TWI261409B

TWI261409B - Accelerating current servo driving method without phase-changing signals and accelerating current servo driver thereof

Info

Publication number: TWI261409B
Application number: TW93116420A
Authority: TW
Inventors: Ching-Hsiung Tsai; Jian-Da Chen
Original assignee: Delta Electronics Inc
Priority date: 2004-06-08
Filing date: 2004-06-08
Publication date: 2006-09-01
Also published as: TW200541199A

Abstract

An accelerating current servo driving method without phase-changing signals and accelerating current servo driver thereof for driving an AC servo motor having an increment type encoder is provided. A driving device is included for generating a driving signal to drive the motor according to an initial d-axial current and an initial q-axial current. An angle detecting device is also included for estimating the angle of the rotor of the motor according to the initial q-axial current when starting the motor. The estimated angle is then feedback to the driving device such that the device delivers correct driving signal to the motor. Through the angle detecting device, the phase-changing signals are not needed when driving the motor.

Description

1261409 五、發明說明α) 【發明所屬之技術領域】本發明係關於一種馬達驅動器，特別是一種應用於具有增量型編碼器之伺服馬達之交流伺服驅動器。【先前技術】一般而言，交流伺服模組包括有驅動器及伺服馬達，伺服馬達内含一個編碼器，用以提供馬達轉子初始角度，並迴授給驅動器，以便驅動器產生與轉子磁場垂直的定子電流。目前的編碼器有兩種，一種為含換相信號（U、V、W) 的增量型（A、Β、Ζ )編碼器，另一種為絕對型編碼器。增量型編碼器可提供轉動初始六區之粗略電氣角度，以使得轉子能夠順利轉動起來，等到Z信號產生時，再進行正確的電氣角度校正。絕對型編碼器則能輸出絕對位置以可提供正確的轉子角度，當然換相也沒問題。馬達啟動時，由馬達驅動器中的計數器取得換相信號 (U、V、W信號）來得知轉子目前粗略起始位置，通常換相信號由霍爾元件或UVW型編碼器產生，馬達中的增量型編碼器則產生增量信號（A、Β、Z信號），A、B信號提供正反轉脈波。換言之，根據係號的特性，換相信號只用在馬達起動的時候，當馬達啟動達穩定之轉速後，即不需要換相信號。然而，增量型編碼器是目前較廣為接受之產品，所以成本較低，因此，若能讓内含增量型編碼器的伺服馬達能夠初始正確地轉動而不需要其他訊號，如換相信號的輔BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor driver, and more particularly to an AC servo driver applied to a servo motor having an incremental encoder. [Prior Art] In general, the AC servo module includes a driver and a servo motor. The servo motor includes an encoder for providing an initial angle of the motor rotor and feeding it back to the driver so that the driver generates a stator perpendicular to the rotor magnetic field. Current. There are two types of encoders today, one is an incremental (A, Β, Ζ) encoder with a commutation signal (U, V, W), and the other is an absolute encoder. The incremental encoder provides a rough electrical angle for the initial six zones of rotation so that the rotor can be rotated smoothly and the correct electrical angle correction is made when the Z signal is generated. Absolute encoders can output absolute positions to provide the correct rotor angle, although commutation is no problem. When the motor is started, the commutation signal (U, V, W signals) is obtained by the counter in the motor driver to know the current rough starting position of the rotor. Usually, the commutation signal is generated by the Hall element or the UVW type encoder, and the motor is increased. The type encoder generates incremental signals (A, Β, Z signals), and the A and B signals provide positive and negative pulse waves. In other words, depending on the characteristics of the system, the commutation signal is only used when the motor is started. When the motor starts to reach a stable speed, the commutation signal is not required. However, the incremental encoder is currently a widely accepted product, so the cost is lower, so if the servo motor with the incremental encoder can be rotated initially without any other signals, such as commutation Signal supplement

