TW201610395A - Calibration device for encoder positioning and calibration method thereof - Google Patents
Calibration device for encoder positioning and calibration method thereof Download PDFInfo
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本發明是有關於一種軸編碼器定位校正裝置及其校正方法,特別是有關於一種可用以輔助校正軸編碼器安裝於伺服馬達之安裝角度之軸編碼器定位校正裝置及其校正方法。The present invention relates to a shaft encoder positioning correction device and a calibration method thereof, and more particularly to a shaft encoder position correction device and a calibration method thereof for assisting in correcting a mounting angle of a shaft encoder mounted to a servo motor.
為滿足高科技產業製程之高精密需求,伺服馬達係大量的被應用於產業之自動化生產上。伺服馬達之定位精確度的關鍵主要是在於伺服馬達軸上之位置編碼器(Encoder),又稱軸編碼器。而伺服馬達與軸編碼器有一定之相對位置(安裝角度),因此伺服馬達與軸編碼器兩者必須正確的安裝,運用此伺服馬達之設備(如機器手臂等)才能正常的工作。當伺服馬達安裝編碼器、伺服馬達於維修保養或者是更換伺服馬達之軸承時,就必須面臨伺服馬達與軸編碼器兩者之間之相對位置變動而需重新校正之問題。In order to meet the high-precision demand of high-tech industrial processes, servo motors are widely used in industrial automation. The key to the positioning accuracy of the servo motor is mainly the position encoder (Encoder) on the servo motor shaft, also known as the shaft encoder. The servo motor and the shaft encoder have a certain relative position (mounting angle), so both the servo motor and the shaft encoder must be correctly installed, and the device using the servo motor (such as a robot arm) can work normally. When the servo motor is equipped with an encoder or servo motor for maintenance or replacement of the bearing of the servo motor, it must face the problem of relative positional change between the servo motor and the shaft encoder and need to be recalibrated.
目前伺服馬達維修困難之原因就在於,一般馬達維修廠商大多不具備軸編碼器校準之能力,而馬達維修時須拆下軸編碼器,軸編碼器與伺服馬達本體一經拆卸後其相對位置即會有錯亂的情形,故伺服馬達維修必須解決軸編碼器校準之問題。伺服馬達單價高,裝置高解析度之軸編碼器時,馬達價位更高,馬達軸承為正常使用下必須之消耗品,卻因無法校準軸編碼器而必須更換整組馬達,造成自動化產線之高維護成本。因此,極需一種校準裝置以使一般馬達維修廠商或自動化生產線之維修人員可進行馬達校準,此對馬達維修廠商或自動化生產之製造業將十分重要。At present, the reason why the servo motor is difficult to maintain is that most motor repair manufacturers do not have the ability to calibrate the shaft encoder. When the motor is repaired, the shaft encoder must be removed. After the shaft encoder and the servo motor body are disassembled, the relative position will be There is a disorder, so the servo motor repair must solve the problem of shaft encoder calibration. The servo motor has a high unit price. When the high-resolution shaft encoder is installed, the motor price is higher. The motor bearing is a consumable item for normal use. However, the entire group of motors must be replaced because the shaft encoder cannot be calibrated, resulting in an automated production line. High maintenance costs. Therefore, there is a great need for a calibration device to enable motor calibration by a general motor repair manufacturer or an automated line of maintenance personnel, which will be important to the motor repair manufacturer or the manufacturing industry of automated production.
綜觀前所述,本發明之發明人經多年苦心潛心研究,思索並設計一種軸編碼器定位校正裝置及其校正方法,以針對現有技術之缺失加以改善,進而增進產業上之實施利用。As described above, the inventors of the present invention have been painstakingly researching and designing a shaft encoder positioning correction device and a correction method thereof for many years to improve the lack of the prior art, thereby enhancing the industrial use and utilization.
有鑑於上述習知技藝之問題,本發明之目的就是在於提供一種軸編碼器定位校正裝置及其校正方法,以解決習知技術無法輕易校準伺服馬達之軸編碼器之安裝角度之問題。In view of the above problems of the prior art, the object of the present invention is to provide a shaft encoder positioning correction device and a calibration method thereof, which solve the problem that the mounting angle of the shaft encoder of the servo motor cannot be easily calibrated by the prior art.
根據本發明之目的,提出一種軸編碼器定位校正裝置,其適用於具有一軸編碼器之一待校正馬達。校正裝置包含了一馬達驅動電路、一校正及識別構件、一控制器及一顯示器。馬達驅動電路電性連結待校正馬達,以直接地驅動待校正馬達運轉。校正及識別構件電性連結待校正馬達,以接收軸編碼器之一相位信號,及量測待校正馬達運轉時之定子線圈之一反電勢信號。控制器電性連結馬達驅動電路及校正及識別構件;控制器先進行一驅動模式,其控制馬達驅動電路驅動待校正馬達運轉,後切換至一校正運算模式,即停止馬達驅動電路驅動待校正馬達運轉,並控制校正及識別構件接收相位信號及反電勢信號。控制器根據相位信號與反電勢信號,以判讀待校正馬達之磁極數、軸編碼器之解析度、軸編碼器於待校正馬達中目前角度位置及角度偏差量。顯示器電性連結校正及識別構件,控制器透過校正及識別構件驅動顯示器顯示磁極數、解析度、目前角度位置及角度偏差量,以供使用者依據顯示器所顯示之內容,校正待校正馬達之軸編碼器。In accordance with the purpose of the present invention, a shaft encoder position correction device is proposed that is suitable for use with a motor to be calibrated having a one-axis encoder. The calibration device includes a motor drive circuit, a correction and identification member, a controller, and a display. The motor drive circuit electrically connects the motor to be calibrated to directly drive the motor to be calibrated to operate. The correction and identification component is electrically coupled to the motor to be calibrated to receive a phase signal of one of the shaft encoders, and to measure a back EMF signal of the stator coil when the motor is to be calibrated. The controller is electrically connected to the motor driving circuit and the correction and identification component; the controller first performs a driving mode, which controls the motor driving circuit to drive the motor to be corrected, and then switches to a correction operation mode, that is, stops the motor driving circuit to drive the motor to be corrected. Operate, and control the correction and identification component to receive the phase signal and the back EMF signal. The controller determines the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder in the motor to be corrected, and the angular deviation amount according to the phase signal and the back EMF signal. The display is electrically connected to the calibration and identification component, and the controller drives the display through the calibration and identification component to display the number of magnetic poles, the resolution, the current angular position and the angular deviation amount, so that the user can correct the axis of the motor to be corrected according to the content displayed on the display. Encoder.
