TW202300871A - Magnetic encoder compensation system and method of compensating the same - Google Patents

Magnetic encoder compensation system and method of compensating the same Download PDF

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TW202300871A
TW202300871A TW110123406A TW110123406A TW202300871A TW 202300871 A TW202300871 A TW 202300871A TW 110123406 A TW110123406 A TW 110123406A TW 110123406 A TW110123406 A TW 110123406A TW 202300871 A TW202300871 A TW 202300871A
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permanent magnet
torque
magnet motor
magnetic encoder
voltage
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TW110123406A
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TWI774442B (en
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陳建宇
林明瀚
卓源鴻
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台達電子工業股份有限公司
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Abstract

A magnetic encoder compensation system includes a permanent magnet motor module, a load motor module, a torque meter, a power meter, and a control module. The control module controls a permanent magnet motor of the permanent magnet motor module to rotate in a high speed range, and controls a load motor of the load motor module to perform a maximum torque dynamical loading to the permanent magnet motor to detect a torque information and a voltage information through the torque meter and the electricity meter. The control module determines whether to zero compensation for the magnetic encoder according to the torque information and the voltage information, calculate a compensation angle of the magnetic encoder according to the read angle, and writes the compensation angle into a magnetic encoder of the permanent magnet motor module.

Description

磁編碼器補償系統及其補償方法Magnetic encoder compensation system and its compensation method

本發明係有關一種磁編碼器補償系統及其補償方法，尤指一種透過動態加載進行零點角度微調及燒錄補正的磁編碼器補償系統及其補償方法。The present invention relates to a magnetic encoder compensation system and its compensation method, in particular to a magnetic encoder compensation system and its compensation method for fine-tuning the zero point angle and programming correction through dynamic loading.

如圖1所示，傳統的磁編碼器補償系統100a 包括永磁馬達模組200、負載馬達模組1及控制模組4。永磁馬達模組200內部包括永磁馬達202與磁編碼器204，且負載馬達模組1包括負載馬達12與高精度編碼器18。因永磁馬達模組200在出廠前必須要符合預定的規範，因此必須要進行出廠前的磁編碼器204角度校正。然而，過去技術多是透過負載馬達模組1的負載馬達12通過聯軸器12A帶動永磁馬達模組200的永磁馬達202轉動，且通過負載馬達模組1中的高精度編碼器18與待測永磁馬達202的磁編碼器204進行訊號比對後，再進行磁編碼器204角度校正與補償。但是，此方法僅能針對磁編碼器204單體角度進行修正，實際組裝至馬達驅動系統後，還是會因各種誤差造成整體輸出性能不足。並且，使用高精度編碼器18也會提高磁編碼器補償系統100a的建置成本。As shown in FIG. 1 , a conventional magnetic encoder compensation system 100 a includes a permanent magnet motor module 200 , a load motor module 1 and a control module 4 . The permanent magnet motor module 200 includes a permanent magnet motor 202 and a magnetic encoder 204 inside, and the load motor module 1 includes a load motor 12 and a high-precision encoder 18 . Since the permanent magnet motor module 200 must comply with predetermined specifications before leaving the factory, it is necessary to perform angle correction of the magnetic encoder 204 before leaving the factory. However, in the past technology, the load motor 12 of the load motor module 1 drives the permanent magnet motor 202 of the permanent magnet motor module 200 to rotate through the coupling 12A, and the high-precision encoder 18 in the load motor module 1 and the After comparing the signals of the magnetic encoder 204 of the permanent magnet motor 202 to be tested, the angle correction and compensation of the magnetic encoder 204 are performed. However, this method can only correct the angle of the magnetic encoder 204 alone, and after it is actually assembled into the motor drive system, the overall output performance will still be insufficient due to various errors. Moreover, using the high-precision encoder 18 will also increase the construction cost of the magnetic encoder compensation system 100a.

具體而言，磁編碼器204本身組裝後對於旋轉軸的同心度有異，即便同型號的控制器仍會有訊號延遲條件而存在誤差。導致即使相同的製程條件下，並以相同的馬達控制器驅動同批永磁馬達，各顆永磁馬達產出的性能仍會有些微的落差。Specifically, the concentricity of the magnetic encoder 204 itself with respect to the rotating shaft is different after assembly, even if the controllers of the same type still have signal delay conditions and errors. As a result, even under the same process conditions and using the same motor controller to drive the same batch of permanent magnet motors, the output performance of each permanent magnet motor will still have a slight drop.

因上述缺點，即使是相同來料與相同製程，每台永磁馬達模組200的輸出性能無法完全一致，甚至部分低於規格性能無法達標，導致永磁馬達模組200因而需要重工甚至報廢。然而多半的因素卻僅僅只是因為磁編碼器204的位置訊號偏移所致。Due to the above shortcomings, even with the same incoming materials and the same manufacturing process, the output performance of each permanent magnet motor module 200 cannot be completely consistent, and some of them are even lower than the specification and cannot meet the standard. As a result, the permanent magnet motor module 200 needs to be reworked or even scrapped. However, most of the factors are only due to the deviation of the position signal of the magnetic encoder 204 .

所以，如何藉由動態加載下的數據蒐集，進行磁編碼器角度微調及燒錄補正，以確保永磁馬達模組性能的一致性，進而達到減少重工及工時成本與不必要的報廢損耗，乃為本案創作人所欲行研究的一大課題。Therefore, how to use the data collection under dynamic loading to fine-tune the angle of the magnetic encoder and correct the programming to ensure the consistency of the performance of the permanent magnet motor module, thereby reducing rework and man-hour costs and unnecessary scrap loss, It is a major subject of research that the author of this case wants to do.

為了解決上述問題，本發明係提供一種磁編碼器補償系統，以克服習知技術的問題。因此，本發明磁編碼器補償系統係包括永磁馬達模組、負載馬達模組、扭力計、電力計及控制模組。永磁馬達模組包括永磁馬達、永磁馬達驅動器及磁編碼器，負載馬達模組包括負載馬達及負載馬達驅動器。電力計耦接永磁馬達驅動器，扭力計耦接永磁馬達、負載馬達及電力計，且控制模組耦接永磁馬達模組、負載馬達模組及電力計。控制模組通過永磁馬達驅動器而控制永磁馬達運轉於額定轉速至最大轉速之間的高轉速區間，且通過負載馬達驅動器而控制負載馬達運轉以對永磁馬達進行最大轉矩動態加載的同時，通過扭力計偵測永磁馬達於高轉速區間對應的扭力資訊，且通過電力計偵測永磁馬達驅動器於高轉速區間對應的電壓資訊。控制模組根據扭力資訊與扭力標準比對，及根據電壓資訊與電壓標準比對判斷永磁馬達性能是否達標，若扭力資訊與電壓資訊的其中一者未達標，則以控制模組讀取磁編碼器的零點角度，並基於零點補償控制計算對應零點角度的補償角度，且根據補償角度對磁編碼器進行燒錄。In order to solve the above problems, the present invention provides a magnetic encoder compensation system to overcome the problems of the prior art. Therefore, the magnetic encoder compensation system of the present invention includes a permanent magnet motor module, a load motor module, a torque meter, a power meter and a control module. The permanent magnet motor module includes a permanent magnet motor, a permanent magnet motor driver and a magnetic encoder, and the load motor module includes a load motor and a load motor driver. The power meter is coupled to the permanent magnet motor driver, the torque meter is coupled to the permanent magnet motor, the load motor and the power meter, and the control module is coupled to the permanent magnet motor module, the load motor module and the power meter. The control module controls the permanent magnet motor to run in the high speed range between the rated speed and the maximum speed through the permanent magnet motor driver, and controls the load motor to run through the load motor driver to dynamically load the permanent magnet motor with the maximum torque Detecting the torque information corresponding to the high speed range of the permanent magnet motor through the torque meter, and detecting the voltage information corresponding to the high speed range of the permanent magnet motor driver through the power meter. The control module compares the torque information with the torque standard, and judges whether the performance of the permanent magnet motor meets the standard according to the comparison of the voltage information and the voltage standard. If either the torque information or the voltage information fails to meet the standard, the control module reads the magnetic The zero point angle of the encoder, and calculate the compensation angle corresponding to the zero point angle based on the zero point compensation control, and burn the magnetic encoder according to the compensation angle.

為了解決上述問題，本發明係提供一種磁編碼器補償方法，以克服習知技術的問題。因此，本發明磁編碼器補償方法包括：(a)控制永磁馬達運轉於額定轉速至最大轉速之間的高轉速區間。(b)控制負載馬達運轉以對永磁馬達進行最大轉矩動態加載，並同時取得永磁馬達於高轉速區間對應的扭力資訊，及取得驅動永磁馬達的永磁馬達驅動器於高轉速區間對應的電壓資訊。(c)禁能永磁馬達驅動器。(d)根據扭力資訊與扭力標準比對，及根據與電壓資訊與電壓標準比對。(e)根據步驟(d)的比對結果判斷永磁馬達性能是否達標，包括：(e1)若扭力資訊達到扭力標準，且電壓資訊達到電壓標準時，判斷永磁馬達性能達標且判定為良品允收。(e2)若扭力資訊未達到扭力標準，且同時電壓資訊也未達到電壓標準時，判斷永磁馬達性能未達標且判定為殘次品退件。及(e3)若扭力資訊與電壓資訊的其中之一者未達標，則判斷與永磁馬達組裝的磁編碼器需進行零點補償，藉由讀取磁編碼器的零點角度，基於零點補償控制計算對應零點角度的補償角度，且根據補償角度對磁編碼器進行燒錄。及(f)重複步驟(a)至步驟(e3)，以確認永磁馬達性能是否達標。In order to solve the above problems, the present invention provides a magnetic encoder compensation method to overcome the problems of the prior art. Therefore, the magnetic encoder compensation method of the present invention includes: (a) controlling the permanent magnet motor to operate at a high speed range between the rated speed and the maximum speed. (b) Control the operation of the load motor to dynamically load the permanent magnet motor with the maximum torque, and at the same time obtain the torque information corresponding to the high speed range of the permanent magnet motor, and obtain the corresponding high speed range of the permanent magnet motor driver driving the permanent magnet motor voltage information. (c) Disable the permanent magnet motor drive. (d) Compare the torque information with the torque standard, and compare the voltage information with the voltage standard. (e) Judging whether the performance of the permanent magnet motor meets the standard according to the comparison result of step (d), including: (e1) If the torque information reaches the torque standard and the voltage information reaches the voltage standard, it is judged that the performance of the permanent magnet motor meets the standard and it is judged to be a good product. receive. (e2) If the torque information does not meet the torque standard and the voltage information does not meet the voltage standard at the same time, it is judged that the performance of the permanent magnet motor is not up to the standard and it is determined to be a defective product and returned. And (e3) If one of the torque information and voltage information does not meet the standard, it is judged that the magnetic encoder assembled with the permanent magnet motor needs to perform zero point compensation, and by reading the zero point angle of the magnetic encoder, based on the zero point compensation control calculation The compensation angle corresponding to the zero point angle, and the magnetic encoder is programmed according to the compensation angle. and (f) repeating steps (a) to (e3) to confirm whether the performance of the permanent magnet motor is up to standard.

