CN116155170B - Servo diagnosis method, apparatus, device and readable storage medium - Google Patents

Servo diagnosis method, apparatus, device and readable storage medium Download PDF

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Publication number
CN116155170B
CN116155170B CN202310417614.9A CN202310417614A CN116155170B CN 116155170 B CN116155170 B CN 116155170B CN 202310417614 A CN202310417614 A CN 202310417614A CN 116155170 B CN116155170 B CN 116155170B
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servo
servo motor
inductance
current
axis
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CN116155170A (en
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李聪
陈标发
区展煊
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Guangdong Keyao Intelligent Technology Co ltd
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Guangdong Keyao Intelligent Technology Co ltd
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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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0077—Characterised by the use of a particular software algorithm
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application discloses a servo diagnosis method, a device, equipment and a readable storage medium, wherein a servo diagnosis instruction is sent to a servo driver, the servo driver is controlled to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, the three-phase symmetrical sinusoidal current is input into a servo motor, a magnetic field is formed in the servo motor, and the servo motor is controlled to rotate back to a zero point from a preset angle. And after the servo motor rotation stability is monitored, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulse to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor. Based on the encoder magnetic deflection angle of the servo motor, and errors among resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, and preset reference encoder magnetic deflection angles, reference resistance, reference inductance and permanent magnet flux linkage reference values, a servo diagnosis result can be determined. The method and the device realize one-key diagnosis of fault abnormality in the servo debugging process, thereby saving a great deal of time and manpower.

Description

Servo diagnosis method, apparatus, device and readable storage medium
Technical Field
The present application relates to the field of servos, and more particularly, to a servo diagnostic method, apparatus, device, and readable storage medium.
Background
With the development of industrial automation, servo drive systems are the largest power source of the current manufacturing industry, and have become the main force of a new industrial revolution. In the industrial intelligent lifting process, in order to ensure normal connection and operation between the servo motor and the servo driver, a large amount of debugging tests are needed to be carried out on the servo equipment to find out fault abnormality existing in the servo equipment.
However, in the current device manufacturing and debugging process, the problem existing in the troubleshooting servo is often the most time-consuming difficulty, at present, the servo debugging only has a detection mode under the normal condition of the line, and has no function of rapidly diagnosing faults, often a debugging person with abundant experience is required to monitor the debugging products one by one, find the problem and analyze the problem, which results in a great deal of time and labor consumption, especially the difference of the servo between different brands, the demand and the workload of the debugging person are definitely huge, which is a great pain point in the current servo development application. Meanwhile, the complicated debugging process often brings serious trouble to equipment manufacturers, delays time and leads to wrong direction finding.
Based on the above situation, the application provides a servo diagnosis scheme to realize one-key diagnosis of fault abnormality in the servo debugging process, thereby saving a great deal of manpower and time.
Disclosure of Invention
In view of this, the present application provides a servo diagnosis method, apparatus, device and readable storage medium, which determine possible hardware and software errors in servo use under various states according to various operation parameters of a servo motor after the operation is stable when current is applied, so as to realize one-key diagnosis of fault abnormality in the servo debugging process, thereby saving a great deal of time and manpower.
A servo diagnostic method comprising:
sending a servo diagnosis instruction to a servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into the servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle;
when the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulse to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
And determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and errors among resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, a preset reference encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference values obtained through calculation.
Optionally, the servo driver comprises a current PI controller, a Park module, a SVPWM module and an inverter bridge;
controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, comprising:
controlling the current PI controller to perform coordinate transformation on the input three-phase current and outputting a control current to the Park module;
controlling the Park module to carry out Park inverse transformation on the input control current, converting the control current into two-phase static coordinate system current, and inputting the two-phase static coordinate system current into the SVPWM module;
the SVPWM module is controlled to modulate the input two-phase static coordinate system current, and the two-phase static coordinate system current is converted into six paths of control signals, and the six paths of control signals are input into the inverter bridge;
and controlling the inverter bridge to generate three-phase symmetrical sinusoidal current based on the six paths of control signals.
Optionally, calculating the resistance of the servo motor includes:
Applying two continuous voltage pulses to the d-axis of the servo motor, and measuring to obtain two corresponding steady-state d-axis currents, wherein the two applied continuous voltage pulses have the same polarity but different amplitudes;
and determining the quotient of the pulse command difference of the two continuous voltage pulses and the current difference of the two corresponding steady-state d-axis currents as the resistance of the servo motor.
Optionally, calculating the inductance of the servo motor includes:
applying voltage pulses to q-axis and d-axis of the servo motor, respectively, and measuring current peaks of the q-axis and the d-axis, wherein the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
an inductance of the servo motor is determined based on the amplitude of the voltage pulse, the current peak, and the voltage pulse duration applied to the q-axis and the d-axis, respectively.
