to a driver control method for steering wheels to automatically zero by using an incremental encoder motor.
Background
The automatic guide vehicle has the advantages of less personnel participation, high transportation efficiency, suitability for intelligent management of enterprises in the future and the like, and is gradually and widely transported. Along with the development of AGV technique, derive multiple AGV drive mode, wherein helm actuating system for differential actuating system, except can having pivot and turn to, functions such as pitch arc turn can also realize controlling translation, functions such as slant translation to realize AGV omnidirectional movement, relatively be fit for the transportation of heavily loaded material moreover. Based on the actual working condition requirement of the market, the current development situation of the driving system of the current wheeled robot and the current research situation of the steering wheel technology are combined. Through the structure and performance analysis of the steering wheel of the main brand on the market at present, the steering wheel driving system determines to adopt a permanent magnet synchronous motor servo system to replace a fussy steering wheel positioning device through controlling the steering wheel, so that the whole steering wheel is more compact and the steering wheel is flexible to operate.
The current market steering wheel is a driving structure integrating a servo driver, a power driving motor, a speed reducer, a limit protection switch and an absolute value encoder. The angle control adopts a structure that a part of structures are specially made, an absolute value encoder is installed, the steering angle of the wheel is judged through the rotation of the absolute value encoder, the structure of the steering wheel is complicated, and the cost of the absolute value encoder accounts for 20% of the total cost of the steering wheel.
Prior art application No. 201910414527.1 discloses a steering wheel drive device comprising a support, a drive reduction motor and a movable-tooth reduction transmission mechanism. The steering mechanism is arranged on the supporting piece and used for driving the turning and reversing of the internal tooth central gear of the oscillating tooth speed reduction transmission mechanism. The driving speed reducing motor is fixedly arranged on the supporting piece, the movable tooth speed reducing transmission mechanism is in power connection with the output end of the driving speed reducing motor, and the internal tooth central wheel outputs rotating power. The internal tooth central gear is connected with the mounting frame and performs speed reduction rotary motion under the control of the driving speed reduction motor. The device is mainly designed aiming at the bearing capacity of the steering wheel, improves the driving capability of the steering wheel, does not relate to the technical problem of steering wheel positioning, can not automatically carry out zero calibration on the steering wheel, and can not adjust the direction of the steering wheel.
Disclosure of Invention
Aiming at the technical problem, the invention provides a driver control method for automatically zeroing a steering wheel by using an incremental encoder motor, which comprises the following steps: receiving parameter signals by the incremental encoder of the motor body; judging whether the motor rotates and touches the position switch to meet a preset condition or not under the condition that the parameter signal controls the motor to rotate in different directions and touches different position switches; and under the condition that the mode of the preset condition is met, the rotation of the control steering wheel and zero point calibration are carried out.
Judging whether the motor rotates and touches the position switch to meet the preset conditions comprises the following steps: the steering engine is automatically controlled to rotate by setting the motor to rotate forward and backward to touch position switches in different modes. The position switches in different modes comprise a middle position switch, and when the motor rotates in two directions, under the condition that the middle position switch is not touched, the motor starts to rotate in the opposite direction until the motor is finally locked.
The position switches in different modes comprise two position switches, corresponding upper position switches and lower position switches are arranged beside the motor, the direction is automatically changed when any one of the position switches is triggered in the rotation of the motor, and the middle point position is automatically calculated and returned to the middle zero point position when the motor needs to be stopped.
The position switches in different modes comprise three limit switches, an upper position switch, a lower position switch and a middle position switch are arranged beside the motor, the motor touches any one of the upper position switch and the lower position switch in the rotating process to automatically change the rotating direction, and the middle position switch is triggered in the rotating process to automatically stop. The upper position switch adopts an enabling terminal, and the lower position switch adopts a reversing terminal.
The predetermined conditions include: the motor touches a limit switch and a lower limit switch on the steering engine when rotating, when the motor rotates and touches the upper limit switch, the motor stops rotating to wait for the host to give a signal to execute operation again, and the zero calibration function is obtained at the moment. When the motor rotates and touches a lower limit switch on the steering engine, the motor stops rotating and waits for the host to give a signal to execute operation again, and the zero calibration function is obtained at the moment. The upper position switch adopts a reverse terminal, and a given signal is positive. When the motor is locked, the motor gives an alarm and fails to search the zero position.
Compared with the prior art, the invention has the beneficial effects that: 1. the zero calibration of the steering wheel can be realized by combining an incremental encoder of the motor body with a switch of the steering wheel structure body; 2. the steering wheel positioning device can automatically control the steering wheel, realizes flexible positioning, has a simple structure, and replaces a fussy steering wheel positioning device.
Detailed Description