較佳地,驅動模式驅動待校正馬達之轉速達一模式轉換點後停止驅動待校正馬達,以使待校正馬達利用慣性接續運轉;校正運算模式判讀待校正馬達利用慣性接續運轉時的磁極數、解析度、目前角度位置及角度偏差量。Preferably, the driving mode drives the motor to be corrected to a mode switching point, and then stops driving the motor to be corrected, so that the motor to be corrected is continuously operated by inertia; and the correction operation mode determines the number of magnetic poles when the motor to be corrected is operated by inertia. Resolution, current angular position, and angular deviation.
較佳地,控制器依據待校正馬達之轉速及模式轉換點,可反復切換驅動模式及校正運算模式。Preferably, the controller can repeatedly switch between the driving mode and the correction operation mode according to the rotation speed of the motor to be corrected and the mode switching point.
較佳地,軸編碼器定位校正裝置在進行校正程序前,先量測並取得與待校正馬達同類型之標準馬達的一正常偏差量值;控制器比對正常偏差量值與角度偏差量,以獲得正常偏差量值與角度偏差量之差值。Preferably, the shaft encoder positioning correction device measures and obtains a normal deviation amount of the standard motor of the same type as the motor to be corrected before performing the calibration procedure; the controller compares the normal deviation amount and the angular deviation amount, Obtain the difference between the normal deviation magnitude and the angular deviation amount.
較佳地,控制器起始利用馬達驅動電路驅動待校正馬達起動運轉時,控制器產生模擬的一起動旋轉磁場,以使馬達驅動電路驅動待校正馬達起動運轉。Preferably, when the controller starts to drive the motor to be calibrated to start by the motor driving circuit, the controller generates a simulated rotating magnetic field to drive the motor driving circuit to start the motor to be calibrated.
根據本發明之目的,提出一種軸編碼器定位校正方法,適用於軸編碼器定位校正裝置對具有軸編碼器之待校正馬達進行校正;軸編碼器定位校正裝置包含馬達驅動電路、校正及識別構件、控制器及顯示器;軸編碼器定位校正方法包含下列步驟:進行一驅動模式,以直接地驅動待校正馬達運轉;進行一校正運算模式,以接收軸編碼器之一相位信號,及量測待校正馬達運轉時之定子線圈之一反電勢信號;根據相位信號與反電勢信號,以判讀待校正馬達之一磁極數、軸編碼器之一解析度、軸編碼器於待校正馬達中一目前角度位置及一角度偏差量;顯示磁極數、解析度、目前角度位置及角度偏差量;以及依據所顯示之內容,校正待校正馬達之軸編碼器。According to an object of the present invention, a shaft encoder positioning correction method is provided, which is suitable for a shaft encoder positioning correction device for correcting a motor to be corrected having a shaft encoder; the shaft encoder positioning correction device comprises a motor drive circuit, a correction and identification member The controller and the display; the shaft encoder positioning correction method comprises the following steps: performing a driving mode to directly drive the motor to be corrected; performing a correction operation mode to receive a phase signal of the shaft encoder, and measuring the signal Correcting a back EMF signal of the stator coil when the motor is running; determining the magnetic pole number of one of the motor to be corrected, the resolution of one of the shaft encoders, and the current angle of the shaft encoder in the motor to be corrected according to the phase signal and the back EMF signal Position and angular deviation; display magnetic pole number, resolution, current angular position and angular deviation; and correct the shaft encoder of the motor to be corrected according to the displayed content.
較佳地,驅動模式驅動待校正馬達之轉速達一模式轉換點後停止驅動待校正馬達,以使待校正馬達利用慣性接續運轉;校正運算模式判讀待校正馬達利用慣性接續運轉時的磁極數、解析度、目前角度位置及角度偏差量。Preferably, the driving mode drives the motor to be corrected to a mode switching point, and then stops driving the motor to be corrected, so that the motor to be corrected is continuously operated by inertia; and the correction operation mode determines the number of magnetic poles when the motor to be corrected is operated by inertia. Resolution, current angular position, and angular deviation.
較佳地,更可包含下列步驟:依據待校正馬達之轉速及模式轉換點,反復切換驅動模式及校正運算模式。Preferably, the method further comprises the steps of: repeatedly switching the driving mode and correcting the operation mode according to the rotation speed of the motor to be corrected and the mode switching point.
較佳地,軸編碼器定位校正裝置係在進行校正程序前,更可包含下列步驟:量測並取得與待校正馬達同類型之標準馬達的一正常偏差量值。Preferably, the shaft encoder positioning correction device further comprises the following steps: measuring and obtaining a normal deviation amount of the standard motor of the same type as the motor to be corrected before performing the calibration procedure.
較佳地,更可包含下列步驟:比對正常偏差量值與角度偏差量,以獲得正常偏差量值與角度偏差量之差值。Preferably, the method further comprises the steps of: comparing the normal deviation magnitude with the angular deviation amount to obtain a difference between the normal deviation magnitude and the angular deviation amount.