Optionally, calculating the inductance of the servo motor includes:
applying two continuous voltage pulses to the q-axis and the d-axis of the servo motor respectively, and measuring to obtain two corresponding groups of current peaks of the q-axis and the d-axis, wherein the two continuous voltage pulses applied to the same axis have the same polarity but different amplitudes, and the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
The inductance of the servo motor is determined based on the amplitude of two consecutive voltage pulses applied to the q-axis and the d-axis, respectively, the current peak value, and the voltage pulse duration.
Optionally, calculating to obtain a permanent magnet flux linkage estimated value of the servo motor includes:
and determining a motor counter potential constant and a rotor progression of the servo motor, and calculating to obtain a permanent magnet flux linkage estimated value of the servo motor according to the motor counter potential constant and the rotor progression.
Optionally, determining a servo diagnosis result based on the encoder magnetic bias angle of the servo motor, and the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor calculated, and errors between the encoder magnetic bias angle and a preset reference encoder magnetic bias angle and reference resistance, reference inductance and permanent magnet flux linkage reference value, includes:
if the error between the encoder declination of the servo motor and the reference encoder declination exceeds the declination preset error range, determining that the servo diagnosis result is servo abnormality and warning prompt;
if the error between the encoder magnetic declination of the servo motor and the reference encoder magnetic declination does not exceed the magnetic declination preset error range, judging whether the resistance, inductance and permanent magnet flux linkage estimated values of the servo motor respectively accord with the preset allowable error range or not, determining the servo diagnosis results which are judged to accord with the reference resistance, the reference inductance and the permanent magnet flux linkage reference value as servo normal, and determining the servo diagnosis results which are not accord with the judgment results as servo abnormal and alarming prompt.
A servo diagnostic device comprising:
the command control unit is used for sending a servo diagnosis command to the servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into the servo motor so as to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle;
the parameter calculation unit is used for determining the encoder magnetic declination of the servo motor after the servo motor is monitored to be rotationally stable, and calculating to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
and the diagnosis result unit is used for determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and calculating and obtaining the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor, and errors among the preset reference encoder magnetic deflection angle, the reference resistance, the reference inductance and the permanent magnet flux linkage reference value.
A servo diagnostic device comprising a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the servo diagnostic method as described in any one of the above.
A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the servo diagnostic method as described in any of the preceding claims.
As can be seen from the above technical solution, according to the servo diagnosis method, apparatus, device and readable storage medium provided in the embodiments of the present application, by sending a servo diagnosis instruction to a servo driver, the servo driver is controlled to convert a three-phase current input to the servo driver into a three-phase symmetrical sinusoidal current, and the three-phase symmetrical sinusoidal current is input to the servo motor, so as to form a magnetic field in the servo motor, and the servo motor is controlled to rotate back to a zero point from a preset angle. And then, after the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulses to obtain the estimated values of the resistance, the inductance and the permanent magnet flux linkage of the servo motor. And finally, based on the encoder magnetic deflection angle of the servo motor, calculating and obtaining the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor, and the error between the preset reference encoder magnetic deflection angle and the reference resistance, reference inductance and permanent magnet flux linkage reference value, determining a servo diagnosis result.
According to the method, a dynamic zero calibration mode is adopted, a preset angle fixed by a servo motor is set when the servo motor is electrified for the first time, three-phase current is introduced to form a magnetic field, the servo motor is forcedly rotated to return to the zero point from the initial preset angle, the current encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage are calculated, and whether the servo has abnormal faults or not is judged by checking the error between the encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage and a reference value. The diagnosis function that this application provided just adorns at servo and just electrifies for the first time can carry out, on the one hand the unusual diagnosis of trouble is according to the various operating parameter of servo motor after letting in electric current operation steady go to judge the hardware and the software mistake on the servo that probably exists under various states to save a large amount of time and manpower, on the other hand this application just go the diagnosis after the break down, but to just assembling the circular telegram, the fault pre-diagnosis of the servo equipment of obvious trouble has not appeared, the loss of break down has been avoided on the servo equipment to enable, also reduce the user troubleshooting time, avoid the harm that leads to the production because of servo wiring.