The present invention will be further described with reference to the following examples, which are illustrative of the present invention and are not to be construed as limiting the invention. In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
Example (b): setting by using the configuration parameters;
a zero seeking mode: 0-Default
1-zero one position switch; by blocking rotation at both sides and limiting in radial direction
2, two position switches are arranged on two sides, and the midpoint is defined as a zero point;
3-three limit switches, using middle switch to define zero point;
5-one upper limit switch, steering wheel positive direction, limit switch point as zero point
6-one lower limit switch, negative direction of steering wheel, limit switch point as zero point
After the servo system is powered on, the servo driver automatically reads the parameter of the zero-seeking mode set inside and performs zero-seeking action according to the zero-seeking starting instruction. The following is divided into several modes:
(1) zero seeking mode-1
The controller receives a zero searching function and enables instructions.
If the motor is set to rotate forwards (the forward and reverse settings are equal to 0), the motor rotates anticlockwise, and if the intermediate position switch is not triggered, the motor is locked; and starting reverse rotation, if the intermediate position switch is not triggered, the motor alarms when the next locked-rotor is reached, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). If the middle position switch is triggered, the zero searching function is stopped, and the zero searching function is finished (the condition that the switch is not triggered in the middle).
If the motor is set to rotate reversely (the positive and negative settings are equal to 1), the motor rotates clockwise, and if the intermediate position switch is not triggered, the motor is locked; and (3) starting to rotate forwards, if the middle position switch is not triggered, the motor alarms when the next locked-rotor is reached, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). If the middle position switch is triggered, the zero searching function is stopped. (indicating that there is no trigger switch in the middle).
(2) Zero seeking mode-2
The controller receives a zero searching function and enables instructions.
If the position switch is set to be in positive rotation (positive and negative setting is equal to 0), the motor rotates anticlockwise, and the upper position switch is triggered; starting to reverse and triggering a lower position switch; calculating the midpoint position; automatically returning to the intermediate zero position. In the rotation process, if the locked rotor occurs, the motor gives an alarm, the zero position searching function is disabled, and the alarm position adopts a fault code (0x 0200). At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates clockwise, and an upper position switch is triggered; starting to reverse, and triggering a lower position switch; calculating the midpoint position; automatically returning to the intermediate zero position. In the process, when the motor is locked, the motor gives an alarm and loses the function of searching the zero position, and the alarm position adopts a fault code (0x 0200). At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
(3) Zeroing mode-3
The controller receives a zero searching function and enables instructions.
If the motor is set to rotate forwards (the forward and reverse settings are equal to 0), the motor rotates anticlockwise, (if a middle position switch is triggered, zero seeking is stopped); triggering an upper position switch; starting to reverse, triggering the lower position switch (if triggering the middle position switch, stopping, and stopping searching for zero); if the intermediate position switch is not triggered, the motor alarms and fails to search the zero position function, and the alarm position adopts a fault code (0x 0200). In the process, the motor gives an alarm when the rotor is blocked. At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates clockwise (if a middle position switch is triggered, zero seeking is stopped); triggering an upper position switch; start the reversal, (stop zero-seeking if the neutral position switch is triggered); triggering a lower position switch; if the intermediate position switch is not triggered, the motor alarms and fails to search the zero position function, and the alarm position adopts a fault code (0x 0200). In the process, if the locked rotor occurs, the motor gives an alarm. At this time, the upper position switch adopts an enable terminal, and the lower position switch adopts a reverse terminal.
When the upper position has a position switch: if the position switch is triggered, the motor stops searching for zero, the point is a zero point, and the motor can be executed to a required position only by the host machine giving a position signal; in the process, if the locked rotor occurs, the motor gives an alarm and stops. At this time, the upper position switch adopts a reverse terminal, and the given position signal is positive
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates anticlockwise, (if an upper position switch is triggered, zero searching is stopped, the point is a zero point, and the motor can only execute to a required position by a host machine giving a position signal); in the process, if the locked rotor occurs, the motor gives an alarm and automatically stops. At this time, the upper position switch adopts a reverse terminal, and the given position signal is positive
(5) Zero seeking mode-6
The lower position is provided with a position switch
If the position switch is triggered, the motor stops searching for zero, the point is a zero point, and the motor can be executed to a required position only by the host machine giving a position signal; in the process, if the locked rotor occurs, the motor gives an alarm and automatically stops. At this time, the upper position switch adopts a reverse terminal, and the given position signal is positive
If the motor is set to be in reverse rotation (the positive and negative settings are equal to 1), the motor rotates anticlockwise, (if an upper position switch is triggered, zero searching is stopped, the point is a zero point, and the motor can only execute to a required position by a host machine giving a position signal); in the rotating process, if the locked rotor occurs, the motor gives an alarm and automatically stops. The upper position switch now employs the inverted terminal and the given position signal will be positive.