本發明之主要目的及功效在於，透過高轉速區間的最大轉矩動態加載性能測試來進行動態誤差的校正，以微幅修正磁編碼器的零點角度的補償量並燒錄於磁編碼器，進而達成確保永磁馬達性能完全發揮與量產性能一致性的功效。The main purpose and effect of the present invention are to correct the dynamic error through the maximum torque dynamic loading performance test in the high speed range, to slightly correct the compensation amount of the zero point angle of the magnetic encoder and burn it into the magnetic encoder, and then To achieve the effect of ensuring that the performance of the permanent magnet motor is fully consistent with the performance of mass production.

為了能更進一步瞭解本發明為達成預定目的所採取之技術、手段及功效，請參閱以下有關本發明之詳細說明與附圖，相信本發明之目的、特徵與特點，當可由此得一深入且具體之瞭解，然而所附圖式僅提供參考與說明用，並非用來對本發明加以限制者。In order to further understand the technology, means and effects that the present invention adopts to achieve the predetermined purpose, please refer to the following detailed description and accompanying drawings of the present invention. It is believed that the purpose, characteristics and characteristics of the present invention can be obtained from this in depth and For specific understanding, however, the accompanying drawings are provided for reference and illustration only, and are not intended to limit the present invention.

茲有關本發明之技術內容及詳細說明，配合圖式說明如下：Hereby, the technical content and detailed description of the present invention are described as follows in conjunction with the drawings:

請參閱圖2為本發明用以校正磁編碼器之磁編碼器補償系統之電路方塊圖，復配合參閱圖1。磁編碼器補償系統100b包括永磁馬達模組200、負載馬達模組1、扭力計2、電力計3及控制模組4，磁編碼器補償系統100b係用以在永磁馬達模組200欲出廠前，進行出廠前的預先校正及測試作業，以確保永磁馬達模組200在出廠時能夠符合性能規格的標準始得允收，否則需要對磁編碼器204進行燒錄以微調磁編碼器204角度使永磁馬達202性能達標，而若連續數次調整仍未使永磁馬達202性能達標則需退件。永磁馬達模組200包括永磁馬達202、磁編碼器204及永磁馬達驅動器206，且永磁馬達驅動器206耦接永磁馬達202與磁編碼器204。其中，磁編碼器204與永磁馬達202組裝在一起。永磁馬達驅動器206通過驅動電源Pd驅動永磁馬達202轉動，且磁編碼器204偵測永磁馬達202轉子的位置而提供偵測訊號Ss。其中，永磁馬達模組200主要應用弱磁技術控制永磁馬達202，以能夠在高轉速下發揮永磁馬達202更好的性能。Please refer to FIG. 2 , which is a circuit block diagram of a magnetic encoder compensation system for calibrating a magnetic encoder according to the present invention. Refer to FIG. 1 for complex coordination. The magnetic encoder compensation system 100b includes a permanent magnet motor module 200, a load motor module 1, a torque meter 2, a power meter 3, and a control module 4. The magnetic encoder compensation system 100b is used for the permanent magnet motor module 200. Before leaving the factory, carry out pre-calibration and testing operations before leaving the factory to ensure that the permanent magnet motor module 200 can meet the performance specification standards before it can be accepted. Otherwise, it is necessary to burn the magnetic encoder 204 to fine-tune the magnetic encoder The angle of 204 makes the performance of the permanent magnet motor 202 up to standard, and if the performance of the permanent magnet motor 202 is still not up to standard after several consecutive adjustments, the parts need to be returned. The permanent magnet motor module 200 includes a permanent magnet motor 202 , a magnetic encoder 204 and a permanent magnet motor driver 206 , and the permanent magnet motor driver 206 is coupled to the permanent magnet motor 202 and the magnetic encoder 204 . Wherein, the magnetic encoder 204 is assembled with the permanent magnet motor 202 . The permanent magnet motor driver 206 drives the permanent magnet motor 202 to rotate through the driving power Pd, and the magnetic encoder 204 detects the position of the rotor of the permanent magnet motor 202 to provide a detection signal Ss. Among them, the permanent magnet motor module 200 mainly uses the field weakening technology to control the permanent magnet motor 202 so as to exert better performance of the permanent magnet motor 202 at a high speed.

負載馬達模組1包括負載馬達12、負載馬達驅動器14及負載馬達編碼器16，且負載馬達驅動器14耦接負載馬達12與負載馬達編碼器16。負載馬達驅動器14通過偵測訊號Ss控制並調整負載馬達12的驅動電源Pd(即電壓與電流)。負載馬達12耦接永磁馬達202，以對永磁馬達202進行最大轉矩動態加載。其中，較易施行的方式為，負載馬達12通過聯軸器12B機械地對接永磁馬達202，以通過聯軸器12B對接永磁馬達202進行最大轉矩動態加載的預先校正及測試作業。The load motor module 1 includes a load motor 12 , a load motor driver 14 and a load motor encoder 16 , and the load motor driver 14 is coupled to the load motor 12 and the load motor encoder 16 . The load motor driver 14 controls and adjusts the driving power Pd (ie, voltage and current) of the load motor 12 through the detection signal Ss. The load motor 12 is coupled to the permanent magnet motor 202 to dynamically load the permanent magnet motor 202 with maximum torque. Among them, the easier method is to mechanically connect the load motor 12 to the permanent magnet motor 202 through the coupling 12B, so as to perform the pre-calibration and testing of the maximum torque dynamic loading through the coupling 12B to the permanent magnet motor 202 .

扭力計2耦接永磁馬達202、負載馬達12及電力計3，且用以偵測永磁馬達202的扭力而提供實際扭力T real。電力計3耦接永磁馬達驅動器206，且用以偵測永磁馬達驅動器206上用以驅動永磁馬達202的電壓而提供實際電壓V real並經計算得到電壓資訊V info，以及將實際扭力T real計算為扭力資訊T info。控制模組4耦接永磁馬達模組200、負載馬達模組1與電力計3，且通過控制永磁馬達模組200與負載馬達模組1而進行永磁馬達模組200的預先校正及測試作業。具體而言，控制模組4通過控制永磁馬達驅動器206而控制永磁馬達202運轉，且通過控制負載馬達驅動器14而控制負載馬達12運轉。在永磁馬達202與負載馬達12運轉時，控制模組4通過接收扭力資訊T info與電壓資訊V info得知永磁馬達202及永磁馬達驅動器206的運轉狀況，以判定永磁馬達模組200是否為良品。 The torque meter 2 is coupled to the permanent magnet motor 202 , the load motor 12 and the power meter 3 , and is used to detect the torque of the permanent magnet motor 202 to provide the actual torque T real . The power meter 3 is coupled to the permanent magnet motor driver 206, and is used to detect the voltage on the permanent magnet motor driver 206 for driving the permanent magnet motor 202 to provide the actual voltage V real and obtain the voltage information V info through calculation, and the actual torque T real is calculated as torque information T info . The control module 4 is coupled to the permanent magnet motor module 200, the load motor module 1 and the power meter 3, and performs pre-calibration and Test assignment. Specifically, the control module 4 controls the operation of the permanent magnet motor 202 by controlling the permanent magnet motor driver 206 , and controls the operation of the load motor 12 by controlling the load motor driver 14 . When the permanent magnet motor 202 and the load motor 12 are running, the control module 4 obtains the operating conditions of the permanent magnet motor 202 and the permanent magnet motor driver 206 by receiving the torque information T info and the voltage information V info , so as to determine the permanent magnet motor module 200 Is it a good product.

進一步而言，永磁馬達模組200在組裝時，通常會使用直流吸正法，來先行磁編碼器204的零點補償，以校正永磁馬達模組200的靜態誤差。然而，經靜態誤差校正後的永磁馬達模組200仍然會因為元件尺寸公差、材料性能變異、組裝差異性，造成參考的位置訊號偏移。其中，參考的位置訊號偏移通常為訊號傳遞的延遲所造成的，其為永磁馬達模組200的動態誤差。在應用弱磁技術控制的永磁馬達模組200中，由於電流控制的效應，此動態誤差對於永磁馬達202的性能會產生明顯的誤差量，尤其在高轉速時，對於位置回授的精度要求極高。越高轉速或越深的弱磁條件下，動態誤差將會大幅放大，造成磁編碼器204的回授位置失準。因此，本發明主旨要目的及功效在於，透過高轉速的最大轉矩動態加載性能測試(例如但不限於，3000rpm 以上)來進行動態誤差的校正，以微幅修正磁編碼器204的零點角度Az，進而達成確保永磁馬達202性能完全發揮與量產性能一致性的功效。Furthermore, when the permanent magnet motor module 200 is assembled, the DC suction method is usually used to perform zero compensation of the magnetic encoder 204 to correct the static error of the permanent magnet motor module 200 . However, the permanent magnet motor module 200 after the static error correction will still cause the reference position signal to deviate due to component dimensional tolerances, material performance variations, and assembly differences. Wherein, the deviation of the reference position signal is usually caused by the delay of signal transmission, which is a dynamic error of the permanent magnet motor module 200 . In the permanent magnet motor module 200 controlled by the field weakening technology, due to the effect of current control, this dynamic error will produce a significant amount of error for the performance of the permanent magnet motor 202, especially at high speeds, for the accuracy of position feedback Very demanding. Under higher rotational speed or deeper field weakening conditions, the dynamic error will be greatly amplified, resulting in misalignment of the feedback position of the magnetic encoder 204 . Therefore, the main purpose and function of the present invention is to correct the dynamic error through the maximum torque dynamic loading performance test (for example, but not limited to, above 3000rpm) at a high speed, so as to slightly correct the zero point angle Az of the magnetic encoder 204 , so as to achieve the effect of ensuring that the performance of the permanent magnet motor 202 is fully consistent with the mass production performance.