In addition, through integrating and optimizing the prior magnetic declination self-tuning or parameter PID self-tuning and other technologies, one-key diagnosis can be carried out under various environments of the servo motor, so that whether various basic data of the servo motor can be normally used or not is judged, and a user can be reminded of codes with problems when the basic data are abnormal, and the debugging time and the error checking direction are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of a servo diagnostic method disclosed in an embodiment of the present application;
FIG. 2 is a schematic diagram of a declination disclosed in an embodiment of the present application;
FIG. 3 is a schematic diagram of a control model of a servo driver according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of applying two consecutive voltage pulses to the d-axis of the servo motor as disclosed in the embodiments of the present application;
FIG. 5 is a schematic diagram of applying two consecutive voltage pulses to the q-axis and d-axis of the servo motor, respectively, as disclosed in the embodiments of the present application;
FIG. 6 is a block diagram of a servo diagnostic device disclosed herein;
fig. 7 is a block diagram of a hardware configuration of a servo diagnostic device disclosed in the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Before describing the servo diagnosis method of the present application, an application environment of the method of the present application will be described first.
The embodiment of the application provides a servo diagnosis method, which can be applied to a servo fault diagnosis system and equipment, and can also be applied to various servo debugging systems and equipment, wherein an execution main body of the servo diagnosis method can be a processor or a server of a computer terminal or an intelligent terminal.
The application provides a servo diagnosis method, a device, equipment and a readable storage medium, wherein hardware and software errors on servo use which possibly exist under various states are judged through various operation parameters of a servo motor after current is fed to run stably, so that one-key diagnosis of fault abnormality in a servo debugging process is realized, and a great deal of time and labor are saved. .
FIG. 1 is a flowchart of a servo diagnosis method disclosed in an embodiment of the present application, as shown in FIG. 1, the method may include:
and S1, sending a servo diagnosis instruction to a servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, and inputting the three-phase symmetrical sinusoidal current into the servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle.
Specifically, the servo motor is driven by the servo driver, and after three-phase current is input to the servo driver, the servo driver is controlled to convert the three-phase current input to the servo driver into three-phase symmetrical sinusoidal current by sending a servo diagnosis instruction to the servo driver. In practical application, if the diagnostic function starting switch is set, a servo diagnostic instruction is sent to the servo driver when the diagnostic function starting switch is started, the servo driver can perform modulation and conversion through a Park module, an SVPWM module and the like in the servo driver to form three-phase symmetrical sinusoidal current, and the three-phase symmetrical sinusoidal current is input to the servo motor. After the servo motor is connected with the three-phase symmetrical sinusoidal current, a magnetic field is formed in the motor, and the servo motor is controlled to rotate from a preset angle to a zero point.
And S2, after the servo motor is monitored to be stable in rotation, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulses to obtain the estimated values of the resistance, the inductance and the permanent magnet flux linkage of the servo motor.
Specifically, as shown in fig. 2, in general, the angles of the motor rotor installed by each motor manufacturer are not fixed when leaving the factory, and in order to accurately control the stable and efficient operation of the servo motor, a certain method is required to detect the included angle between the zero point of the encoder and the axes of the N-level and S-level of the rotor permanent magnet after the initial installation of the motor, and the included angle is called as the magnetic declination.
After the servo motor is monitored to rotate stably, the encoder magnetic declination of the servo motor can be measured, and the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor can be calculated by applying voltage pulses to the q axis and the d axis of the servo motor.
And step S3, determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, calculating resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, and errors between the encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference values which are preset.
Specifically, the process of determining the servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and the error between the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor and the preset reference encoder magnetic deflection angle and the reference resistance, reference inductance and permanent magnet flux linkage reference value, may include:
if the error between the encoder declination of the servo motor and the reference encoder declination exceeds the declination preset error range, determining that the servo diagnosis result is servo abnormality and warning prompt;
If the error between the encoder magnetic declination of the servo motor and the reference encoder magnetic declination does not exceed the magnetic declination preset error range, judging whether the resistance, inductance and permanent magnet flux linkage estimated values of the servo motor respectively accord with the preset allowable error range or not, determining the servo diagnosis results which are judged to accord with the reference resistance, the reference inductance and the permanent magnet flux linkage reference value as servo normal, and determining the servo diagnosis results which are not accord with the judgment results as servo abnormal and alarming prompt.
The servo diagnosis result can be determined based on the encoder magnetic deflection angle of the servo motor, the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor obtained through calculation, and errors between the preset reference encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference value. Firstly, detecting whether an error between an encoder magnetic declination of the servo motor and a reference encoder magnetic declination exceeds a magnetic declination preset error range, and if so, determining that a servo diagnosis result is that a servo abnormality occurs and giving an alarm. And if the error between the encoder magnetic deflection angle of the servo motor and the reference encoder magnetic deflection angle does not exceed the magnetic deflection angle preset error range, namely, the servo motor rotates back to the zero position, and whether the errors between the resistance, the inductance and the permanent magnet flux linkage estimated value of the servo motor and the reference resistance, the reference inductance and the permanent magnet flux linkage reference value respectively accord with the preset allowable error range is secondarily judged.