較佳地,更可包含下列步驟:產生模擬的一起動旋轉磁場,以使驅動待校正馬達起動運轉。Preferably, the method further comprises the step of generating a simulated dynamic rotating magnetic field to drive the motor to be calibrated to start running.
承上所述,依本發明之軸編碼器定位校正裝置及其校正方法,其可具有一或多個下述優點:As described above, the shaft encoder positioning correction device and the correction method thereof according to the present invention may have one or more of the following advantages:
(1)此軸編碼器定位校正裝置及其校正方法係利用一馬達驅動電路直接地驅動待校正馬達運轉,從而無須另設置一原動馬達來帶動待校正馬達運轉及專用的固定架台,藉此可有效簡化待校正馬達的軸編碼器安裝後進行校正的裝置或工具。(1) The shaft encoder positioning correction device and the calibration method thereof directly drive the motor to be calibrated by using a motor drive circuit, thereby eliminating the need to additionally provide a motive motor to drive the motor to be calibrated and a dedicated fixed frame. A device or tool that simplifies the calibration of the shaft encoder of the motor to be calibrated after installation.
(2)此軸編碼器定位校正裝置及其校正方法係利用校正及識別構件及控制器將待校正馬達之磁極數、軸編碼器之解析度、軸編碼器之目前角度位置及軸編碼器之安裝角度偏移量運算出來,再經由顯示器顯示之,使用者便可根據顯示器所顯示之內容,輕易地對伺服馬達之軸編碼器進行校準動作。(2) The shaft encoder positioning correction device and the calibration method thereof use the correction and identification member and the controller to adjust the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder, and the shaft encoder The installation angle offset is calculated and displayed on the display, and the user can easily calibrate the servo encoder shaft encoder according to the display content of the display.
(3)此軸編碼器定位校正裝置及其校正方法係,以利用先取得標準馬達的一正常偏差量值,以比對正常偏差量值與角度偏差量,以獲得正常偏差量值與角度偏差量之差值,從而可輕易地對待校正馬達進行校準動作。(3) The shaft encoder positioning correction device and the calibration method thereof are configured to obtain a normal deviation magnitude and an angular deviation by using a normal deviation magnitude of the standard motor to compare the normal deviation magnitude and the angular deviation amount. The difference between the quantities makes it easy to calibrate the motor for calibration.
1‧‧‧軸編碼器定位校正裝置1‧‧‧Axis encoder positioning correction device
10‧‧‧馬達驅動電路10‧‧‧Motor drive circuit
20‧‧‧校正及識別構件20‧‧‧Correction and identification components
30‧‧‧控制器30‧‧‧ Controller
40‧‧‧顯示器40‧‧‧ display
9‧‧‧待校正馬達9‧‧‧ Motor to be calibrated
91‧‧‧軸編碼器91‧‧‧Axis encoder
Z、A、B‧‧‧相位信號Z, A, B‧‧‧ phase signals
Van‧‧‧反電勢信號V an ‧‧‧ back EMF signal
S201~210‧‧‧流程S201~210‧‧‧Process
S501~510‧‧‧流程S501~510‧‧‧Process
S61~S65‧‧‧步驟S61~S65‧‧‧Steps
第1圖 係為本發明之軸編碼器定位校正裝置之一實施例的方塊示意圖。Fig. 1 is a block diagram showing an embodiment of a shaft encoder positioning correction device of the present invention.
第2圖 係為本發明之軸編碼器定位校正裝置之一實施例的校正程序流程示意圖。Fig. 2 is a flow chart showing the calibration procedure of an embodiment of the shaft encoder positioning correction device of the present invention.
第3圖 係為本發明之軸編碼器定位校正裝置之一實施例的馬達驅動示意圖。Figure 3 is a schematic diagram of the motor drive of one embodiment of the shaft encoder positioning correction device of the present invention.
第4圖 係為本發明之軸編碼器定位校正裝置之一實施例的馬達運算示意圖。Figure 4 is a schematic diagram of the motor operation of an embodiment of the shaft encoder positioning correction device of the present invention.
第5圖 係為本發明之軸編碼器定位校正裝置之另一實施例的流程示意圖。Figure 5 is a flow chart showing another embodiment of the shaft encoder positioning correction device of the present invention.
第6圖 係為本發明之軸編碼器定位校正方法之步驟圖。Figure 6 is a diagram showing the steps of the method for correcting the position of the shaft encoder of the present invention.
為利 貴審查員瞭解本發明之技術特徵、內容與優點及其所能達成之功效,茲將本發明配合附圖,並以實施例之表達形式詳細說明如下,而其中所使用之圖式,其主旨僅為示意及輔助說明書之用,未必為本發明實施後之真實比例與精準配置,故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍,合先敘明。The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and description. It is not intended to be a true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be interpreted or limited. First described.
請參閱第1圖,其係為本發明之軸編碼器定位校正裝置之一實施例的方塊示意圖。如圖所示,本發明之軸編碼器定位校正裝置1係適用於一待校正馬達9,其可為伺服馬達,且此待校正馬達9具有一軸編碼器91,較佳地其係為一增量編碼型軸編碼器,但不以此為限。此校正裝置1主要可提供生產廠商或使用者將軸編碼器91安裝於待校正馬達9時之精準定位校正用,或者是軸編碼器91發生鬆脫偏移或待校正馬達9維修保養需對軸編碼器91重新校準定位其安裝角度之用。Please refer to FIG. 1 , which is a block diagram of an embodiment of a shaft encoder positioning correction device of the present invention. As shown in the figure, the shaft encoder positioning correction device 1 of the present invention is applicable to a motor to be corrected 9, which may be a servo motor, and the motor 9 to be corrected has a shaft encoder 91, preferably a booster. A coded shaft encoder, but not limited to this. The calibration device 1 can mainly provide precise positioning correction for the manufacturer or the user to mount the shaft encoder 91 to the motor 9 to be corrected, or the shaft encoder 91 is loosely offset or the motor 9 to be corrected needs to be repaired and maintained. The shaft encoder 91 is recalibrated to position its mounting angle.