1261409 五、發明說明（2) 助，即可省去不必要的設計與成本。【發明内容】鑒於以上的問題，本發明的主要目的在於提供一種交流伺服驅動器，利用增量型編碼器的增量信號（ABZ信號）估測得到轉子的初始位置，以驅動具有增量型編碼器之交流伺服馬達，藉以解決習知技術中所存在的技術課題與潛在缺點。因此，為達上述目的，本發明揭露一種不需換相信號的交流伺服啟動方法，先根據一初始d轴電流分量與一初始q轴電流分量輸出一驅動訊號，以驅動該交流伺服馬達；在交流伺服馬達初始轉動時，根據該初始q轴電流分量，估測該交流伺服馬達中之一轉子的初始角度；再根據該估測的初始角度，據以輸出一正確的該驅動訊號以帶動該交流伺服馬達正確地轉動。因此，為達上述目的，本發明所揭露之交流伺服驅動器，用以驅動具有一增量型編碼器之一交流伺服馬達，包括有一驅動器，係根據一初始d轴電流分量與一初始q軸電流分量輸出一驅動訊號，以驅動該交流伺服馬達；以及一角度债測器，與該驅動器耗接，在該交流伺服馬達初始轉動時，用以根據該初始q軸電流分量，估測該交流伺服馬達中之一轉子的角度，並將估測的該角度迴授至該驅動器，俾使該驅動器據以輸出正確的該驅動訊號以帶動該交流伺服馬達正確地轉動。根據本發明所揭露的交流伺服驅動器其所驅動的伺服1261409 V. Invention Description (2) Help, you can save unnecessary design and cost. SUMMARY OF THE INVENTION In view of the above problems, the main object of the present invention is to provide an AC servo driver that estimates the initial position of a rotor by using an incremental encoder (ABZ signal) of an incremental encoder to drive incremental coding. The AC servo motor is used to solve the technical problems and potential shortcomings in the prior art. Therefore, in order to achieve the above object, the present invention discloses an AC servo starting method that does not require a commutation signal, and first outputs a driving signal according to an initial d-axis current component and an initial q-axis current component to drive the AC servo motor; When the AC servo motor is initially rotated, estimating an initial angle of one of the rotors of the AC servo motor according to the initial q-axis current component; and then outputting a correct driving signal according to the estimated initial angle to drive the The AC servo motor rotates correctly. Therefore, in order to achieve the above object, an AC servo driver disclosed in the present invention is used for driving an AC servo motor having an incremental encoder, including a driver based on an initial d-axis current component and an initial q-axis current. The component outputs a driving signal to drive the AC servo motor; and an angle debt detector is coupled to the driver, and when the AC servo motor is initially rotated, is configured to estimate the AC servo according to the initial q-axis current component An angle of one of the rotors of the motor, and the estimated angle is fed back to the driver, so that the driver outputs the correct driving signal to drive the AC servo motor to rotate correctly. The servo driven by the AC servo drive according to the present invention

第8頁 1261409 五、發明說明（3) 馬達只採用增量型（A、B、Z )編碼器。於初始時，藉由急速反覆的速度命令來產生轉子的微動；並提供可靠實用的回授信號。此外，以容易實現的簡單線性系統來即時快速補正初始轉子與驅動器的電氣角差。根據本發明所揭露的交流伺服驅動器，其估測補正時間大概為5 0 m s，比目前含換相信號（UVW)的編碼型（ABZ)省配線式編碼器之初始準備時間（大約50 Oms)還快。有關本發明的特徵與實作，茲配合圖示作最佳實施例詳細說明如下。【實施方式】請參考『第1圖』，係為本發明所揭露之交流伺服驅動器之系統架構圖，係以轉子座標系來描述系統架構，係由一驅動器1 〇〇與一角度估測器2 0 0所組成，驅動器1 0 0係輸出一驅動訊號以驅動馬達3 0 0轉動。當馬達3 0 0只接一般增量型編碼器時，僅能獲得資訊為只有角度差及角速度，因此需要一角度估測器2 0 0，在馬達初始轉動時，用以估測馬達中轉子的角度，並將估測的角度迴授至驅動器10 0中，使得驅動器10 0據以輸出正確的驅動訊號以帶動馬達3 0 0正確的轉動。驅動器1 0 0中包括有一第一座標轉換器1 1 0、一脈波寬度調變器1 2 0與一第二座標轉換器1 3 0，第一座標轉換器 11 0係將轉子座標系統轉換成定子座標系統後，由脈波寬度調變器1 2 0輸出三相電流的驅動訊號以驅動馬達3 0 0。脈波寬度調變器1 2 0與馬達3 0 0間有三個電流感測器Page 8 1261409 V. INSTRUCTIONS (3) The motor only uses incremental (A, B, Z) encoders. Initially, the rotor's fretting is generated by a rapid repetitive speed command; and a reliable and practical feedback signal is provided. In addition, the electrical angle difference between the initial rotor and the driver is instantly and quickly corrected in a simple linear system that is easy to implement. According to the AC servo drive disclosed in the present invention, the estimated correction time is approximately 50 ms, which is an initial preparation time (about 50 Oms) than the current coded (ABZ) wiring type encoder with a commutation signal (UVW). Still fast. The features and implementations of the present invention are described in detail with reference to the preferred embodiments. [Embodiment] Please refer to "Figure 1", which is the system architecture diagram of the AC servo drive disclosed in the present invention. The system architecture is described by a rotor coordinate system, which is composed of a driver 1 and an angle estimator. The composition of the 0 0 0, the driver 1 0 0 is a drive signal to drive the motor 300 rotation. When the motor 300 is only connected to the general incremental encoder, only the information can be obtained only for the angular difference and the angular velocity. Therefore, an angle estimator 200 is required to estimate the rotor in the motor during the initial rotation of the motor. The angle is fed back to the driver 100 so that the driver 10 outputs the correct drive signal to drive the motor 300 to rotate correctly. The driver 100 includes a first coordinate converter 1 1 0, a pulse width modulator 1 2 0 and a second coordinate converter 1 3 0, and the first coordinate converter 110 converts the rotor coordinate system. After the stator coordinate system is formed, the drive signal of the three-phase current is output by the pulse width modulator 120 to drive the motor 300. There are three current sensors between the pulse width modulator 1 2 0 and the motor 300