If the secondary judgment is carried out, the errors among the resistance, the inductance and the permanent magnet flux linkage estimated value of the servo motor and the reference resistance, the reference inductance and the permanent magnet flux linkage reference value respectively accord with a preset allowable error range, the servo diagnosis result is determined to be normal, and if the errors do not accord with the preset allowable error range, the servo diagnosis result is determined to be abnormal and the warning prompt is carried out. According to the method, different motor angles can be given for a plurality of times, the motor can be operated left and right, and errors of the checking parameters and the actual parameters can be calculated, so that whether the servo has abnormal faults or not can be judged.
As can be seen from the above technical solution, according to the servo diagnosis method, apparatus, device and readable storage medium provided in the embodiments of the present application, by sending a servo diagnosis instruction to a servo driver, the servo driver is controlled to convert a three-phase current input to the servo driver into a three-phase symmetrical sinusoidal current, and the three-phase symmetrical sinusoidal current is input to the servo motor, so as to form a magnetic field in the servo motor, and the servo motor is controlled to rotate back to a zero point from a preset angle. And then, after the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulses to obtain the estimated values of the resistance, the inductance and the permanent magnet flux linkage of the servo motor. And finally, based on the encoder magnetic deflection angle of the servo motor, calculating and obtaining the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor, and the error between the preset reference encoder magnetic deflection angle and the reference resistance, reference inductance and permanent magnet flux linkage reference value, determining a servo diagnosis result.
According to the method, a dynamic zero calibration mode is adopted, a preset angle fixed by a servo motor is set when the servo motor is electrified for the first time, three-phase current is introduced to form a magnetic field, the servo motor is forcedly rotated to return to the zero point from the initial preset angle, the current encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage are calculated, and whether the servo has abnormal faults or not is judged by checking the error between the encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage and a reference value. The diagnosis function that this application provided just adorns at servo and just electrifies for the first time can carry out, on the one hand the unusual diagnosis of trouble is according to the various operating parameter of servo motor after letting in electric current operation steady go to judge the hardware and the software mistake on the servo that probably exists under various states to save a large amount of time and manpower, on the other hand this application just go the diagnosis after the break down, but to just assembling the circular telegram, the fault pre-diagnosis of the servo equipment of obvious trouble has not appeared, the loss of break down has been avoided on the servo equipment to enable, also reduce the user troubleshooting time, avoid the harm that leads to the production because of servo wiring.
In addition, through integrating and optimizing the prior magnetic declination self-tuning or parameter PID self-tuning and other technologies, one-key diagnosis can be carried out under various environments of the servo motor, so that whether various basic data of the servo motor can be normally used or not is judged, and a user can be reminded of codes with problems when the basic data are abnormal, and the debugging time and the error checking direction are reduced.
In some embodiments of the present application, the servo driver includes a current PI controller, a Park module, a SVPWM module, and an inverter bridge.
On the basis, the process of controlling the servo driver to convert the three-phase current input into the servo driver into three-phase symmetrical sinusoidal current can specifically comprise the following steps:
(1) and controlling the current PI controller to perform coordinate transformation on the input three-phase current and outputting a control current to the Park module.
(2) And controlling the Park module to carry out Park inverse transformation on the input control current, converting the control current into two-phase static coordinate system current, and inputting the two-phase static coordinate system current into the SVPWM module.
(3) And controlling the SVPWM module to modulate the input two-phase static coordinate system current, converting the two-phase static coordinate system current into six paths of control signals, and inputting the six paths of control signals into the inverter bridge.
(4) And controlling the inverter bridge to generate three-phase symmetrical sinusoidal current based on the six paths of control signals.
Specifically, as shown in FIG. 3, the control model of the servo driver is adopted for motor controlThus, by means of the speed controller +.>Is input to the current +.>And a controller. />And->The actual value of (2) is detected by a current sensor for three-phase stator current, and since the stator-side current is an alternating current component, it is necessary to convert the current from a stationary coordinate system to a synchronous rotating coordinate system by coordinate transformation. Actually measured- >And->And comparing the current with a reference value, outputting a control current to the Park module through a current PI controller, and then performing inverse transformation to the Park module to convert the control current into a two-phase stationary coordinate system current. And modulating the two-phase static coordinate system current through the SVPWM module, and converting the two-phase static coordinate system current into six paths of control signals for controlling the inverter bridge to generate three-phase symmetrical sinusoidal current.