復參閱圖1，控制模組4係通過控制訊號Sc控制永磁馬達驅動器206而控制永磁馬達202運轉於最大轉速。其中，在實務上於足夠快速運作亦能有效擷取訊號誤差而進行動態誤差補償，因此控制模組4係控制永磁馬達202運轉於額定轉速至最大轉速之間的高轉速區間即可。控制模組4也通過控制訊號Sc控制負載馬達驅動器14而控制負載馬達12，以使負載馬達12通過聯軸器12B對永磁馬達202進行最大轉矩動態加載。然後，扭力計2係偵測永磁馬達202於高轉速區間下運轉的實際扭力T real，電力計3係偵測永磁馬達202於高轉速區間運轉時該永磁馬達驅動器206輸出的實際電壓V real而經計算提供電壓資訊V info，且將實際扭力T real計算為扭力資訊T info。具體地，扭力計2配置於聯軸器12B與永磁馬達202之間，且扭力計2電性連接電力計3。扭力計2偵測永磁馬達202的實際扭力T real而提供至電力計3，電力計3將實際扭力T real計算為扭力資訊T info，且電力計3將扭力資訊T info與電壓資訊V info一併提供至控制模組4。 Referring again to FIG. 1 , the control module 4 controls the permanent magnet motor driver 206 through the control signal Sc to control the permanent magnet motor 202 to run at the maximum speed. Among them, in practice, the fast enough operation can effectively capture the signal error and perform dynamic error compensation. Therefore, the control module 4 can control the permanent magnet motor 202 to operate at a high speed range between the rated speed and the maximum speed. The control module 4 also controls the load motor driver 14 through the control signal Sc to control the load motor 12 so that the load motor 12 dynamically loads the permanent magnet motor 202 with maximum torque through the coupling 12B. Then, the torque meter 2 detects the actual torque T real of the permanent magnet motor 202 running in the high speed range, and the power meter 3 detects the actual voltage output by the permanent magnet motor driver 206 when the permanent magnet motor 202 runs in the high speed range V real is calculated to provide voltage information V info , and the actual torque T real is calculated as torque information T info . Specifically, the torque meter 2 is disposed between the coupling 12B and the permanent magnet motor 202 , and the torque meter 2 is electrically connected to the power meter 3 . The torque meter 2 detects the actual torque T real of the permanent magnet motor 202 and provides it to the power meter 3 , the power meter 3 calculates the actual torque T real as the torque information T info , and the power meter 3 converts the torque information T info and the voltage information V info It is provided to the control module 4 together.

控制模組4接收扭力資訊T info與電壓資訊V info，且根據扭力資訊T info判斷所對應的實際扭力T real是否達到扭力標準，以及根據電壓資訊V info判斷所對應的實際電壓V real是否達到電壓標準。意即，控制模組4根據扭力資訊T info與電壓資訊V info判斷永磁馬達202性能是否分別達到扭力標準與電壓標準，以決定是否調整(微調)磁編碼器204的零點角度Az。具體而言，扭力標準係為永磁馬達202依據設計的預定扭力規格，扭力資訊T info大於等於預定的扭力標準則代表實際扭力T real大於等於預定的扭力閾值。電壓標準係為永磁馬達驅動器206依據設計的預定電壓規格，電壓資訊V info小於等於預定的電壓標準則代表實際電壓V real小於等於預定的電壓閾值。本發明的磁編碼器補償系統100b主要係調整並確認扭力資訊T info達到扭力標準，且確認電壓資訊V info達到電壓標準，以獲得達到扭力標準與電壓標準的角度參數Pa，其中角度參數Pa包括一個用於寫入磁編碼器204所需的補償後磁編角度Aw。 The control module 4 receives the torque information T info and the voltage information V info , and judges according to the torque information T info whether the corresponding actual torque T real reaches the torque standard, and judges according to the voltage information V info whether the corresponding actual voltage V real reaches voltage standard. That is, the control module 4 judges whether the performance of the permanent magnet motor 202 meets the torque standard and the voltage standard according to the torque information T info and the voltage information V info , so as to decide whether to adjust (fine-tune) the zero point angle Az of the magnetic encoder 204 . Specifically, the torque standard is the predetermined torque specification of the permanent magnet motor 202 according to the design, and the torque information T info being greater than or equal to the predetermined torque standard means that the actual torque T real is greater than or equal to the predetermined torque threshold. The voltage standard is a predetermined voltage specification according to the design of the permanent magnet motor driver 206 , and the voltage information V info being less than or equal to the predetermined voltage standard means that the actual voltage V real is less than or equal to the predetermined voltage threshold. The magnetic encoder compensation system 100b of the present invention mainly adjusts and confirms that the torque information T info reaches the torque standard, and confirms that the voltage information V info reaches the voltage standard, so as to obtain the angle parameter Pa that meets the torque standard and the voltage standard, wherein the angle parameter Pa includes One is used to write the compensated magnetic encoding angle Aw required by the magnetic encoder 204 .

當控制模組4根據扭力資訊T info判斷實際扭力T real達到扭力標準，且根據電壓資訊V info判斷實際電壓V real達到電壓標準時，控制模組4斷永磁馬達模組200的永磁馬達202性能達標，因此可判定此永磁馬達模組200為良品允收(即完成磁編碼器204的校正及測試作業而通過出廠前的測試)。 When the control module 4 judges that the actual torque T real reaches the torque standard according to the torque information T info , and judges that the actual voltage V real reaches the voltage standard according to the voltage information V info , the control module 4 turns off the permanent magnet motor 202 of the permanent magnet motor module 200 The performance is up to standard, so it can be determined that the permanent magnet motor module 200 is accepted as a good product (that is, the calibration and testing of the magnetic encoder 204 are completed and the pre-delivery test is passed).

當控制模組4根據扭力資訊T info判斷實際扭力T real未達到扭力標準，或根據電壓資訊V info判斷實際電壓V real未達到電壓標準時，若前述任一狀況發生則需要計算欲補償並調整的角度參數Pa，其中角度參數Pa包括一個寫入磁編碼器204所需的補償後磁編角度Aw。然後，將計算所得的角度參數Pa寫入磁編碼器204，例如以燒錄的方式進行，以調整磁編碼器204的角度及補償永磁馬達202的性能。進一步而言，控制模組4包括控制器42與寫入裝置44。控制器42耦接永磁馬達模組200、負載馬達模組1、扭力計2及電力計3，且用以根據自磁編碼器204讀取的零點角度Az、電力計3提供的扭力資訊T info與扭力標準計算角度參數Pa。寫入裝置44(例如但不限於，燒錄器等具有寫入功能的裝置)耦接控制器42與磁編碼器204，且用以將角度參數Pa寫入磁編碼器204，以調整(即微調)磁編碼器204的零點角度Az而進行零點補償。其中，角度參數Pa的計算方式主要係通過偵測永磁馬達模組200而讀取磁編碼器204的零點角度Az，且控制模組4根據實際扭力T real與扭力閾值(即扭力標準)之扭力誤差產生補償角度Ac，以將零點角度Az 與補償角度Ac的總合計算做為角度參數Pa，且將角度參數Pa寫入磁編碼器204。於一實施例中，電力計3係耦接控制模組4的控制器42。 When the control module 4 judges that the actual torque T real does not meet the torque standard according to the torque information T info , or judges that the actual voltage V real does not reach the voltage standard according to the voltage information V info , if any of the above situations occurs, it is necessary to calculate and adjust the Angle parameter Pa, wherein the angle parameter Pa includes a compensated magnetic encoding angle Aw required for writing into the magnetic encoder 204 . Then, the calculated angle parameter Pa is written into the magnetic encoder 204 , such as by burning, so as to adjust the angle of the magnetic encoder 204 and compensate the performance of the permanent magnet motor 202 . Further, the control module 4 includes a controller 42 and a writing device 44 . The controller 42 is coupled to the permanent magnet motor module 200, the load motor module 1, the torque meter 2 and the power meter 3, and is used to read the zero point angle Az read from the magnetic encoder 204 and the torque information T provided by the power meter 3 info and torque standard to calculate the angle parameter Pa. The writing device 44 (such as but not limited to, a device with a writing function such as a burner) is coupled to the controller 42 and the magnetic encoder 204, and is used to write the angle parameter Pa into the magnetic encoder 204 to adjust (ie Fine-tuning) the zero-point angle Az of the magnetic encoder 204 to perform zero-point compensation. Among them, the calculation method of the angle parameter Pa is mainly to read the zero point angle Az of the magnetic encoder 204 by detecting the permanent magnet motor module 200, and the control module 4 is based on the difference between the actual torque T real and the torque threshold (that is, the torque standard). The torque error generates the compensation angle Ac, and the sum of the zero point angle Az and the compensation angle Ac is calculated as the angle parameter Pa, and the angle parameter Pa is written into the magnetic encoder 204 . In one embodiment, the power meter 3 is coupled to the controller 42 of the control module 4 .

然而，在某種狀況中，永磁馬達模組200可能在組裝時即存在瑕疵，導致可能存在永磁馬達模組200的永磁馬達202無論怎麼調校皆無法達標之狀況。因此，控制模組4可預先設定重複調校磁編碼器204的預定次數。當控制模組4在重複將不同的角度參數Pa寫入磁編碼器204達到預定次數後，若永磁馬達模組200的永磁馬達202性能始終無法達標時，則判斷永磁馬達模組200為殘次品(NG)退件。However, in a certain situation, the permanent magnet motor module 200 may have flaws during assembly, resulting in the situation that the permanent magnet motor 202 of the permanent magnet motor module 200 may not meet the standard no matter how it is adjusted. Therefore, the control module 4 can preset a predetermined number of times for repeating the calibration of the magnetic encoder 204 . After the control module 4 repeatedly writes different angle parameters Pa into the magnetic encoder 204 for a predetermined number of times, if the performance of the permanent magnet motor 202 of the permanent magnet motor module 200 cannot meet the standard all the time, then it is judged that the permanent magnet motor module 200 Return for defective (NG) items.