第9頁 1261409 五、發明說明（4) 1 4 1、1 4 2、1 4 3，用以偵測三相的電流值，並輸出給第二座標轉換器1 3 0，第二座標轉換器1 3 0則將定子座標系統轉換成轉子座標系統，將會得到轉子座標系統中dq軸兩轴的電流分量。d轴電流分量I d與q轴電流分量I q分別輸入至解偶補償器1 5 0中，以輸出d軸解偶訊號與q軸解偶訊號。第一減法器1 7 1將初始d軸電流分量I d *減去由第二座標之轉換器1 3 0輸出之d軸電流分量I d後，輸出給第一積分器1 6 1，以輸出一 d軸速度分量V d。第一加法器1 8 1將.d軸速度分量V d與d轴解偶訊號相加後輸出給第一座標轉換器 110° 同樣地，第三減法器1 7 3將初始q軸電流分量I q *減去由第二座標轉換器1 3 0輸出之q軸電流分量I q後，輸出給第三積分器1 6 3，以輸出一 q軸速度分量V q。第二加法器1 8 2 將q軸速度分量V q與q轴解偶訊號相加後輸出給第一座標轉換器1 1 0，以進行座標轉換。初始q軸電流分量I q *係由第二減法器1 7 2的輸出經過第二積分器1 6 2的積分後得來。而第二減法器1 7 2係將初始角速度w *減去速度估測器1 9 0所輸出的估測速度的結果輸出給第二減法器1 7 2。馬達3 0 0中的增量型編碼器會輸出一增量訊號（A、 B、Z)，其中A訊號與B訊號為馬達3 0 0順時針及逆時針旋轉時旋轉訊號，Z訊號為指標訊號，馬達3 0 0每轉一圈則輸出一個脈波。在習知技術中，馬達3 0 0通常具有一 UVW編碼器，以在初始轉動時取得正確的轉子位置。但是本發明中的馬達僅Page 9 1261409 V. Invention Description (4) 1 4 1, 1 4 2, 1 4 3, used to detect the current value of three phases, and output to the second coordinate converter 1 3 0, the second coordinate converter 1 3 0 converts the stator coordinate system into a rotor coordinate system, which will get the current component of the dq axis in the rotor coordinate system. The d-axis current component I d and the q-axis current component I q are respectively input to the decoupling compensator 150 to output a d-axis decoupling signal and a q-axis decoupling signal. The first subtractor 1 7 1 subtracts the initial d-axis current component I d * from the d-axis current component I d outputted by the converter 1 3 0 of the second coordinate, and outputs it to the first integrator 161 to output A d-axis velocity component Vd. The first adder 1 8 1 adds the .d axis velocity component V d to the d-axis decoupling signal and outputs it to the first coordinate converter 110°. Similarly, the third subtractor 1 7 3 sets the initial q-axis current component I. q* is subtracted from the q-axis current component Iq outputted by the second coordinate converter 130, and output to the third integrator 1363 to output a q-axis velocity component Vq. The second adder 1 8 2 adds the q-axis velocity component V q to the q-axis decoupling signal and outputs it to the first coordinate converter 1 1 0 for coordinate conversion. The initial q-axis current component I q * is obtained by integrating the output of the second subtractor 1 7 2 through the second integrator 1 6 2 . The second subtractor 172 outputs the result of the initial angular velocity w* minus the estimated velocity output by the velocity estimator 1900 to the second subtractor 172. The incremental encoder in the motor 300 will output an incremental signal (A, B, Z), where the A signal and the B signal are the motor 3 0 0 clockwise and counterclockwise rotation signal, the Z signal is the indicator Signal, motor 3 0 0 outputs a pulse wave every revolution. In the prior art, the motor 300 typically has a UVW encoder to achieve the correct rotor position during initial rotation. However, the motor of the present invention is only