In some embodiments of the present application, the process of calculating the estimated values of the resistance, inductance and permanent magnetic flux linkage of the servo motor is described separately, where:
resistance:
the calculating the resistance of the servo motor may include:
(1) two continuous voltage pulses are applied to the d-axis of the servo motor, and corresponding two steady-state d-axis currents are measured, wherein the two continuous voltage pulses applied have the same polarity but different amplitudes.
(2) And determining the quotient of the pulse command difference of the two continuous voltage pulses and the current difference of the two corresponding steady-state d-axis currents as the resistance of the servo motor.
In particular, to avoid errors caused by rotor rotation, d-axis voltage pulses may be appliedAnd measure steady-state d-axis currentTo identify the resistance parameters:
；
Since the voltage pulse duration is short and no q-axis current is generated, the rotor is not dithered by the above operation. FIG. 4 is a schematic diagram of applying two consecutive voltage pulses to the d-axis of the servo motor, as shown in FIG. 4And->Corresponding current is +.>And->To compensate for switching and diode drop inducedError, two consecutive voltage pulses have the same polarity but different magnitudes.
From the graph, the resistance is calculated as follows:
；
inductance:
the inductance of the servo motor is calculated in two ways:
a first kind of,
(1) And respectively applying voltage pulses to the q-axis and the d-axis of the servo motor, and measuring the current peaks of the q-axis and the d-axis, wherein the duration of the voltage pulse applied to the d-axis is twice that of the q-axis.
(2) An inductance of the servo motor is determined based on the amplitude of the voltage pulse, the current peak, and the voltage pulse duration applied to the q-axis and the d-axis, respectively.
Specifically, the inductance parameter identification is performed by applying voltage pulses to the q-axis and the d-axis, and then measuring the peak current. Since the duration of these voltage pulses is rather short, typically of the order of less than 100us, the effects of the resistance drop and motor rotation are negligible, when the motor is not substantially moving.
Since the current amplitude and the torque generated are small, a large measurement error may occur if the rotor is excessively rotated. To limit the rotation of the rotor, the duration of the voltage pulse applied to the d-axis is set to 2 times the duration of the voltage pulse applied to the q-axis.
The inductance can be approximated as follows:
；
；
wherein,,and->Amplitude of voltage pulse injected into q-axis and d-axis respectively, +.>And->And the measured current peaks of the q axis and the d axis are respectively, and the pulse width of the voltage applied to the q axis is h.
A second kind of,
(1) Applying two continuous voltage pulses to the q-axis and the d-axis of the servo motor respectively, and measuring to obtain two corresponding groups of current peaks of the q-axis and the d-axis, wherein the two continuous voltage pulses applied to the same axis have the same polarity but different amplitudes, and the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
(2) the inductance of the servo motor is determined based on the amplitude of two consecutive voltage pulses applied to the q-axis and the d-axis, respectively, the current peak value, and the voltage pulse duration.
Specifically, fig. 5 is a schematic diagram of applying two continuous voltage pulses to the q-axis and the d-axis of the servo motor, and as shown in fig. 5, in order to reduce errors caused by the inverter circuit, two continuous voltage pulses with the same polarity and different magnitudes may be used to measure the inductance. Both the voltage difference and the current difference of the two voltage pulse tests are used for inductance calculation as follows:
；
；
Wherein,,and->For injecting the amplitude of two groups of voltage pulses of q-axis, +.>And->For corresponding measured current peaks of the q-axis, and (2)>And->For injecting the amplitude of the two sets of voltage pulses of the d-axis, +.>And->The voltage pulse width applied to the q-axis is h in order to correspond to the measured current peak value of the d-axis.
Permanent magnet flux linkage estimation value:
the calculating to obtain the permanent magnet flux linkage estimated value of the servo motor may include:
and determining a motor counter potential constant and a rotor progression of the servo motor, and calculating to obtain a permanent magnet flux linkage estimated value of the servo motor according to the motor counter potential constant and the rotor progression.
In particular, limited by the integrator in the current controller, since the integrator voltage is limited to 1/2 of the nominal phase voltage, after stabilization is reached, the permanent magnet flux linkage can be estimated as:
；
wherein,,is the counter-potential constant of the motor,Pis a rotor stage number.
The motor back electromotive force constant is a value of a line induced electromotive force generated in the armature winding per unit angular velocity when the armature winding of the motor is open under a predetermined condition. Rotor stage numberPIs the inherent number of the servo motor, e.g. the motor pole pair number is 5, thatPNamely 10.
And comparing the motor resistance, inductance and permanent magnet flux linkage estimated value calculated in the servo with the reference resistance, reference inductance and permanent magnet flux linkage reference value, and providing relevant code alarm in a certain error according to feedback judgment of an internal magnetic declination. And judging whether each basic data of the servo motor can be normally used, and reminding a user of a code with a problem when the basic data is abnormal, so that the debugging time and the wrong checking direction are reduced.