其中，控制模組4可選擇性地更包括開關46。開關46耦接寫入裝置44與磁編碼器204之間，且當寫入裝置44欲將角度參數Pa寫入磁編碼器204時，控制器42控制開關46導通，以使角度參數Pa可寫入磁編碼器204。當無須將角度參數Pa寫入磁編碼器204時，控制器42控制開關46關斷，以使寫入裝置44與磁編碼器204之間的路徑斷路。值得一提的是，由於本發明之磁編碼器補償系統100b的測試平台可同時進行磁編碼器204的校正以及永磁馬達202的實際扭力T real與永磁馬達驅動器206的實際電壓V real的確認，因此僅需使用單一平台即可完成永磁馬達模組200的測試及校正作業。反觀圖1習知技術的磁編碼器補償系統100a僅能針對磁編碼器204進行校正，永磁馬達模組200的電壓及扭力測試尚需使用另一平台再次進行測試。因此，相較於圖1之習知技術，本發明之磁編碼器補償系統100b可以達到節省測試及校正作業時間之功效。 Wherein, the control module 4 may optionally further include a switch 46 . The switch 46 is coupled between the writing device 44 and the magnetic encoder 204, and when the writing device 44 intends to write the angle parameter Pa into the magnetic encoder 204, the controller 42 controls the switch 46 to be turned on so that the angle parameter Pa can be written. Enter the magnetic encoder 204. When there is no need to write the angle parameter Pa into the magnetic encoder 204 , the controller 42 controls the switch 46 to turn off, so that the path between the writing device 44 and the magnetic encoder 204 is disconnected. It is worth mentioning that since the test platform of the magnetic encoder compensation system 100b of the present invention can simultaneously perform the calibration of the magnetic encoder 204 and the actual torque T real of the permanent magnet motor 202 and the actual voltage V real of the permanent magnet motor driver 206 Therefore, only a single platform can be used to complete the testing and calibration of the permanent magnet motor module 200 . In contrast, the magnetic encoder compensation system 100a of the prior art shown in FIG. 1 can only be calibrated for the magnetic encoder 204, and the voltage and torque tests of the permanent magnet motor module 200 need to be tested again using another platform. Therefore, compared with the conventional technology of FIG. 1 , the magnetic encoder compensation system 100 b of the present invention can achieve the effect of saving testing and calibration work time.

請參閱圖3A~3C為本發明磁編補償基礎原理(第一至第三實施例)之向量示意圖，復配合參閱圖2。在圖3A~3C中，垂直軸為q軸，水平軸為d軸，永磁馬達模組200的反電動勢E與電流I的向量分別如圖3A~3C所示。圖3A假設磁編碼器提供最佳的原點基準為70 度，且圖3B~3C分別為角度偏移過後的磁編碼器。在圖3A中，反電動勢E與電流I之間的夾角θ(即為對磁編碼器204進行燒錄的補償後磁編角度Aw)為70 度。由於電壓V=E+Z*I(其中Z為阻抗)，在阻抗Z向量大小不變的情況下電壓V向量的大小會隨著夾角θ的大小而變動。在圖3B與圖3C中，分別假設夾角θ由70度偏移至80度與60度。如圖3B所示，當磁編碼器提供的原點基準由70度偏移至80度時，會導致電流I與反電勢E的夾角θ產生變異。造成需求電壓V降低，使永磁馬達202的最高轉速提高。反之，如圖3C所示，當磁編碼器提供的原點基準由70度偏移至60度時，會造成需求電壓V提高，使永磁馬達202的最高轉速降低。Please refer to FIGS. 3A to 3C , which are schematic vector diagrams of the basic principles of magnetic compensation (first to third embodiments) of the present invention, and refer to FIG. 2 for the combination. In FIGS. 3A-3C , the vertical axis is the q-axis, and the horizontal axis is the d-axis. The vectors of the counter electromotive force E and the current I of the permanent magnet motor module 200 are shown in FIGS. 3A-3C respectively. FIG. 3A assumes that the magnetic encoder provides an optimal origin reference of 70 degrees, and FIGS. 3B to 3C are respectively the magnetic encoders after angular offset. In FIG. 3A , the included angle θ between the counter electromotive force E and the current I (that is, the compensated magnetic encoding angle Aw for programming the magnetic encoder 204 ) is 70 degrees. Since the voltage V=E+Z*I (where Z is the impedance), the magnitude of the voltage V vector will vary with the magnitude of the included angle θ when the magnitude of the impedance Z vector remains unchanged. In FIG. 3B and FIG. 3C , it is assumed that the included angle θ is shifted from 70 degrees to 80 degrees and 60 degrees, respectively. As shown in FIG. 3B , when the origin reference provided by the magnetic encoder is shifted from 70 degrees to 80 degrees, the angle θ between the current I and the back EMF E will vary. As a result, the demand voltage V decreases, and the maximum rotational speed of the permanent magnet motor 202 increases. Conversely, as shown in FIG. 3C , when the origin reference provided by the magnetic encoder is shifted from 70 degrees to 60 degrees, the required voltage V will increase, and the maximum rotational speed of the permanent magnet motor 202 will decrease.

請參閱圖4為本發明轉矩比重之曲線示意圖，復配合參閱圖2~3C。永磁馬達202輸出轉矩性能與反電勢E及電流I的夾角θ顯著相關，可參考下方數學計算式：

Figure 02_image001
…(1)
Figure 02_image003
…(2) Please refer to Fig. 4 which is a schematic diagram of the torque specific gravity curve of the present invention, and refer to Figs. 2-3C for complex coordination. The output torque performance of the permanent magnet motor 202 is significantly related to the angle θ between the back electromotive force E and the current I. Please refer to the following mathematical calculation formula:
Figure 02_image001
…(1)
Figure 02_image003
…(2)

其中

Figure 02_image005
為電磁轉矩，且
Figure 02_image007
為磁阻轉矩，其合成的總轉矩
Figure 02_image009
如圖4的虛線所示。其可以很明顯的看出，當磁編碼器204參考位置偏移，會導致夾角θ變動，造成永磁馬達202輸出轉矩性能產生變異。因此，可以得知實際扭力T real的大小(即總轉矩
Figure 02_image009
大小)與實際電壓V real的大小(即圖3a~3c中的電壓V)呈正比。然而，在實務中，由於永磁馬達202運轉於高轉速區間時，永磁馬達驅動器206的實際電壓V real不能超過永磁馬達模組200電壓規格(例如但不限於，內部元件的電壓規格)，若超過電壓規格則有失控風險。因此，控制模組4係在實際扭力T real達到扭力標準，且實際電壓V real也達到電壓標準的情況下，可選擇地通過調整(微調)角度參數Pa而調降實際電壓V real(此時實際扭力T real隨之降低)，但其仍須符合扭力標準與電壓標準。如此，即可達到提高永磁馬達模組200規格的電壓裕度之功效。另一方面，當控制模組4在判斷實際扭力T real未達到扭力閾值，且同時實際電壓V real也未達到電壓閾值的情況下，則可直接地判定永磁馬達模組200為殘次品(NG)退件。 in
Figure 02_image005
is the electromagnetic torque, and
Figure 02_image007
is the reluctance torque, and its combined total torque
Figure 02_image009
As shown by the dotted line in Figure 4. It can be clearly seen that when the reference position of the magnetic encoder 204 deviates, the included angle θ will change, resulting in variation in the output torque performance of the permanent magnet motor 202 . Therefore, the size of the actual torque T real (that is, the total torque
Figure 02_image009
size) is proportional to the size of the actual voltage V real (that is, the voltage V in Figure 3a~3c). However, in practice, since the permanent magnet motor 202 operates in a high speed range, the actual voltage V real of the permanent magnet motor driver 206 cannot exceed the voltage specification of the permanent magnet motor module 200 (such as but not limited to, the voltage specification of internal components) , if the voltage specification is exceeded, there is a risk of loss of control. Therefore, when the actual torque T real reaches the torque standard and the actual voltage V real also reaches the voltage standard, the control module 4 can optionally adjust (fine-tune) the angle parameter Pa to lower the actual voltage V real (at this time The actual torque T real decreases accordingly), but it must still meet the torque standard and voltage standard. In this way, the effect of increasing the voltage margin of the permanent magnet motor module 200 can be achieved. On the other hand, when the control module 4 judges that the actual torque T real has not reached the torque threshold and the actual voltage V real has not reached the voltage threshold, it can directly determine that the permanent magnet motor module 200 is a defective product. (NG) returns.

請參閱圖5為本發明磁編碼器補償方法之馬達操作方法流程圖，復配合參閱圖2~4。磁編碼器補償方法係用以校正永磁馬達模組200的磁編碼器204，且磁編碼器補償方法包括，於永磁馬達202與磁編碼器204組裝後，對磁編碼器204進行相對大角度的零點校正(S100)。永磁馬達模組200在組裝時，通常會使用直流吸正法，來先行磁編碼器204的零點位置校正，以校正永磁馬達模組200的靜態誤差。其中，此步驟並非為必要步驟，全看實際永磁馬達模組200組裝時的需求。然後，將永磁馬達202與負載馬達12對接。較佳的施行的方式為，負載馬達12通過聯軸器12B機械地對接永磁馬達202，以通過聯軸器12B對接永磁馬達202進行最大轉矩動態加載的預先校正及測試作業，稍後詳述。Please refer to FIG. 5 which is a flow chart of the motor operation method of the magnetic encoder compensation method of the present invention, and refer to FIGS. 2-4 for complex coordination. The magnetic encoder compensation method is used to calibrate the magnetic encoder 204 of the permanent magnet motor module 200, and the magnetic encoder compensation method includes: after the permanent magnet motor 202 and the magnetic encoder 204 are assembled, the magnetic encoder 204 is relatively large Zero point correction of the angle (S100). When the permanent magnet motor module 200 is assembled, the DC suction method is usually used to calibrate the zero point position of the magnetic encoder 204 first, so as to correct the static error of the permanent magnet motor module 200 . Wherein, this step is not a necessary step, it all depends on the actual assembly requirements of the permanent magnet motor module 200 . Then, the permanent magnet motor 202 is docked with the load motor 12 . A preferred implementation method is that the load motor 12 is mechanically connected to the permanent magnet motor 202 through the coupling 12B, so as to perform the pre-calibration and test operation of the maximum torque dynamic loading on the permanent magnet motor 202 through the coupling 12B. detail.