本發明之軸編碼器定位校正裝置1包含了一馬達驅動電路10、一校正及識別構件20、一控制器30及一顯示器40。馬達驅動電路10電性連結待校正馬達9,以直接地驅動待校正馬達9運轉。校正及識別構件20可包含校準電路及反電勢識別電路。校正及識別構件20電性連結待校正馬達9及其軸編碼器91,以接收軸編碼器91之一相位信號,及量測待校正馬達9運轉時之定子線圈之一反電勢信號。控制器30可為一現場可程式邏輯閘陣列( Field Programmable Gate Array, FPGA)晶片,控制器30中更包含了解碼運算程式,如超高速集成電路硬體描述語言(Very-High-Speed Integrated Circuit Hardware Description Language, VHDL)程式。控制器30電性連結馬達驅動電路10及校正及識別構件20。控制器30先進行一驅動模式後再切換至一校正運算模組。在驅動模式中,控制器30控制馬達驅動電路10驅動待校正馬達9運轉,而在校正運算模式中,控制器30停止使馬達驅動電路10驅動待校正馬達9運轉,並控制校正及識別構件20接收相位信號Z、A、B及反電勢信號Van 。附帶一提的,本發明之軸編碼器定位校正裝置1利用馬達驅動電路10即可使待校正馬達9進行運轉,從而可省略了習知技術中須額外設置馬達來帶動待校正馬達9的不便性,且由於不須利用馬達來帶動待校正馬達9,因此亦不須使用專用的或特別的固定架台來固定馬達與待校正馬達9。The shaft encoder positioning correction device 1 of the present invention comprises a motor drive circuit 10, a correction and identification member 20, a controller 30 and a display 40. The motor drive circuit 10 is electrically coupled to the motor 9 to be corrected to directly drive the motor 9 to be calibrated to operate. The correction and identification component 20 can include a calibration circuit and a back EMF identification circuit. The correction and identification member 20 electrically connects the motor 9 to be corrected and its shaft encoder 91 to receive a phase signal of one of the shaft encoders 91, and to measure a back EMF signal of the stator coil when the motor 9 is to be calibrated. The controller 30 can be a Field Programmable Gate Array (FPGA) chip, and the controller 30 further includes a decoding operation program, such as a Very-High-Speed Integrated Circuit. Hardware Description Language, VHDL) program. The controller 30 is electrically coupled to the motor drive circuit 10 and the correction and identification member 20. The controller 30 first performs a driving mode and then switches to a correction computing module. In the drive mode, the controller 30 controls the motor drive circuit 10 to drive the motor 9 to be corrected to operate, and in the correction operation mode, the controller 30 stops the motor drive circuit 10 from driving the motor 9 to be corrected to operate, and controls the correction and identification member 20 The phase signals Z, A, B and the back EMF signal V an are received. Incidentally, the shaft encoder positioning correction device 1 of the present invention can operate the motor 9 to be corrected by using the motor drive circuit 10, thereby omitting the inconvenience of the prior art in which an additional motor is required to drive the motor 9 to be corrected. Moreover, since it is not necessary to use a motor to drive the motor 9 to be calibrated, it is not necessary to use a dedicated or special fixing stand to fix the motor and the motor 9 to be corrected.
接著,控制器30再根據相位信號Z、A、B與反電勢信號Van ,以判讀待校正馬達9之一磁極數、軸編碼器91之一解析度、軸編碼器91於待校正馬達9中一目前角度位置及軸編碼器91安裝於待校正馬達9後的一角度偏差量。顯示器40可為LCD顯示器、LED顯示器或觸控式顯示器,其係電性連結校正及識別構件20。控制器30透過校正及識別構件20驅動顯示器40顯示磁極數、解析度、目前角度位置及角度偏差量,以供使用者依據顯示器40所顯示之內容,校正待校正馬達9之軸編碼器91,如校正軸編碼器91安裝於待校正馬達9後的角度偏差量。順帶一提的是,馬達驅動電路10及校正及識別構件20係可直接地整合至控制器30中,故不可僅以上述作為限制。Next, the controller 30 further determines the number of magnetic poles of one of the motor 9 to be corrected, the resolution of one of the shaft encoders 91, and the shaft encoder 91 to the motor to be corrected according to the phase signals Z, A, B and the back EMF signal V an . The current angular position of the first one and the angular encoder 91 are mounted on the angular deviation of the motor 9 to be corrected. Display 40 can be an LCD display, an LED display, or a touch sensitive display that is electrically coupled to the calibration and identification member 20. The controller 30 drives the display 40 through the correction and identification member 20 to display the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount, so that the user can correct the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40. For example, the amount of angular deviation after the shaft encoder 91 is mounted on the motor 9 to be corrected. Incidentally, the motor drive circuit 10 and the correction and identification member 20 can be directly integrated into the controller 30, and therefore cannot be limited only by the above.