The servo diagnosis apparatus provided in the embodiments of the present application will be described below, and the servo diagnosis apparatus described below and the servo diagnosis method described above may be referred to correspondingly to each other.
Referring to fig. 6, fig. 6 is a block diagram illustrating a servo diagnosis apparatus according to an embodiment of the present application.
As shown in fig. 6, the servo diagnostic device may include:
an instruction control unit 110, configured to send a servo diagnosis instruction to a servo driver, control the servo driver to convert a three-phase current input to the servo driver into a three-phase symmetrical sinusoidal current, and input to the servo motor, so as to form a magnetic field in the servo motor, and control the servo motor to rotate back to a zero point from a preset angle;
the parameter calculation unit 120 is configured to determine an encoder magnetic declination of the servo motor after detecting that the rotation of the servo motor is stable, and calculate to obtain resistance, inductance and permanent magnetic flux linkage estimated values of the servo motor;
and the diagnosis result unit 130 is configured to determine a servo diagnosis result based on the encoder declination of the servo motor, and the resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, and errors between the encoder declination and the reference resistance, reference inductance and permanent magnet flux linkage reference values.
As can be seen from the above technical solution, according to the servo diagnosis method, apparatus, device and readable storage medium provided in the embodiments of the present application, by sending a servo diagnosis instruction to a servo driver, the servo driver is controlled to convert a three-phase current input to the servo driver into a three-phase symmetrical sinusoidal current, and the three-phase symmetrical sinusoidal current is input to the servo motor, so as to form a magnetic field in the servo motor, and the servo motor is controlled to rotate back to a zero point from a preset angle. And then, after the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulses to obtain the estimated values of the resistance, the inductance and the permanent magnet flux linkage of the servo motor. And finally, based on the encoder magnetic deflection angle of the servo motor, calculating and obtaining the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor, and the error between the preset reference encoder magnetic deflection angle and the reference resistance, reference inductance and permanent magnet flux linkage reference value, determining a servo diagnosis result.
According to the method, a dynamic zero calibration mode is adopted, a preset angle fixed by a servo motor is set when the servo motor is electrified for the first time, three-phase current is introduced to form a magnetic field, the servo motor is forcedly rotated to return to the zero point from the initial preset angle, the current encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage are calculated, and whether the servo has abnormal faults or not is judged by checking the error between the encoder magnetic deflection angle and the estimated value of resistance, inductance and permanent magnet flux linkage and a reference value. The diagnosis function that this application provided just adorns at servo and just electrifies for the first time can carry out, on the one hand the unusual diagnosis of trouble is according to the various operating parameter of servo motor after letting in electric current operation steady go to judge the hardware and the software mistake on the servo that probably exists under various states to save a large amount of time and manpower, on the other hand this application just go the diagnosis after the break down, but to just assembling the circular telegram, the fault pre-diagnosis of the servo equipment of obvious trouble has not appeared, the loss of break down has been avoided on the servo equipment to enable, also reduce the user troubleshooting time, avoid the harm that leads to the production because of servo wiring.
In addition, through integrating and optimizing the prior magnetic declination self-tuning or parameter PID self-tuning and other technologies, one-key diagnosis can be carried out under various environments of the servo motor, so that whether various basic data of the servo motor can be normally used or not is judged, and a user can be reminded of codes with problems when the basic data are abnormal, and the debugging time and the error checking direction are reduced.
Optionally, the servo driver comprises a current PI controller, a Park module, a SVPWM module and an inverter bridge;
the command control unit controlling the servo driver to convert the three-phase current inputted to the servo driver into a three-phase symmetrical sinusoidal current may include:
controlling the current PI controller to perform coordinate transformation on the input three-phase current and outputting a control current to the Park module;
controlling the Park module to carry out Park inverse transformation on the input control current, converting the control current into two-phase static coordinate system current, and inputting the two-phase static coordinate system current into the SVPWM module;
the SVPWM module is controlled to modulate the input two-phase static coordinate system current, and the two-phase static coordinate system current is converted into six paths of control signals, and the six paths of control signals are input into the inverter bridge;
and controlling the inverter bridge to generate three-phase symmetrical sinusoidal current based on the six paths of control signals.
Optionally, the process of calculating the resistance of the servo motor by the parameter calculating unit may include:
applying two continuous voltage pulses to the d-axis of the servo motor, and measuring to obtain two corresponding steady-state d-axis currents, wherein the two applied continuous voltage pulses have the same polarity but different amplitudes;
and determining the quotient of the pulse command difference of the two continuous voltage pulses and the current difference of the two corresponding steady-state d-axis currents as the resistance of the servo motor.