然後，控制永磁馬達202運轉於額定轉速Spd rated至最大轉速Spd MAX之間所定義的一高轉速區間(S120)。較佳的施行的方式為，控制模組4係通過控制永磁馬達驅動器206而控制永磁馬達202運轉於額定轉速Spd rated至最大轉速Spd MAX之間的高轉速區間，使永磁馬達202足夠快速運作而能夠能有效擷取訊號誤差而進行動態誤差補償。然後，控制模組4係通過控制負載馬達驅動器14而控制負載馬達14運轉以對永磁馬達202進行最大轉矩動態加載，並同時於永磁馬達202穩定運行於高轉速區間的一特定速度時，取得永磁馬達202於高轉速區間對應的扭力資訊T info，及永磁馬達202於高轉速區間運轉時，永磁馬達驅動器206對應的電壓資訊V info(S140)。較佳的施行的方式為，控制模組4通過控制負載馬達驅動器14而控制負載馬達12，以通過聯軸器12B對永磁馬達202進行最大轉矩動態加載。然後，扭力計2係偵測永磁馬達202於高轉速區間下運轉的實際扭力T real而提供給電力計3，電力計3將實際扭力T real計算為扭力資訊T info，電力計3係偵測永磁馬達202於高轉速區間運轉時該永磁馬達驅動器206輸出的實際電壓V real經計算而提供電壓資訊V info。最後，電力計3將扭力資訊T info及電壓資訊V info提供給控制器42。 Then, the permanent magnet motor 202 is controlled to run in a high speed range defined between the rated speed Spd rated and the maximum speed Spd MAX ( S120 ). A preferred implementation method is that the control module 4 controls the permanent magnet motor driver 206 to control the permanent magnet motor 202 to operate in a high speed range between the rated speed Spd rated and the maximum speed Spd MAX , so that the permanent magnet motor 202 is sufficient It operates quickly and can effectively capture signal errors for dynamic error compensation. Then, the control module 4 controls the operation of the load motor 14 by controlling the load motor driver 14 to dynamically load the permanent magnet motor 202 with maximum torque, and at the same time, when the permanent magnet motor 202 runs stably at a specific speed in the high speed range Obtain the torque information T info corresponding to the permanent magnet motor 202 in the high speed range, and the voltage information V info corresponding to the permanent magnet motor driver 206 when the permanent magnet motor 202 is running in the high speed range (S140). A preferred implementation method is that the control module 4 controls the load motor 12 by controlling the load motor driver 14 to dynamically load the permanent magnet motor 202 with maximum torque through the coupling 12B. Then, the torque meter 2 detects the actual torque T real of the permanent magnet motor 202 operating in the high speed range and provides it to the electric meter 3 , the electric meter 3 calculates the actual torque T real as the torque information T info , and the electric meter 3 detects The actual voltage V real output by the permanent magnet motor driver 206 is calculated to provide voltage information V info when the permanent magnet motor 202 is running in the high speed range. Finally, the power meter 3 provides the torque information T info and the voltage information V info to the controller 42 .

然後，禁能永磁馬達驅動器206(S160)。較佳的實施方式為，停止對永磁馬達驅動器206供電或停止以控制訊號Sc控制永磁馬達驅動器206，且確認永磁馬達驅動器206斷電，以及確認永磁馬達202與磁編碼器204停止。較佳者，負載馬達12也應控制停止，以準確檢測。其中，禁能永磁馬達驅動器206的目的在於，使控制模組4能夠準確地計算角度參數Pa，且將其寫入編碼器204，例如透過燒錄的方式，而完成磁編碼器204角度之修正及補償永磁馬達202的性能，其中角度參數Pa包括一個用於寫入磁編碼器204所需的補償後磁編角度Aw。Then, the permanent magnet motor driver 206 is disabled ( S160 ). A preferred embodiment is to stop the power supply to the permanent magnet motor driver 206 or stop using the control signal Sc to control the permanent magnet motor driver 206, and confirm that the permanent magnet motor driver 206 is powered off, and confirm that the permanent magnet motor 202 and the magnetic encoder 204 are stopped . Preferably, the load motor 12 should also be controlled to stop for accurate detection. Among them, the purpose of disabling the permanent magnet motor driver 206 is to enable the control module 4 to accurately calculate the angle parameter Pa, and write it into the encoder 204, for example, by means of burning, to complete the adjustment of the angle of the magnetic encoder 204. Correcting and compensating the performance of the permanent magnet motor 202 , wherein the angle parameter Pa includes a compensated magnetic encoder angle Aw for writing into the magnetic encoder 204 .

接著，根據扭力資訊T info與扭力標準比對，及根據電壓資訊V info與電壓標準比對判斷永磁馬達202性能是否達標(S200)。較佳的實施方式為，在永磁馬達202與負載馬達12運轉時，控制模組4通過電力計3接收扭力計2所提供的實際扭力T real並經計算得到的扭力資訊T info，與電力計3以實際電壓V eral經計算得到的所提供的電壓資訊V info，以根據扭力資訊T info判斷所對應的實際扭力T real是否達到扭力標準，且根據電壓資訊V info判斷所對應的實際電壓V real是否達到電壓標準。具體而言，扭力標準係為永磁馬達202依據設計的預定扭力規格，扭力資訊T info大於等於預定的扭力標準則代表實際扭力T real大於等於預定的扭力閾值。電壓標準係為永磁馬達驅動器206依據設計的預定電壓規格，電壓資訊V info小於等於預定的電壓標準則代表實際電壓V real小於等於預定的電壓閾值。 Next, it is judged whether the performance of the permanent magnet motor 202 meets the standard according to the comparison between the torque information T info and the torque standard, and according to the comparison between the voltage information V info and the voltage standard ( S200 ). A preferred embodiment is that when the permanent magnet motor 202 and the load motor 12 are running, the control module 4 receives the actual torque T real provided by the torque meter 2 through the power meter 3 and obtains the calculated torque information T info , and the electric power Meter 3 uses the provided voltage information V info calculated by the actual voltage V eral to judge whether the corresponding actual torque T real meets the torque standard according to the torque information T info , and judges the corresponding actual voltage according to the voltage information V info Whether V real reaches the voltage standard. Specifically, the torque standard is the predetermined torque specification of the permanent magnet motor 202 according to the design, and the torque information T info being greater than or equal to the predetermined torque standard means that the actual torque T real is greater than or equal to the predetermined torque threshold. The voltage standard is a predetermined voltage specification according to the design of the permanent magnet motor driver 206 , and the voltage information V info being less than or equal to the predetermined voltage standard means that the actual voltage V real is less than or equal to the predetermined voltage threshold.

然後，若扭力資訊T info達到扭力標準，且電壓資訊V info達到電壓標準時，判斷永磁馬達202性能達標且判定永磁馬達202及與其組裝的磁編碼器204為良品允收(S220)。詳細來說，當控制模組4根據扭力資訊T info判斷實際扭力T real達到扭力標準，且根據電壓資訊V info判斷實際電壓V real達到電壓標準時，控制模組4斷永磁馬達模組200的馬達性能達標，因此可判定此永磁馬達模組200為良品允收(即完成磁編碼器204的校正及測試作業而通過出廠前的測試)。在步驟(S220)中，還可選擇性地包括，在實際扭力T real達到扭力標準，且實際電壓V real達到電壓標準的情況下，通過調整角度參數Pa而調降實際扭力T real與實際電壓V real。在實務中，由於永磁馬達202運轉於高轉速區間時，永磁馬達驅動器206的實際電壓V real較低，故不易超過永磁馬達模組200電壓規格(例如但不限於，內部元件的電壓規格)，可避免失控風險。需說明的是，控制模組4係在實際扭力T real達到扭力標準，且實際電壓V real也達到電壓標準的情況下，通過調整(微調)角度參數Pa而調降實際電壓V real(實際扭力T real隨之降低)，但其仍須符合扭力標準與電壓標準，如此，即可達到提高永磁馬達模組200規格的電壓裕度之功效，其中角度參數Pa包括一個用於寫入磁編碼器204所需的補償後磁編角度Aw。 Then, if the torque information T info reaches the torque standard and the voltage information V info reaches the voltage standard, it is determined that the performance of the permanent magnet motor 202 meets the standard and the permanent magnet motor 202 and the magnetic encoder 204 assembled therewith are acceptable ( S220 ). Specifically, when the control module 4 judges that the actual torque T real reaches the torque standard according to the torque information T info , and judges that the actual voltage V real reaches the voltage standard according to the voltage information V info , the control module 4 turns off the permanent magnet motor module 200. The performance of the motor is up to standard, so it can be determined that the permanent magnet motor module 200 is accepted as a good product (that is, the calibration and testing of the magnetic encoder 204 are completed and the test before delivery is passed). In step (S220), it may also optionally include, when the actual torque T real reaches the torque standard and the actual voltage V real reaches the voltage standard, adjusting the angle parameter Pa to reduce the actual torque T real and the actual voltage V real . In practice, since the permanent magnet motor 202 operates in a high speed range, the actual voltage V real of the permanent magnet motor driver 206 is relatively low, so it is difficult to exceed the voltage specification of the permanent magnet motor module 200 (for example, but not limited to, the voltage of internal components Specifications), to avoid the risk of loss of control. It should be noted that, when the actual torque T real reaches the torque standard and the actual voltage V real also reaches the voltage standard, the control module 4 adjusts (fine-tunes) the angle parameter Pa to lower the actual voltage V real (actual torque T real decreases accordingly), but it must still meet the torque standard and voltage standard. In this way, the effect of improving the voltage margin of the permanent magnet motor module 200 specification can be achieved, wherein the angle parameter Pa includes a parameter for writing the magnetic code The compensated magnetic encoder angle Aw required by the device 204.

然後，若扭力資訊T info未達到扭力標準，且同時電壓資訊V info也未達到電壓標準時，判斷永磁馬達202性能未達標且判定永磁馬達202與磁編碼器204為殘次品退件(S240)。詳細來說，當控制模組4在根據扭力資訊T info判斷實際扭力T real未達到扭力閾值，且同時根據電壓資訊V info判斷實際電壓V real也未達到電壓閾值的情況下，則可直接地判斷永磁馬達模組200為殘次品(NG)退件。 Then, if the torque information T info does not reach the torque standard, and at the same time the voltage information V info does not reach the voltage standard, it is determined that the performance of the permanent magnet motor 202 is not up to standard and the permanent magnet motor 202 and the magnetic encoder 204 are determined to be defective products ( S240). Specifically, when the control module 4 judges that the actual torque T real has not reached the torque threshold according to the torque information T info , and at the same time judges that the actual voltage V real has not reached the voltage threshold according to the voltage information V info , it can directly It is determined that the permanent magnet motor module 200 is a defective product (NG) and returned.