其中,驅動模式驅動待校正馬達9之轉速達一模式轉換點(ncr )後停止驅動待校正馬達9,以使待校正馬達9利用慣性接續運轉。校正運算模式之操作方式為利用慣性接續運轉時之特性判讀待校正馬達9的磁極數、解析度、目前角度位置及角度偏差量。因此,控制器30可依據獲得的待校正馬達之轉速及模式轉換點,來決定進行驅動模式及校正運算模式。當然地,控制器30可依據待校正馬達9之轉速及模式轉換點,反復切換驅動模式及校正運算模式,以便於判讀待校正馬達9之磁極數、軸編碼器91之解析度、軸編碼器91於待校正馬達9中的目前角度位置及軸編碼器91安裝於待校正馬達9後的角度偏差量。Wherein, the driving mode drives the motor to be corrected to reach a mode switching point (n cr ) and then stops driving the motor 9 to be corrected, so that the motor 9 to be corrected is continuously operated by inertia. The operation mode of the correction calculation mode is to determine the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount of the motor 9 to be corrected by the characteristics of the inertial continuous operation. Therefore, the controller 30 can determine the driving mode and the correction operation mode according to the obtained rotation speed of the motor to be corrected and the mode switching point. Of course, the controller 30 can repeatedly switch the driving mode and the correction operation mode according to the rotation speed of the motor 9 to be corrected and the mode switching point, so as to interpret the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, and the shaft encoder. The current angular position in the motor 9 to be corrected and the angular deviation amount of the shaft encoder 91 after being mounted to the motor 9 to be corrected.
請一併配合參閱第2至4圖。第2圖係為本發明之軸編碼器定位校正裝置之一實施例的校正程序流程示意圖。第3圖係為本發明之軸編碼器定位校正裝置之一實施例的馬達驅動示意圖。第4圖係為本發明之軸編碼器定位校正裝置之一實施例的馬達運算示意圖。本發明之軸編碼器定位校正裝置1進行校正程序時係可如下列流程進行。Please refer to Figures 2 to 4 together. Fig. 2 is a flow chart showing the calibration procedure of an embodiment of the shaft encoder positioning correction device of the present invention. Figure 3 is a schematic diagram of the motor drive of one embodiment of the shaft encoder positioning correction device of the present invention. Figure 4 is a schematic diagram of the motor operation of one embodiment of the shaft encoder positioning correction device of the present invention. The shaft encoder positioning correction device 1 of the present invention can perform the calibration procedure as follows.
(S201)固定待校正馬達。首先須將待校正馬達9固定,從而以避免待校正馬達9在旋轉時晃動而發生危險或損壞。(S201) Fixing the motor to be corrected. First, the motor 9 to be calibrated must be fixed to avoid danger or damage caused by the motor 9 to be calibrated shaking while rotating.
(S202)送電工作。電源開關送入電力,以使本發明之軸編碼器定位校正裝置1可開始動作。(S202) Power transmission work. The power switch supplies power so that the shaft encoder positioning correction device 1 of the present invention can start to operate.
(S203)起動運轉模式(Z=0)及開始驅動馬達。如第3圖所示,控制器30亦包含了速度控制器、向量控制器、PWM電路等用於控制驅動馬達運轉的元件。控制器30設定於起動模式開始驅動待校正馬達產生旋轉;此模式下控制器30會產生模擬之角度信號,以供向量控制器產生驅動待校正馬達運轉之起動旋轉磁場,直至接收到零點信號(相位信號Z)後,始切換至一般地驅動模式。即,本發明之軸編碼器定位校正裝置1藉此可使馬達驅動電路10直接地驅動待校正馬達9運轉,從而可簡化習知技術中利用專用的或特別的固定架台來固定額外設置的馬達及待校正馬達9,除了可有效節省成本之外,亦可有效的減少相關人員進行軸編碼器定位校正的程序及時間。(S203) Start the operation mode (Z=0) and start the drive motor. As shown in FIG. 3, the controller 30 also includes components such as a speed controller, a vector controller, a PWM circuit, and the like for controlling the operation of the drive motor. The controller 30 is set to start driving the motor to be corrected to generate rotation in the starting mode; in this mode, the controller 30 generates a simulated angle signal for the vector controller to generate a starting rotating magnetic field for driving the motor to be corrected until a zero signal is received ( After the phase signal Z), it switches to the general drive mode. That is, the shaft encoder positioning correction device 1 of the present invention can thereby cause the motor drive circuit 10 to directly drive the motor 9 to be calibrated, thereby simplifying the use of a dedicated or special fixing frame to fix an additional set of motors in the prior art. In addition to being effective in cost saving, the motor 9 to be calibrated can also effectively reduce the procedure and time for the relevant personnel to perform the positioning correction of the shaft encoder.
(S204)速度判定。此時,控制器30會判定待校正馬達9之速度是否大於一模式轉換點,以決定進流程S205或S209。也就是說,藉由判定待校正馬達9之速度是否大於模式轉換點,以作為控制器30動作於驅動模式或校正運算模式之參考依據。(S204) Speed determination. At this time, the controller 30 determines whether the speed of the motor 9 to be corrected is greater than a mode switching point to determine the flow S205 or S209. That is, by determining whether the speed of the motor to be corrected 9 is greater than the mode switching point, it serves as a reference for the controller 30 to operate in the driving mode or the correction operation mode.
(S205)操作於校正運算模式。當待校正馬達9之速度達模式轉換點後,控制器30操作於校正運算模式,此時馬達驅動電路呈OFF狀態(000向量),且待校正馬達9處於慣性旋轉狀態。(S205) operating in the correction operation mode. When the speed of the motor 9 to be corrected reaches the mode switching point, the controller 30 operates in the correction operation mode, at which time the motor drive circuit is in an OFF state (000 vector), and the motor 9 to be corrected is in an inertial rotation state.