Optionally, the process of calculating the inductance of the servo motor by the parameter calculating unit may include:
applying voltage pulses to q-axis and d-axis of the servo motor, respectively, and measuring current peaks of the q-axis and the d-axis, wherein the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
an inductance of the servo motor is determined based on the amplitude of the voltage pulse, the current peak, and the voltage pulse duration applied to the q-axis and the d-axis, respectively.
Optionally, the process of calculating the inductance of the servo motor by the parameter calculating unit may include:
Applying two continuous voltage pulses to the q-axis and the d-axis of the servo motor respectively, and measuring to obtain two corresponding groups of current peaks of the q-axis and the d-axis, wherein the two continuous voltage pulses applied to the same axis have the same polarity but different amplitudes, and the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
the inductance of the servo motor is determined based on the amplitude of two consecutive voltage pulses applied to the q-axis and the d-axis, respectively, the current peak value, and the voltage pulse duration.
Optionally, the process of calculating the permanent magnet flux linkage estimated value of the servo motor by the parameter calculating unit may include:
and determining a motor counter potential constant and a rotor progression of the servo motor, and calculating to obtain a permanent magnet flux linkage estimated value of the servo motor according to the motor counter potential constant and the rotor progression.
Optionally, the process of determining the servo diagnosis result by the diagnosis result unit based on the encoder magnetic bias angle of the servo motor and the error between the resistance, the inductance and the permanent magnet flux linkage estimated value of the servo motor and the preset reference encoder magnetic bias angle and the reference resistance, the reference inductance and the permanent magnet flux linkage reference value obtained by calculation may include:
If the error between the encoder declination of the servo motor and the reference encoder declination exceeds the declination preset error range, determining that the servo diagnosis result is servo abnormality and warning prompt;
if the error between the encoder magnetic declination of the servo motor and the reference encoder magnetic declination does not exceed the magnetic declination preset error range, judging whether the resistance, inductance and permanent magnet flux linkage estimated values of the servo motor respectively accord with the preset allowable error range or not, determining the servo diagnosis results which are judged to accord with the reference resistance, the reference inductance and the permanent magnet flux linkage reference value as servo normal, and determining the servo diagnosis results which are not accord with the judgment results as servo abnormal and alarming prompt.
The servo diagnosis device provided by the embodiment of the application can be applied to servo diagnosis equipment. Fig. 7 shows a block diagram of a hardware structure of a servo diagnosis apparatus, and referring to fig. 7, the hardware structure of the servo diagnosis apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete communication with each other through the communication bus 4;
Processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;
wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to:
sending a servo diagnosis instruction to a servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into the servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle;
when the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulse to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
and determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and errors among resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, a preset reference encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference values obtained through calculation.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the application also provides a readable storage medium, which can store a program suitable for being executed by a processor, the program being configured to:
sending a servo diagnosis instruction to a servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into the servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle;
when the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulse to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
and determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and errors among resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, a preset reference encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference values obtained through calculation.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A servo diagnostic method comprising:
sending a servo diagnosis instruction to a servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into a servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate from a preset angle to return to a zero point;
when the servo motor is monitored to rotate stably, determining the encoder magnetic declination of the servo motor, and calculating by applying voltage pulse to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
based on the encoder magnetic deflection angle of the servo motor, calculating resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, and determining a servo diagnosis result by the error between the encoder magnetic deflection angle and a preset reference resistance, a reference inductance and a permanent magnet flux linkage reference value;
based on the encoder magnetic deflection angle of the servo motor, and the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor obtained through calculation, and errors among a preset reference encoder magnetic deflection angle, a reference resistance, a reference inductance and a permanent magnet flux linkage reference value, a servo diagnosis result is determined, and the method comprises the following steps:
If the error between the encoder declination of the servo motor and the reference encoder declination exceeds the declination preset error range, determining that the servo diagnosis result is servo abnormality and warning prompt;
if the error between the encoder magnetic deflection angle of the servo motor and the reference encoder magnetic deflection angle does not exceed the magnetic deflection angle preset error range, judging whether the errors between the resistance, the inductance and the permanent magnet flux linkage estimated value of the servo motor and the reference resistance, the reference inductance and the permanent magnet flux linkage reference value respectively accord with the preset allowable error range, determining the servo diagnosis results which are both in accord with the judgment result as normal servo, and determining the servo diagnosis results which are not in accord with the judgment result as abnormal servo and warning prompt.