然後，若扭力資訊T info與電壓資訊V info的其中之一者未達到標準時，則判斷磁編碼器204需進行零點補償，藉由控制模組4讀取磁編碼器204的一零點角度Az，配合扭力資訊T info及扭力標準基於零點補償控制計算對應磁編碼器204的補償角度Ac，且根據補償角度Ac對磁編碼器204進行燒錄以實現磁編碼器204的零點補償(S260)。較佳的實施方式為，控制模組4包括控制器42與寫入裝置44。控制器42根據零點角度Az、扭力資訊T info與扭力標準計算補償角度Ac，控制器42根據零點角度Az與補償角度Ac計算一角度參數Pa給寫入裝置44，且寫入裝置44將角度參數Pa以燒錄或其他方式寫入磁編碼器204，以調整(即微調)磁編碼器204的零點角度Az而進行零點補償。其中，角度參數Pa較佳的計算方式為，通過偵測永磁馬達模組200而讀取磁編碼器204的零點角度Az，且控制模組4根據實際扭力T real與扭力閾值(即扭力標準)之扭力誤差計算產生補償角度Ac，以將零點角度Az與補償角度Ac總合計算做為角度參數Pa，其中角度參數Pa包括一個用於寫入磁編碼器204所需的補償後磁編角度Aw。需說明的是，在步驟(S260)基於零點補償計算的補償角度Ac，相較於步驟(S100)基於零點校正的調整角度為較小的角度，前者目的在於補償永磁馬達202的性能，後者目的在於磁編碼器204基本的角度歸零。 Then, if one of the torque information T info and the voltage information V info does not meet the standard, it is judged that the magnetic encoder 204 needs to perform zero point compensation, and a zero point angle Az of the magnetic encoder 204 is read by the control module 4 Computing the compensation angle Ac corresponding to the magnetic encoder 204 based on the zero point compensation control based on the torque information T info and the torque standard, and programming the magnetic encoder 204 according to the compensation angle Ac to realize the zero point compensation of the magnetic encoder 204 (S260). In a preferred embodiment, the control module 4 includes a controller 42 and a writing device 44 . The controller 42 calculates the compensation angle Ac according to the zero point angle Az, the torque information T info and the torque standard. The controller 42 calculates an angle parameter Pa according to the zero point angle Az and the compensation angle Ac and sends it to the writing device 44, and the writing device 44 writes the angle parameter Pa is written into the magnetic encoder 204 by burning or other methods, so as to adjust (ie fine-tune) the zero point angle Az of the magnetic encoder 204 to perform zero point compensation. Among them, the preferred calculation method of the angle parameter Pa is to read the zero point angle Az of the magnetic encoder 204 by detecting the permanent magnet motor module 200, and the control module 4 is based on the actual torque T real and the torque threshold (that is, the torque standard ) to calculate the torque error to generate the compensation angle Ac, to calculate the sum of the zero point angle Az and the compensation angle Ac as the angle parameter Pa, wherein the angle parameter Pa includes a magnetic encoder angle after compensation required for writing into the magnetic encoder 204 Aw. It should be noted that the compensation angle Ac calculated based on zero point compensation in step (S260) is a smaller angle than the adjustment angle based on zero point correction in step (S100). The former aims to compensate the performance of the permanent magnet motor 202, while the latter The purpose is to essentially zero the angle of the magnetic encoder 204 .

然後，重複步驟(S120)至步驟(S260)，以重複微調磁編碼器204角度並確認永磁馬達202性能是否達標(S280)。在多次重複步驟(S120)至步驟(S260)的循環中，若永磁馬達202性能於調整後達標時，則於步驟(S220)結束。反之，若扭力資訊T info與電壓資訊V info的其中之一者在前次調整後仍未達到標準時，則重複步驟(S260)，以對磁編碼器204再次進行燒錄以再次調校零點角度Az。最後，在重複執行步驟(S120)至步驟(S260)的調整執行達預定次數後，且永磁馬達202性能仍未達標則判定為殘次品退件(S300)。需說明的是，在某種狀況中，永磁馬達模組200可能在製造或組裝時即存在瑕疵，導致可能存在永磁馬達模組200無論怎麼調校皆無法性能達標之狀況。因此，控制模組4可預先設定重複調校磁編碼器204的預定次數。當控制模組4在對磁編碼器204進行燒錄以進行零點補償達到預定次數後，若永磁馬達模組200的永磁馬達202的性能始終無法達標時，則判斷永磁馬達202為殘次品(NG)退件。 Then, repeat step ( S120 ) to step ( S260 ) to repeatedly fine-tune the angle of the magnetic encoder 204 and confirm whether the performance of the permanent magnet motor 202 is up to standard ( S280 ). In the cycle of repeating step ( S120 ) to step ( S260 ) multiple times, if the performance of the permanent magnet motor 202 reaches the standard after adjustment, then step ( S220 ) ends. Conversely, if one of the torque information T info and the voltage information V info has not reached the standard after the previous adjustment, repeat the step (S260) to reprogram the magnetic encoder 204 to adjust the zero point angle again Az. Finally, after the adjustments from step ( S120 ) to step ( S260 ) are repeatedly performed for a predetermined number of times, and the performance of the permanent magnet motor 202 is still not up to standard, it is determined that it is a defective product and returned ( S300 ). It should be noted that under certain conditions, the permanent magnet motor module 200 may have flaws during manufacture or assembly, resulting in the situation that the performance of the permanent magnet motor module 200 may not meet the standard no matter how it is adjusted. Therefore, the control module 4 can preset a predetermined number of repeated adjustments of the magnetic encoder 204 . When the control module 4 burns the magnetic encoder 204 to perform zero point compensation for a predetermined number of times, if the performance of the permanent magnet motor 202 of the permanent magnet motor module 200 cannot meet the standard all the time, then it is judged that the permanent magnet motor 202 is residual. Defective (NG) returns.

請參閱圖6為本發明磁編碼器補償方法之細部施行圖，復配合參閱圖2~5B，且反覆參閱圖5。在步驟(S400)中，磁編碼器補償系統100b係進行最大轉矩動態加載測試而執行圖5的步驟(S100)~(S160)。控制模組4控制永磁馬達驅動器206提供轉速命令Spd cmd將永磁馬達202驅控至額定轉速Spd rated至最大轉速Spd MAX之間的高轉速區間，並於永磁馬達202在高轉速區間穩定運行於一特定速度時進行最大轉矩動態加載，且在此同時使永磁馬達驅動器206提供扭力命令T cmd控制永磁馬達202的扭力輸出達100%。在步驟(S420)中，係執行圖5的步驟(S200)，以分別判別實際扭力T real是否大於等於預定的扭力閾值T target，實際電壓V real是否小於等於預定的電壓閾值V Limit。在步驟(S440)中，即永磁馬達202性能達標而判定為良品允收。在步驟(S460)中，實際扭力T real與實際電壓V real皆未達標準，因此直接判定永磁馬達模組200為殘次品(NG)退件。在步驟(S480-1)與(S480-2)中，由於實際扭力T real與實際電壓V real的其中之一者未達到標準，因此接續進行步驟(S500)~(S560)的校正步驟。 Please refer to FIG. 6, which is a detailed implementation diagram of the magnetic encoder compensation method of the present invention. Refer to FIGS. 2-5B for complex coordination, and repeatedly refer to FIG. 5. In step (S400), the magnetic encoder compensation system 100b performs a maximum torque dynamic loading test and executes steps (S100)-(S160) of FIG. 5 . The control module 4 controls the permanent magnet motor driver 206 to provide a speed command Spd cmd to drive the permanent magnet motor 202 to a high speed range between the rated speed Spd rated and the maximum speed Spd MAX , and the permanent magnet motor 202 is stable in the high speed range When running at a specific speed, the maximum torque is dynamically loaded, and at the same time, the permanent magnet motor driver 206 provides a torque command T cmd to control the torque output of the permanent magnet motor 202 to 100%. In step (S420), step (S200) in FIG. 5 is executed to determine whether the actual torque T real is greater than or equal to the predetermined torque threshold T target and whether the actual voltage V real is less than or equal to the predetermined voltage threshold V Limit . In step ( S440 ), that is, the performance of the permanent magnet motor 202 is up to standard and it is determined to be a good product. In step ( S460 ), neither the actual torque T real nor the actual voltage V real reaches the standard, so it is directly determined that the permanent magnet motor module 200 is a defective product (NG) and returned. In steps ( S480 - 1 ) and ( S480 - 2 ), since one of the actual torque T real and the actual voltage V real does not reach the standard, the calibration steps of steps ( S500 )˜( S560 ) are continued.

在步驟(S500)中，控制器42透過電力計3接收扭力計2所提供的實際扭力T real，並將實際扭力T real計算為扭力資訊T info，電力計3所提供給控制器42的扭力資訊T info、電壓資訊V info，以及磁編碼器204所提供的零點角度ZeroOffset read(Az)，以準備進行後續的角度參數Pa計算。在步驟(S520)中，控制器42計算欲補償磁編碼器204的補償角度可表示為：ZeroOffset compensate(Ac)=(T real-T target)T coefficient。其中，T coefficient為扭力係數，且扭力係數T coefficient可以透過控制器42的模擬分析而獲得。在步驟(S540)中，控制器42計算欲寫入磁編碼器204的補償後磁編角度Aw可表示為： ZeroOffset write(Aw)= ZeroOffset read(Az)-ZeroOffset compensate。 In step (S500), the controller 42 receives the actual torque T real provided by the torque meter 2 through the electric meter 3, and calculates the actual torque T real as the torque information T info . The torque provided by the electric meter 3 to the controller 42 The information T info , the voltage information V info , and the zero point angle ZeroOffset read (Az) provided by the magnetic encoder 204 are prepared for subsequent calculation of the angle parameter Pa. In step ( S520 ), the controller 42 calculates the compensation angle of the magnetic encoder 204 to be compensated, which can be expressed as: ZeroOffset compensate (Ac)=(T real −T target )T coefficient . Wherein, T coefficient is the torque coefficient, and the torque coefficient T coefficient can be obtained through the simulation analysis of the controller 42 . In step ( S540 ), the controller 42 calculates the compensated magnetic encoder angle Aw to be written into the magnetic encoder 204 , which can be expressed as: ZeroOffset write (Aw)=ZeroOffset read (Az)−ZeroOffset compensate .

在步驟(S560)中，控制模組4依據補償角度ZeroOffset compensate計算，通過寫入裝置44將對應角度參數Pa寫入磁編碼器204，以調整(即微調)磁編碼器204的角度並補償永磁馬達202的性能。在步驟(S560)完成後，即進入步驟(S580)判斷是否已將角度參數Pa寫入磁編碼器204達到預定次數。若是，則判斷永磁馬達模組200為殘次品(NG)退件(S600)。若否，則返回步驟(S400)，其中角度參數Pa包括一個用於寫入磁編碼器204所需的補償後磁編角度Aw。 In step (S560), the control module 4 calculates according to the compensation angle ZeroOffset compensate , and writes the corresponding angle parameter Pa into the magnetic encoder 204 through the writing device 44, so as to adjust (that is, fine-tune) the angle of the magnetic encoder 204 and compensate the permanent offset. Magnetic motor 202 performance. After the step (S560) is completed, proceed to step (S580) to determine whether the angle parameter Pa has been written into the magnetic encoder 204 for a predetermined number of times. If yes, it is determined that the permanent magnet motor module 200 is a defective product (NG) and returned (S600). If not, return to step ( S400 ), where the angle parameter Pa includes a compensated magnetic encoder angle Aw required for writing into the magnetic encoder 204 .