(S206)待校正馬達信號硬體電路處理。當待校正馬達9處於慣性旋轉狀態時,校正及識別構件20的校準電路及反電勢識別電路會分別擷取軸編碼器91的相位信號Z、A、B及待校正馬達的反電勢信號Van 。即,當待校正馬達9運轉時,校準電路係將處理軸編碼器91所輸入之相位信號Z、A、B,反電勢識別電路則係將量測待校正馬達9之定子線圈之一反電勢信號Van 。(S206) The motor signal hardware circuit processing to be corrected. When the motor 9 to be corrected is in the inertial rotation state, the calibration circuit and the back EMF identification circuit of the correction and identification member 20 respectively capture the phase signals Z, A, B of the shaft encoder 91 and the back EMF signal V an of the motor to be corrected. . That is, when the motor 9 to be corrected is operated, the calibration circuit will process the phase signals Z, A, B input by the shaft encoder 91, and the back potential identification circuit will measure the back electromotive force of one of the stator coils of the motor 9 to be corrected. Signal V an .
(S207)信號運算(PPR(Encoder旋轉一圈所產生之時脈數)、磁極數、解析度、目前角度位置及角度偏移量)。當擷取相位信號Z、A、B及反電勢信號Van 後,控制器30進行相位信號Z、A、B及反電勢信號Van 之比對運算。進一步來說,控制器30中之VHDL程式根據相位信號Z、A、B及反電勢信號Van 運算出待校正馬達9之磁極數、軸編碼器91之解析度、軸編碼器91安裝於待校正馬達9之目前角度位置及安裝後的角度偏移量。即如第4圖所示。(S207) Signal calculation (PPR (number of clocks generated by Encoder rotation), number of magnetic poles, resolution, current angular position, and angular offset). After the phase signals Z, A, B and the back EMF signal V an are extracted, the controller 30 performs an alignment operation of the phase signals Z, A, B and the back EMF signal V an . Further, the VHDL program in the controller 30 calculates the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91 based on the phase signals Z, A, B and the back potential signal V an , and the shaft encoder 91 is installed Correct the current angular position of the motor 9 and the angular offset after installation. That is as shown in Figure 4.
(S208)顯示器顯示。在獲得待校正馬達9之磁極數、軸編碼器91之解析度、軸編碼器91安裝於待校正馬達9之目前角度位置及安裝後的角度偏移量後,控制器30則可利用顯示器40將磁極數、解析度、目前角度位置及角度偏移量顯示出來。因此,使用者依據顯示器40所顯示之內容,校正待校正馬達9之軸編碼器91,如校正軸編碼器91安裝於待校正馬達9後的角度偏差量。(S208) The display is displayed. After obtaining the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, the current angular position of the shaft encoder 91 mounted on the motor 9 to be corrected, and the angular offset after installation, the controller 30 can utilize the display 40. The number of poles, the resolution, the current angular position, and the angular offset are displayed. Therefore, the user corrects the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40, such as the angular deviation amount after the correction shaft encoder 91 is mounted on the motor 9 to be corrected.
舉例來說,若顯示器40所顯示出之角度偏移量不為一基準值時,表示軸編碼器91安裝之角度有所偏差。此時使用者便可根據顯示器40所顯示之內容,來校正待校正馬達9之軸編碼器91之角度偏移量,例如將軸編碼器91之光盤作順時或逆時針的轉動調整,以使角度偏移量調整為基準值。接著再次的驅使待校正馬達9轉動,以再次運算經調整後之待校正馬達9之軸編碼器91之磁極數、解析度、目前角度位置及角度偏移量,並經由顯示器40顯示,若角度偏移量為基準值時,校正程序則結束。其中,角度偏移量之調整可依使用者所需或工具之規格進行調整,因此上述所舉使角度偏移量調整為「基準值」可為任一角度,包含零度、30度或60度等等。意即,若使用者欲使角度偏移量為零度、30度或60度時,而第一次校正時顯示器40所顯示出之角度偏移量不為零度、30度或60度,使用者便可依據上述方式將角度偏移量調整為零度、30度或60度。For example, if the angular offset displayed by the display 40 is not a reference value, it indicates that the angle at which the shaft encoder 91 is mounted is deviated. At this time, the user can correct the angular offset of the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40, for example, adjust the disc of the shaft encoder 91 in a clockwise or counterclockwise rotation to Adjust the angular offset to the reference value. Then, the motor 9 to be corrected is driven to rotate again to calculate the number of magnetic poles, the resolution, the current angular position and the angular offset of the shaft encoder 91 of the adjusted motor 9 to be corrected, and is displayed via the display 40. When the offset is the reference value, the calibration procedure ends. The adjustment of the angular offset can be adjusted according to the user's requirements or the specifications of the tool. Therefore, the above-mentioned adjustment of the angular offset to the "reference value" can be any angle, including zero, 30 or 60 degrees. and many more. That is, if the user wants the angle offset to be zero degree, 30 degrees or 60 degrees, and the angle offset displayed by the display 40 during the first correction is not zero degree, 30 degrees or 60 degrees, the user The angular offset can be adjusted to zero, 30 or 60 degrees as described above.
(S209)操作於驅動模式。在上述之流程S204中,若待校正馬達9之速度未達模式轉換點,則控制器30操作於驅動模式,控制器30經角度與速度回授信號控制向量控制器產生驅動馬達運動之旋轉向量。(S209) operates in the drive mode. In the above process S204, if the speed of the motor 9 to be corrected does not reach the mode switching point, the controller 30 operates in the driving mode, and the controller 30 generates a rotation vector for driving the motor motion via the angle and speed feedback signal control vector controller. .
(S210)馬達驅動電路作動。即,旋轉向量之PWM切換訊號操控功率級之開關動作。(S210) The motor drive circuit is actuated. That is, the PWM switching signal of the rotation vector controls the switching action of the power stage.