2. The method of claim 1, wherein the servo driver comprises a current PI controller, park module, SVPWM module, and inverter bridge;
controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, comprising:
controlling the current PI controller to perform coordinate transformation on the input three-phase current and outputting a control current to the Park module;
Controlling the Park module to carry out Park inverse transformation on the input control current, converting the control current into two-phase static coordinate system current, and inputting the two-phase static coordinate system current into the SVPWM module;
the SVPWM module is controlled to modulate the input two-phase static coordinate system current, and the two-phase static coordinate system current is converted into six paths of control signals, and the six paths of control signals are input into the inverter bridge;
and controlling the inverter bridge to generate three-phase symmetrical sinusoidal current based on the six paths of control signals.
3. The method of claim 1, wherein calculating the resistance of the servo motor comprises:
applying two continuous voltage pulses to the d-axis of the servo motor, and measuring to obtain two corresponding steady-state d-axis currents, wherein the two applied continuous voltage pulses have the same polarity but different amplitudes;
and determining the quotient of the pulse command difference of the two continuous voltage pulses and the current difference of the two corresponding steady-state d-axis currents as the resistance of the servo motor.
4. The method of claim 1, wherein calculating the inductance of the servo motor comprises:
applying voltage pulses to q-axis and d-axis of the servo motor, respectively, and measuring current peaks of the q-axis and the d-axis, wherein the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
An inductance of the servo motor is determined based on the amplitude of the voltage pulse, the current peak, and the voltage pulse duration applied to the q-axis and the d-axis, respectively.
5. The method of claim 1, wherein calculating the inductance of the servo motor comprises:
applying two continuous voltage pulses to the q-axis and the d-axis of the servo motor respectively, and measuring to obtain two corresponding groups of current peaks of the q-axis and the d-axis, wherein the two continuous voltage pulses applied to the same axis have the same polarity but different amplitudes, and the duration of the voltage pulse applied to the d-axis is twice that of the q-axis;
the inductance of the servo motor is determined based on the amplitude of two consecutive voltage pulses applied to the q-axis and the d-axis, respectively, the current peak value, and the voltage pulse duration.
6. The method of claim 1, wherein calculating a permanent magnet flux linkage estimate for the servo motor comprises:
and determining a motor counter potential constant and a rotor progression of the servo motor, and calculating to obtain a permanent magnet flux linkage estimated value of the servo motor according to the motor counter potential constant and the rotor progression.
7. A servo diagnostic device, comprising:
the command control unit is used for sending a servo diagnosis command to the servo driver, controlling the servo driver to convert three-phase current input into the servo driver into three-phase symmetrical sinusoidal current, inputting the three-phase symmetrical sinusoidal current into the servo motor to form a magnetic field in the servo motor, and controlling the servo motor to rotate back to a zero point from a preset angle;
the parameter calculation unit is used for determining the encoder magnetic declination of the servo motor after the servo motor is monitored to be rotationally stable, and calculating to obtain the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor;
the diagnosis result unit is used for determining a servo diagnosis result based on the encoder magnetic deflection angle of the servo motor, and the resistance, inductance and permanent magnet flux linkage estimated value of the servo motor, and errors among a preset reference encoder magnetic deflection angle, a reference resistance, a reference inductance and a permanent magnet flux linkage reference value;
the diagnosis result unit executes a process of determining a servo diagnosis result based on an encoder magnetic deflection angle of the servo motor, and errors between resistance, inductance and permanent magnet flux linkage estimated values of the servo motor, a preset reference encoder magnetic deflection angle and reference resistance, reference inductance and permanent magnet flux linkage reference values, wherein the process comprises the following steps:
If the error between the encoder declination of the servo motor and the reference encoder declination exceeds the declination preset error range, determining that the servo diagnosis result is servo abnormality and warning prompt;
if the error between the encoder magnetic deflection angle of the servo motor and the reference encoder magnetic deflection angle does not exceed the magnetic deflection angle preset error range, judging whether the errors between the resistance, the inductance and the permanent magnet flux linkage estimated value of the servo motor and the reference resistance, the reference inductance and the permanent magnet flux linkage reference value respectively accord with the preset allowable error range, determining the servo diagnosis results which are both in accord with the judgment result as normal servo, and determining the servo diagnosis results which are not in accord with the judgment result as abnormal servo and warning prompt.
8. A servo diagnostic device comprising a memory and a processor;
the memory is used for storing programs;
the processor for executing the program to implement the respective steps of the servo diagnostic method as claimed in any one of claims 1 to 6.
9. A readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the steps of the servo diagnostic method as claimed in any one of claims 1-6.
CN202310417614.9A 2023-04-19 2023-04-19 Servo diagnosis method, apparatus, device and readable storage medium Active CN116155170B (en)

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