請參閱圖7A為本發明磁編碼器補償方法之測試驗證下的扭力分析圖、圖7B為本發明磁編碼器補償方法之測試驗證下的電壓分析圖，復配合參閱圖2~6，且反覆參閱圖7A、7B。在圖7A中，實驗測試永磁馬達202在高轉速區間(9000rpm)下，定義符合規格的扭力輸出規格需＞6Nm，需確認若其在高轉速區間下扭力達標，始能確保當永磁馬達202轉速低於9000rpm時性能仍可達標。同樣地在圖7B中，定義符合規格的電壓輸出規格需＜35V，以確保永磁馬達驅動器206於各轉速運轉時不會因電壓過高而造成系統失控。Please refer to Figure 7A, which is the torque analysis diagram under the test and verification of the magnetic encoder compensation method of the present invention, and Figure 7B is the voltage analysis diagram under the test verification of the magnetic encoder compensation method of the present invention, refer to Figures 2 to 6 for complex coordination, and repeat See Figures 7A, 7B. In FIG. 7A , the experimental test shows that the permanent magnet motor 202 is in the high speed range (9000rpm), and the torque output specification that meets the specification needs to be >6Nm. It needs to be confirmed that if the torque reaches the standard in the high speed range, it can be guaranteed to be a permanent magnet motor. The performance of 202 can still meet the standard when the speed is lower than 9000rpm. Similarly, in FIG. 7B , it is defined that the voltage output specification conforming to the specification needs to be <35V, so as to ensure that the permanent magnet motor driver 206 will not cause system runaway due to excessive voltage when operating at various speeds.

在圖7A與7B中，例如永磁馬達202運轉於9000rpm時測試結果之曲線Test1因電壓滿足性能規格，但扭力不滿足性能規格((例如扭力：5.58Nm，電壓：31.28V)，須將透過零點補償調整零點角度Az，以修正永磁馬達模組200的性能。測試結果之曲線Test2因扭力滿足性能規格，但電壓大於性能規格(扭力：6.5Nm，電壓：35.1V) ，須將透過零點補償調整零點角度Az，以修正永磁馬達模組200的性能。測試結果之曲線Test3，係經零點補償而調整零點角度Az後再次測試結果，扭力與電壓皆符合性能規格(扭力：6.3Nm，電壓：34.217V)，能證明本發明補償機制能夠有效改善永磁馬達模組200的性能。In Fig. 7A and 7B, for example, when the permanent magnet motor 202 is running at 9000rpm, the curve Test1 of the test result meets the performance specification because the voltage meets the performance specification, but the torque does not meet the performance specification ((for example, torque: 5.58Nm, voltage: 31.28V), it must be passed through Zero point compensation adjusts the zero point angle Az to correct the performance of the permanent magnet motor module 200. The curve Test2 of the test results meets the performance specification because the torque meets the performance specification, but the voltage exceeds the performance specification (torque: 6.5Nm, voltage: 35.1V), and the zero point must be passed through Compensate and adjust the zero point angle Az to correct the performance of the permanent magnet motor module 200. The curve Test3 of the test result is the test result after adjusting the zero point angle Az through zero point compensation, and the torque and voltage meet the performance specifications (torque: 6.3Nm, Voltage: 34.217V), it can be proved that the compensation mechanism of the present invention can effectively improve the performance of the permanent magnet motor module 200 .

依據本發明提出的磁編碼器補償系統及磁編碼器補償方法，透過高轉速區間的最大轉矩動態加載性能測試來進行動態誤差的校正，以微幅修正磁編碼器的零點角度的補償量並燒錄於磁編碼器，進而達成確保永磁馬達性能完全發揮與量產性能一致性的功效。According to the magnetic encoder compensation system and magnetic encoder compensation method proposed by the present invention, the dynamic error correction is performed through the maximum torque dynamic loading performance test in the high speed range, and the compensation amount of the zero point angle of the magnetic encoder is slightly corrected and It is burned into the magnetic encoder to achieve the effect of ensuring that the performance of the permanent magnet motor is fully consistent with the performance of mass production.

惟，以上所述，僅為本發明較佳具體實施例之詳細說明與圖式，惟本發明之特徵並不侷限於此，並非用以限制本發明，本發明之所有範圍應以下述之申請專利範圍為準，凡合於本發明申請專利範圍之精神與其類似變化之實施例，皆應包括於本發明之範疇中，任何熟悉該項技藝者在本發明之領域內，可輕易思及之變化或修飾皆可涵蓋在以下本案之專利範圍。However, the above description is only a detailed description and drawings of preferred embodiments of the present invention, but the features of the present invention are not limited thereto, and are not intended to limit the present invention. The entire scope of the present invention should be applied for as follows The scope of the patent shall prevail, and all embodiments that conform to the spirit of the patent scope of the present invention and its similar changes shall be included in the scope of the present invention, and any person familiar with the art can easily think of it in the field of the present invention Changes or modifications can be covered by the scope of the following patents in this case.

100a、100b:磁編碼器補償系統 1:負載馬達模組 12:負載馬達 14:負載馬達驅動器 16:負載馬達編碼器 18:高精度編碼器 12A、12B:聯軸器 2:扭力計 3:電力計 4:控制模組 42:控制器 44:寫入裝置 46:開關 200:永磁馬達模組 202:永磁馬達 204:磁編碼器 206:永磁馬達驅動器 Pd:驅動電源 Ss:偵測訊號 Sc:控制訊號 T info:扭力資訊 V info:電壓資訊 Spd cmd:轉速命令 Spd MAX:最大轉速 Spd rated:額定轉速 T cmd:扭力命令 T real:實際扭力 T target:扭力閾值 T coefficient:扭力係數 V real:實際電壓 V Limit:電壓閾值 Aw(ZeroOffset write):補償後磁編角度 Az(ZeroOffset read):零點角度 Ac(ZeroOffset compensate):補償角度 Pa:角度參數 E:反電動勢 I:電流 θ:夾角 Z:阻抗 (S100)~(S600):步驟 Test1~ Test3:曲線 100a, 100b: Magnetic encoder compensation system 1: Load motor module 12: Load motor 14: Load motor driver 16: Load motor encoder 18: High-precision encoder 12A, 12B: Coupling 2: Torque meter 3: Electric power Meter 4: Control Module 42: Controller 44: Writing Device 46: Switch 200: Permanent Magnet Motor Module 202: Permanent Magnet Motor 204: Magnetic Encoder 206: Permanent Magnet Motor Driver Pd: Driving Power Ss: Detection Signal Sc: control signal T info : torque information V info : voltage information Spd cmd : speed command Spd MAX : maximum speed Spd rated : rated speed T cmd : torque command T real : actual torque T target : torque threshold T coefficient : torque coefficient V real : actual voltage V Limit : voltage threshold Aw(ZeroOffset write ): magnetic encoder angle after compensation Az(ZeroOffset read ): zero point angle Ac(ZeroOffset compensate ): compensation angle Pa: angle parameter E: back electromotive force I: current θ: included angle Z: Impedance (S100)~(S600): Step Test1~ Test3: Curve

圖1為習知的磁編碼器補償系統之電路方塊圖；Fig. 1 is the circuit block diagram of conventional magnetic encoder compensation system;

圖2為本發明用以校正磁編碼器之磁編碼器補償系統之電路方塊圖；Fig. 2 is the circuit block diagram of the magnetic encoder compensation system used for correcting the magnetic encoder in the present invention;

圖3A為本發明磁編補償基礎原理第一實施例之向量示意圖；Fig. 3A is a vector schematic diagram of the first embodiment of the basic principle of magnetic compensation of the present invention;

圖3B為本發明磁編補償基礎原理第二實施例之向量示意圖；Fig. 3B is a vector schematic diagram of the second embodiment of the basic principle of magnetic compensation of the present invention;

圖3C為本發明磁編補償基礎原理第三實施例之向量示意圖；Fig. 3C is a vector schematic diagram of the third embodiment of the basic principle of magnetic compensation of the present invention;

圖4為本發明轉矩比重之曲線示意圖；Fig. 4 is the curve schematic diagram of torque specific gravity of the present invention;

圖5為本發明磁編碼器補償方法之流程圖；Fig. 5 is the flow chart of magnetic encoder compensation method of the present invention;

圖6為本發明磁編碼器補償方法之細部施行圖；Figure 6 is a detailed implementation diagram of the magnetic encoder compensation method of the present invention;

圖7A為本發明磁編碼器補償方法之測試驗證下的扭力分析圖；及Fig. 7A is a torque analysis diagram under test verification of the magnetic encoder compensation method of the present invention; and

圖7B為本發明磁編碼器補償方法之測試驗證下的電壓分析圖。FIG. 7B is a voltage analysis diagram under test verification of the magnetic encoder compensation method of the present invention.

100b:磁編碼器補償系統 100b: Magnetic encoder compensation system

1:負載馬達模組 1: Load motor module

12:負載馬達 12: Load motor

14:負載馬達驅動器 14: Load motor driver

16:負載馬達編碼器 16: Load motor encoder

12B:聯軸器 12B:Coupling

2:扭力計 2: Torque meter

3:電力計 3: power meter

4:控制模組 4: Control module

42:控制器 42: Controller

44:寫入裝置 44: Write device

46:開關 46: switch

200:永磁馬達模組 200: Permanent magnet motor module

202:永磁馬達 202:Permanent magnet motor

204:磁編碼器 204: Magnetic encoder

206:永磁馬達驅動器 206:Permanent magnet motor driver

Pd:驅動電源 Pd: drive power

Ss:偵測訊號 Ss: detection signal

Sc:控制訊號 Sc: control signal

Tinfo:扭力資訊 T info : Torque information

Vinfo:電壓資訊 V info : voltage information

Treal:實際扭力 T real : actual torque

Vreal:實際電壓 V real : actual voltage

Pa:角度參數 Pa: angle parameter

Claims (11)