由上述可知,本發明之軸編碼器定位校正裝置1係可由馬達驅動電路10、校正及識別構件20、控制器30及顯示器40所組成,在不須依據或利用馬達來驅動待校正馬達9運轉,即可使待校正馬達9運轉以獲得待校正馬達9之磁極數、軸編碼器91之解析度、軸編碼器91安裝於待校正馬達9之目前角度位置及安裝後的角度偏移量等參數,從而可快速且方便地完成待校正馬達9之軸編碼器91之校正,當待校正馬達9於維修或任何情況下軸編碼器91需要重新定位時,便不需要因無法對軸編碼器91進行適當的校正而更換整組馬達,可有效地降低成本之花費。As can be seen from the above, the shaft encoder positioning correction device 1 of the present invention can be composed of the motor drive circuit 10, the correction and identification member 20, the controller 30 and the display 40, without driving or operating the motor 9 to be corrected according to or using a motor. The motor to be corrected 9 can be operated to obtain the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, the current angular position of the shaft encoder 91 mounted to the motor 9 to be corrected, and the angular offset after installation. The parameter, so that the correction of the shaft encoder 91 of the motor 9 to be corrected can be completed quickly and conveniently. When the motor 9 to be corrected is repaired or the shaft encoder 91 needs to be repositioned under any circumstances, it is not necessary to disable the shaft encoder. 91 The appropriate correction is made to replace the entire set of motors, which can effectively reduce the cost.
請參閱第5圖,其係為本發明之軸編碼器定位校正裝置之另一實施例的流程示意圖。首先,先取與待校正馬達9相同類型之標準馬達,經此軸編碼器定位校正裝置1預先量測並儲存製造廠所設計之正常偏差量後,即可作為待校正馬達9之軸編碼器91的角度偏差量比對依據,接著再依以下流程步驟進行軸編碼器91之校正,且在下述流程中未特別說明的部分,係與前一實施例類似。此 軸編碼器定位校正裝置1進行校正之使用步驟與動作流程如下所示:Please refer to FIG. 5, which is a schematic flow chart of another embodiment of the shaft encoder positioning correction device of the present invention. First, the standard motor of the same type as the motor 9 to be calibrated is taken first, and after the shaft encoder positioning correction device 1 measures and stores the normal deviation amount designed by the manufacturer, it can be used as the shaft encoder 91 of the motor 9 to be corrected. The angular deviation is compared, and then the shaft encoder 91 is corrected according to the following flow steps, and the portions not specifically described in the following flow are similar to the previous embodiment. The steps and operation flow of the shaft encoder positioning correction device 1 for correction are as follows:
(S501)首先須將待校正馬達固定,以免馬達旋轉時晃動發生危險。(S501) First, the motor to be calibrated must be fixed so as not to cause a danger of sloshing when the motor rotates.
(S502)電源開關投入,開始動作。(S502) The power switch is turned on and the operation starts.
(S503)設定於起動模式開始驅動馬達產生旋轉。(S503) Set in the start mode to start the drive motor to generate rotation.
(S504)校正裝置1動作於驅動模式或是校正運算模式。(S504) The correction device 1 operates in the drive mode or the correction calculation mode.
(S505)驅動馬達運轉或是擷取反電動勢信號Van 與相位信號Z、A、B。(S505) The drive motor operates or captures the counter electromotive force signal V an and the phase signals Z, A, B.
(S506)校正訊號運算如PPR、極數、偏移量、校正位置等之運算。(S506) Correcting the operation of the signal operation such as PPR, pole number, offset, corrected position, and the like.
(S507)經由顯示器顯示校正資訊顯示。(S507) Displaying the correction information display via the display.
(S508)判斷偏移量是否為零,此偏移量為偏移之PPR值,若不為零則開始校正。(S508) It is judged whether the offset is zero, and the offset is the offset PPR value, and if it is not zero, the correction is started.
(S509)開始做軸編碼器91校正,而其偏移量可從顯示器顯示(如LCD面板或觸控式面板)得知,其偏移量為偏移之PPR值,由此可得知應將軸編碼器91之光盤做順或逆時針調整,而調整時控制器30內部程式之校正位置計算會依照光盤之順或逆時針調整,可即時加減而得到已移動之PPR值。在調整完軸編碼器91之光盤後,則可重回至(S502)步驟,重新開始帶動待校正馬達運轉,接下來再繼續做S503~S507之動作。(S509) Start to perform the shaft encoder 91 correction, and the offset can be obtained from the display of the display (such as an LCD panel or a touch panel), and the offset is the offset PPR value, thereby knowing that The disc of the shaft encoder 91 is adjusted in a clockwise or counterclockwise manner, and the correction position calculation of the internal program of the controller 30 is adjusted according to the smooth or counterclockwise adjustment of the optical disc, and the moved PPR value can be obtained by adding or subtracting immediately. After the disc of the shaft encoder 91 is adjusted, it is possible to return to the step (S502) to restart the operation of the motor to be corrected, and then continue to perform the operations of S503 to S507.
(S510)當偏移量顯示為零(與標準馬達之值相同),則校正完成。(S510) When the offset is displayed to be zero (same as the value of the standard motor), the correction is completed.
本發明之軸編碼器定位校正裝置1藉由上述流程應用可方便軸編碼器91校正並且能一次性即可完成校正之目的。The shaft encoder positioning correction device 1 of the present invention can be easily calibrated by the shaft encoder 91 by the above-described flow application and can be corrected in one time.