Claims (10)

1. A method of controlling a steering wheel drive using incremental encoder motor auto-zero, comprising: receiving parameter signals by the incremental encoder of the motor body;
judging whether the motor rotates and touches the position switch to meet a preset condition or not under the condition that the parameter signal controls the motor to rotate in different directions and touches different position switches;
and under the condition that the preset condition of the foot is met, controlling the rotation of the steering wheel and carrying out zero point calibration.
2. The method as claimed in claim 1, wherein the step of determining whether the motor rotation touch on the position switch satisfies a predetermined condition comprises: the steering engine is automatically controlled to rotate by setting the forward and backward transmission of the motor to touch position switches in different modes.
3. A method of controlling a steering wheel drive using incremental encoder motor zeroing as claimed in claim 2 wherein the different mode position switches comprise a neutral position switch which starts the reverse 9 rotation until the final motor stall when the motor is rotating in both directions without touching the neutral position switch.
4. The method as claimed in claim 2, wherein the position switches of different modes include two position switches, and corresponding upper position switch and lower position switch are disposed beside the motor, and when any one of the position switches is triggered during the rotation of the motor, the direction is automatically changed, and when the motor needs to be stopped, the midpoint position is automatically calculated and returned to the middle zero position.
5. The method as claimed in claim 2, wherein the position switches of different modes include three limit switches, an upper position switch, a lower position switch and a middle position switch are arranged beside the motor, any one of the upper position switch and the lower position switch is touched during the rotation of the motor to automatically change the rotation direction, and the middle position switch is triggered during the rotation to automatically stop.
6. A method of controlling a steering wheel actuator using incremental encoder motor zeroing according to any of claims 1-5, wherein the upper position switch uses the enable terminal and the lower position switch uses the reverse terminal.
7. A method of controlling a steering wheel drive using incremental encoder motor auto-zero according to claim 1, wherein said predetermined conditions include: the motor touches a limit switch and a lower limit switch on the steering engine when rotating, when the motor rotates and touches the upper limit switch, the motor stops rotating to wait for the host to give a signal to execute operation again, and the zero calibration function is obtained at the moment.
8. The method for controlling the driver of the steering wheel to automatically zero by using the incremental encoder motor as claimed in claim 7, wherein when the motor rotates and touches a lower limit switch on the steering engine, the motor stops rotating and waits for the host to give a signal to execute operation, and then the zero calibration function is obtained.
9. The method as claimed in claim 7, wherein the upper position switch has a reverse terminal, and the given signal is positive.
10. A method for controlling a steering wheel drive with incremental encoder motor auto-zero according to any of claims 1-5, 7-9, wherein when a stall occurs in the motor, the motor alarms and the zero-finding function is disabled.
CN202110647669.XA 2021-06-10 2021-06-10 Driver control method for automatically zeroing steering wheel by using incremental encoder motor Active CN113276985B (en)

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Application Number Priority Date Filing Date Title
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CN113276985B CN113276985B (en) 2022-08-23

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4599601A (en) * 1983-07-13 1986-07-08 Litton Precision Products International Gmbh Absolute incremental encoder
US6360449B1 (en) * 1996-11-27 2002-03-26 N.V. Nederlandsche Apparatenfabriek Nedap Incremental encoder having absolute reference marks
WO2010072391A1 (en) * 2008-12-23 2010-07-01 Ab Skf Method and device of a position encoder
CN102183916A (en) * 2010-12-09 2011-09-14 中国兵器工业第二〇五研究所 Zero position-searching method for limited angle servo turntable
CN104723170A (en) * 2015-03-31 2015-06-24 烟台环球机床附件集团有限公司 Zero-position searching device for numerical control turret head and zero-position searching method of zero-position searching device
CN106155101A (en) * 2015-03-31 2016-11-23 北京航天计量测试技术研究所 A kind of seek zero method for the rapid location with spacing turntable
CN109388156A (en) * 2018-11-26 2019-02-26 中国航空工业集团公司洛阳电光设备研究所 A kind of incremental encoder by image area code seeks zero method
CN110793553A (en) * 2019-11-07 2020-02-14 歌尔股份有限公司 Zero point positioning method, system, servo motor and storage medium
CN112433543A (en) * 2020-11-23 2021-03-02 黄海宁 Method for accurately positioning steering wheel in zero direction

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4599601A (en) * 1983-07-13 1986-07-08 Litton Precision Products International Gmbh Absolute incremental encoder
US6360449B1 (en) * 1996-11-27 2002-03-26 N.V. Nederlandsche Apparatenfabriek Nedap Incremental encoder having absolute reference marks
WO2010072391A1 (en) * 2008-12-23 2010-07-01 Ab Skf Method and device of a position encoder
CN102183916A (en) * 2010-12-09 2011-09-14 中国兵器工业第二〇五研究所 Zero position-searching method for limited angle servo turntable
CN104723170A (en) * 2015-03-31 2015-06-24 烟台环球机床附件集团有限公司 Zero-position searching device for numerical control turret head and zero-position searching method of zero-position searching device
CN106155101A (en) * 2015-03-31 2016-11-23 北京航天计量测试技术研究所 A kind of seek zero method for the rapid location with spacing turntable
CN109388156A (en) * 2018-11-26 2019-02-26 中国航空工业集团公司洛阳电光设备研究所 A kind of incremental encoder by image area code seeks zero method
CN110793553A (en) * 2019-11-07 2020-02-14 歌尔股份有限公司 Zero point positioning method, system, servo motor and storage medium
CN112433543A (en) * 2020-11-23 2021-03-02 黄海宁 Method for accurately positioning steering wheel in zero direction

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