一種磁編碼器補償系統，包括： 一永磁馬達模組，包括一永磁馬達、一永磁馬達驅動器及一磁編碼器； 一負載馬達模組，包括一負載馬達及一負載馬達驅動器； 一電力計，耦接該永磁馬達驅動器； 一扭力計，耦接該永磁馬達、該負載馬達及該電力計；及 一控制模組，耦接該永磁馬達模組、該負載馬達模組及該電力計； 其中，該控制模組通過該永磁馬達驅動器而控制該永磁馬達運轉於額定轉速至最大轉速之間的一高轉速區間，且通過該負載馬達驅動器而控制該負載馬達運轉以對該永磁馬達進行一最大轉矩動態加載的同時，通過該扭力計偵測該永磁馬達於該高轉速區間對應的一扭力資訊，且通過該電力計偵測該永磁馬達驅動器於該高轉速區間對應的一電壓資訊； 其中，該控制模組根據該扭力資訊與一扭力標準比對，及根據該電壓資訊與一電壓標準比對判斷該永磁馬達性能是否達標，若該扭力資訊與該電壓資訊的其中之一者未達標，則該控制模組讀取該磁編碼器的一零點角度，並基於零點補償控制計算對應該零點角度的一補償角度，且根據該補償角度對該磁編碼器進行燒錄。 A magnetic encoder compensation system comprising: A permanent magnet motor module, including a permanent magnet motor, a permanent magnet motor driver and a magnetic encoder; A load motor module, including a load motor and a load motor driver; an electric meter coupled to the permanent magnet motor driver; a torque meter coupled to the permanent magnet motor, the load motor and the power meter; and a control module, coupled to the permanent magnet motor module, the load motor module and the power meter; Wherein, the control module controls the permanent magnet motor to run in a high speed range between the rated speed and the maximum speed through the permanent magnet motor driver, and controls the load motor to run through the load motor driver to control the permanent magnet While the motor is being dynamically loaded with a maximum torque, the torque information corresponding to the permanent magnet motor in the high speed range is detected by the torque meter, and the corresponding torque information of the permanent magnet motor driver in the high speed range is detected by the electric meter. A voltage information of Wherein, the control module compares the torque information with a torque standard, and judges whether the performance of the permanent magnet motor meets the standard according to the voltage information compared with a voltage standard, if one of the torque information and the voltage information If the standard is not met, the control module reads a zero angle of the magnetic encoder, calculates a compensation angle corresponding to the zero angle based on zero compensation control, and performs programming of the magnetic encoder according to the compensation angle. 如請求項1所述之磁編碼器補償系統，其中該扭力計係偵測該永磁馬達於該高轉速區間運轉的一實際扭力經計算而提供該扭力資訊，該電力計係偵測該永磁馬達於該高轉速區間運轉時該永磁馬達驅動器的一實際電壓經計算而提供該電壓資訊，且該控制模組係根據該實際扭力是否大於等於一扭力閾值以判斷該扭力資訊是否達到該扭力標準，以及根據該實際電壓是否小於等於一電壓閾值以判斷該電壓資訊是否達到該電壓標準。The magnetic encoder compensation system as described in Claim 1, wherein the torque meter detects an actual torque of the permanent magnet motor operating in the high speed range and provides the torque information after calculation, and the power meter detects the permanent magnet motor When the magnetic motor is operating in the high speed range, an actual voltage of the permanent magnet motor driver is calculated to provide the voltage information, and the control module judges whether the torque information reaches the threshold according to whether the actual torque is greater than or equal to a torque threshold. Torque standard, and judging whether the voltage information reaches the voltage standard according to whether the actual voltage is less than or equal to a voltage threshold. 如請求項2所述之磁編碼器補償系統，其中於該永磁馬達性能未達標時，該控制模組根據該實際扭力與該扭力閾值之間的一扭力誤差計算該補償角度，並將該零點角度與該補償角度的總合計算燒錄於該磁編碼器的一角度參數。The magnetic encoder compensation system as described in claim 2, wherein when the performance of the permanent magnet motor is not up to standard, the control module calculates the compensation angle according to a torque error between the actual torque and the torque threshold, and calculates the compensation angle The sum of the zero point angle and the compensation angle is calculated and burned into an angle parameter of the magnetic encoder. 如請求項1所述之磁編碼器補償系統，其中該負載馬達與該永磁馬達以一聯軸器對接，該扭力計配置於該聯軸器與該永磁馬達之間，且該扭力計電性連接該電力計。The magnetic encoder compensation system according to claim 1, wherein the load motor and the permanent magnet motor are connected by a coupling, the torque meter is arranged between the coupling and the permanent magnet motor, and the torque meter Electrically connect the power meter. 如請求項1所述之磁編碼器補償系統，其中該控制模組包括： 一控制器，耦接該永磁馬達模組、該負載馬達模組及該電力計，用以根據該零點角度、該扭力資訊與該扭力標準計算該補償角度；及 一寫入裝置，耦接該控制器與該磁編碼器，用以根據該補償角度對該磁編碼器進行燒錄。 The magnetic encoder compensation system as described in Claim 1, wherein the control module includes: a controller, coupled to the permanent magnet motor module, the load motor module and the power meter, for calculating the compensation angle according to the zero point angle, the torque information and the torque standard; and A writing device, coupled to the controller and the magnetic encoder, is used for burning the magnetic encoder according to the compensation angle. 一種磁編碼器補償方法，包括： (a)控制一永磁馬達運轉於額定轉速至最大轉速之間的一高轉速區間； (b)控制一負載馬達運轉以對該永磁馬達進行一最大轉矩動態加載，並同時取得該永磁馬達於該高轉速區間對應的一扭力資訊，及取得驅動該永磁馬達的一永磁馬達驅動器於該高轉速區間對應的一電壓資訊； (c)禁能該永磁馬達驅動器； (d)根據該扭力資訊與一扭力標準比對，及根據該電壓資訊與一電壓標準比對； (e)根據步驟(d)的比對結果判斷該永磁馬達性能是否達標，包括： (e1)若該扭力資訊達到該扭力標準，且該電壓資訊達到該電壓標準時，判斷該永磁馬達性能達標且判定為良品允收； (e2)若該扭力資訊未達到該扭力標準，且該電壓資訊也未達到該電壓標準時，判斷該永磁馬達性能未達標且判定為殘次品退件；及 (e3)若該扭力資訊與該電壓資訊的其中之一者未達標，則判斷與該永磁馬達組裝的一磁編碼器需進行零點補償，藉由讀取該磁編碼器的一零點角度，並基於零點補償控制計算對應該零點角度的一補償角度，且根據該補償角度對該磁編碼器進行燒錄；及 (f)重複該步驟(a)至該步驟(e3)，以確認該永磁馬達性能是否達標。 A magnetic encoder compensation method, comprising: (a) controlling a permanent magnet motor to operate in a high speed range between the rated speed and the maximum speed; (b) controlling the operation of a load motor to dynamically load the permanent magnet motor with a maximum torque, and at the same time obtain a torque information corresponding to the high speed range of the permanent magnet motor, and obtain a permanent magnet motor driving the permanent magnet motor A voltage information corresponding to the high speed range of the magnetic motor driver; (c) disable the permanent magnet motor drive; (d) comparing the torque information with a torque standard, and comparing the voltage information with a voltage standard; (e) judging whether the performance of the permanent magnet motor is up to standard according to the comparison result of step (d), including: (e1) If the torque information reaches the torque standard and the voltage information reaches the voltage standard, it is judged that the performance of the permanent magnet motor meets the standard and it is judged as a good product for acceptance; (e2) If the torque information does not meet the torque standard, and the voltage information does not meet the voltage standard, it is judged that the performance of the permanent magnet motor does not meet the standard and it is judged to be a defective product and returned; and (e3) If one of the torque information and the voltage information does not meet the standard, then it is judged that a magnetic encoder assembled with the permanent magnet motor needs to perform zero point compensation, by reading a zero point angle of the magnetic encoder , and calculate a compensation angle corresponding to the zero point angle based on the zero point compensation control, and program the magnetic encoder according to the compensation angle; and (f) Repeat step (a) to step (e3) to confirm whether the performance of the permanent magnet motor is up to standard. 如請求項6所述之磁編碼器補償方法，於該步驟(a)之前更包括： 對該磁編碼器進行零點校正。 As the magnetic encoder compensation method described in claim 6, before the step (a), it further includes: Perform zero calibration on the magnetic encoder. 如請求項6所述之磁編碼器補償方法，其中該步驟(d)包括： (d1)偵測該永磁馬達於該高轉速區間的一實際扭力經計算而提供該扭力資訊，且根據該實際扭力是否大於等於一扭力閾值以判斷該扭力資訊是否達到該扭力標準；及 (d2)偵測該永磁馬達於該高轉速區間運轉時該永磁馬達驅動器輸出的一實際電壓經計算而提供該電壓資訊，且根據該實際電壓是否小於等於一電壓閾值以判斷該電壓資訊是否達到該電壓標準。 The magnetic encoder compensation method as described in claim 6, wherein the step (d) includes: (d1) Detecting an actual torque of the permanent magnet motor in the high speed range and calculating to provide the torque information, and judging whether the torque information meets the torque standard according to whether the actual torque is greater than or equal to a torque threshold; and (d2) Detecting an actual voltage output by the permanent magnet motor driver when the permanent magnet motor is operating in the high speed range, and providing the voltage information by calculating, and judging the voltage information according to whether the actual voltage is less than or equal to a voltage threshold Whether to meet the voltage standard. 如請求項8所述之磁編碼器補償方法，其中該步驟(e1)更包括： 通過調整一角度參數而調降該實際扭力與該實際電壓，其中該角度參數是根據該零點角度與該補償角度的總合計算所得。 The magnetic encoder compensation method as described in Claim 8, wherein the step (e1) further includes: The actual torque and the actual voltage are lowered by adjusting an angle parameter, wherein the angle parameter is calculated according to the sum of the zero point angle and the compensation angle. 如請求項8所述之磁編碼器補償方法，其中該步驟(e3)包括： (e31)通過偵測該永磁馬達模組而讀取該磁編碼器的該零點角度； (e32)根據該實際扭力與該扭力閾值之間的一扭力誤差計算該補償角度；及 (e33)根據該零點角度與該補償角度的總合計算燒錄於該磁編碼器的一角度參數。 The magnetic encoder compensation method as described in Claim 8, wherein the step (e3) includes: (e31) reading the zero point angle of the magnetic encoder by detecting the permanent magnet motor module; (e32) calculating the compensation angle according to a torque error between the actual torque and the torque threshold; and (e33) Calculating an angle parameter programmed into the magnetic encoder according to the sum of the zero point angle and the compensation angle. 如請求項6所述之磁編碼器補償方法，更包括： (g)在步驟(e3)重複執行達到一預定次數後，且該永磁馬達性能仍未達標，則判定該永磁馬達為殘次品而退件。 The magnetic encoder compensation method as described in claim 6, further comprising: (g) After step (e3) is repeated for a predetermined number of times, and the performance of the permanent magnet motor is still not up to standard, then it is determined that the permanent magnet motor is a defective product and returned.
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