請參閱第6圖,其係為本發明之軸編碼器定位校正方法之步驟圖。本發明之軸編碼器定位校正方法,適用於如前述之軸編碼器定位校正裝置對具有一軸編碼器之一待校正馬達進行校正。該方法包含下列步驟:(S61)進行驅動模式,以直接地驅動待校正馬達運轉;(S62)進行校正運算模式以接收軸編碼器之一相位信號及量測待校正馬達運轉時之定子線圈之反電勢信號;(S63)根據相位信號與反電勢信號以判讀待校正馬達之磁極數、軸編碼器之解析度、軸編碼器於待校正馬達中目前角度位置及角度偏差量;(S64)顯示磁極數、解析度、目前角度位置及角度偏差量;以及(S65)依據所顯示之內容,校正待校正馬達之軸編碼器。Please refer to FIG. 6 , which is a step diagram of the method for correcting the position of the shaft encoder of the present invention. The shaft encoder positioning correction method of the present invention is suitable for correcting a motor to be corrected having one axis encoder as described above for the shaft encoder positioning correction device. The method comprises the following steps: (S61) performing a driving mode to directly drive the motor to be corrected; (S62) performing a correction operation mode to receive a phase signal of one of the shaft encoders and measuring a stator coil of the motor to be corrected a back EMF signal; (S63) according to the phase signal and the back EMF signal to determine the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder in the motor to be corrected, and the angular deviation amount; (S64) display The number of magnetic poles, the resolution, the current angular position, and the angular deviation amount; and (S65) correcting the shaft encoder of the motor to be corrected according to the displayed content.
本發明之軸編碼器定位校正方法的詳細說明以及實施方式已於前面敘述本發明之軸編碼器定位校正裝置時描述過,在此為了簡略說明便不再敘述。The detailed description and embodiments of the shaft encoder positioning correction method of the present invention have been described in the foregoing description of the shaft encoder positioning correction device of the present invention, and will not be described here for the sake of brevity.
綜上所述,本發明之軸編碼器定位校正裝置及方法簡化須另設置馬達來帶動待校正馬達運轉及設置對準定位專用的架台的問題,藉此以提升軸編碼器定位校正時的工作效率且兼具成本的節省。同時地,本發明之定位校正裝置及方法亦提供了直覺的、便利的使用方式。In summary, the shaft encoder positioning correction device and method of the present invention simplifies the problem of separately setting a motor to drive the motor to be calibrated and setting a platform dedicated for alignment and positioning, thereby improving the work of positioning and correcting the shaft encoder. Efficiency and cost savings. At the same time, the positioning correction device and method of the present invention also provides an intuitive and convenient way of use.
以上所述僅為舉例性,而非為限制性者。任何未脫離本發明之精神與範疇,而對其進行之等效修改或變更,均應包含於後附之申請專利範圍中。The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.
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1‧‧‧軸編碼器定位校正裝置 1‧‧‧Axis encoder positioning correction device
10‧‧‧馬達驅動電路 10‧‧‧Motor drive circuit
20‧‧‧校正及識別構件 20‧‧‧Correction and identification components
30‧‧‧控制器 30‧‧‧ Controller
40‧‧‧顯示器 40‧‧‧ display
9‧‧‧待校正馬達 9‧‧‧ Motor to be calibrated
91‧‧‧軸編碼器 91‧‧‧Axis encoder
Claims (17)
一馬達驅動電路,係電性連結該待校正馬達,以直接地驅動該待校正馬達運轉;
一校正及識別構件,係電性連結該待校正馬達,以接收該軸編碼器之一相位信號,及量測該待校正馬達運轉時之定子線圈之一反電勢信號;
一控制器,係電性連結該馬達驅動電路及該校正及識別構件,該控制器先進行一驅動模式,其係控制該馬達驅動電路驅動該待校正馬達運轉,後切換至一校正運算模式,其係停止使該馬達驅動電路驅動該待校正馬達運轉,並控制該校正及識別構件接收該相位信號及該反電勢信號,該控制器根據該相位信號與該反電勢信號,以判讀該待校正馬達之一磁極數、該軸編碼器之一解析度、該軸編碼器於該待校正馬達中一目前角度位置及一角度偏差量;以及A shaft encoder positioning correction device suitable for a motor with a shaft encoder to be corrected, comprising:
a motor driving circuit electrically connecting the motor to be corrected to directly drive the motor to be corrected;
a calibration and identification component electrically connecting the motor to be corrected to receive a phase signal of the shaft encoder, and measuring a back EMF signal of the stator coil when the motor to be corrected is in operation;
a controller electrically connecting the motor driving circuit and the correction and identification member, the controller first performing a driving mode, and controlling the motor driving circuit to drive the motor to be corrected to operate, and then switching to a correction operation mode, Stopping the motor driving circuit to drive the motor to be corrected, and controlling the correction and identification component to receive the phase signal and the back potential signal, the controller according to the phase signal and the back potential signal to determine the to be corrected a magnetic pole number of the motor, a resolution of the shaft encoder, a current angular position of the shaft encoder in the motor to be corrected, and an angular deviation amount;
進行一驅動模式,以直接地驅動該待校正馬達運轉;
進行一校正運算模式,以接收該軸編碼器之一相位信號,及量測該待校正馬達運轉時之定子線圈之一反電勢信號;
根據該相位信號與該反電勢信號,以判讀該待校正馬達之一磁極數、該軸編碼器之一解析度、該軸編碼器於該待校正馬達中一目前角度位置及一角度偏差量;
顯示該磁極數、該解析度、該目前角度位置及該角度偏差量;以及A shaft encoder positioning correction method is suitable for a shaft encoder positioning correction device for correcting a motor to be corrected with a shaft encoder, the shaft encoder positioning correction device comprising a motor drive circuit, a correction and identification member, and a control And a display, the method comprises the following steps:
Performing a driving mode to directly drive the motor to be calibrated;
Performing a correction operation mode to receive a phase signal of one of the shaft encoders, and measuring a back EMF signal of the stator coil when the motor to be corrected is in operation;
Determining, according to the phase signal and the back EMF signal, a magnetic pole number of one of the motor to be corrected, a resolution of the shaft encoder, a current angular position of the shaft encoder in the motor to be corrected, and an angular deviation amount;
Displaying the number of magnetic poles, the resolution, the current angular position, and the amount of angular deviation;
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