第10頁 1261409 五、發明說明（5) 具有一增量型編碼器，並無法取得UVW訊號。驅動器1 0 0中的計數器1 9 1用以計數正反轉脈波，並將計數後脈波數輸出給速度估測器1 9 0以估測馬達轉動的速度。由於無法在初始轉動時，藉由UVW訊號取得轉子角度，因此本發明藉由一角度估測器2 0 0，用以估測初始轉子角度。而估測的運作係將初始q轴電流分量I q *經過低通濾波器2 1 0的濾波後輸出一濾波訊號，經由第四加法器2 2 0 與一零訊號相加後，再經過第四積分器2 3 0的積分後，輸出一角度估測訊號給第三加法器1 8 3，由第三加法器1 8 3將角度估測訊號與正反轉脈波數相加後，輸出給第一座標轉換器1 1 〇、第二座標轉換器1 3 0與脈波寬度調變器1 2 0，以正確補償原先初始轉子位置。接著在以下的段落中說明本發明的運作原理。由『第1圖』中可知，解偶補償器1 5 0只與d軸電流分量I d、q轴電流分量I q以及角速度w有關，由於解偶補償器 1 5 0隨時保持作用，因此馬達的定子系統即可以簡化以『第2A圖』與『第2B圖』表示，可清楚得知d、q轴已無相關影響。初始狀態時，以轉子旋轉座標，定子電流與轉子磁轴狀態如『第3圖』表示，圖中之ds軸與qs轴為定子相對轉子旋轉座標的d軸與q轴，其中定子相對轉子之d轴速度分量V d s與定子相對轉子之d轴電流分量I d s在d s軸上，定子相對轉子之q轴速度分量Vqs與定子相對轉子之q軸速電Page 10 1261409 V. Description of the invention (5) With an incremental encoder, the UVW signal cannot be obtained. The counter 1 9 1 in the driver 1 0 0 is used to count the forward and reverse pulse waves, and outputs the counted pulse wave number to the speed estimator 1900 to estimate the speed at which the motor rotates. Since the rotor angle cannot be obtained by the UVW signal during initial rotation, the present invention uses an angle estimator 200 to estimate the initial rotor angle. The estimated operation is that the initial q-axis current component I q * is filtered by the low-pass filter 2 1 0 to output a filtered signal, which is added to the zero-signal via the fourth adder 2 2 0, and then passed through the After the integration of the four integrators 2 3 0 , an angle estimation signal is output to the third adder 1 8 3 , and the angle estimation signal is added to the positive and negative pulse wave numbers by the third adder 1 8 3 , and then output. The first coordinate converter 1 1 〇, the second coordinate converter 1 30 and the pulse width modulator 1 2 0 are given to correctly compensate for the original initial rotor position. The principle of operation of the present invention is then described in the following paragraphs. As can be seen from "Fig. 1", the decoupling compensator 150 is only related to the d-axis current component I d , the q-axis current component I q and the angular velocity w, and since the decoupling compensator 150 keeps acting at all times, the motor The stator system can be simplified by "2A" and "2B", and it can be clearly seen that the d and q axes have no relevant influence. In the initial state, the rotor rotation coordinates, the stator current and the rotor magnetic axis state are shown in Fig. 3, and the ds axis and the qs axis in the figure are the d-axis and the q-axis of the stator relative to the rotor rotation coordinate, wherein the stator is opposite to the rotor The d-axis velocity component V ds and the d-axis current component I ds of the stator relative to the rotor are on the ds axis, the q-axis velocity component Vqs of the stator relative to the rotor and the q-axis velocity of the stator relative to the rotor

第11頁 1261409 五、發明說明（6) 流分量I Q s在q s軸上，驅動器初始並無法透過編碼器得轉子角度0 ，不論Θ大小，驅動器會以I q s和I d s來合成q r軸項的電流來應付外來丑矩。假設外部扭矩為零，當速度命令設為零以及I d s *設為某一個正值，而0未知，當〇<0 <180， Ids*的q r方向的投影量為正，此時轉子會正轉，造成速度誤差為負，因此得到I q s *為負值，於是負I q s *在q r方向的投影量產生負值。此負值抵抗原先I d s *的q r方向扭矩，使得轉子很快停止，角度估測器2 0 0中的第四積分器2 3 0使得Iqs*會穩定收斂為零。當I Q s *穩定收斂為零時，轉速已為零，而且角度估測器2 0 0中的第四積分器2 3 0的輸出也已正確補償原先初始轉子位置。假設外部扭矩不為零，則藉由扭矩前置補償器4 0 0補償一扭矩前置補償量至第三減法器1 7 3中，可由負額定值至正額定值以同樣間隔變動。因為扭矩前置補償量克服外部扭矩時，因此轉子只微微地轉動，故當檢測轉子轉動過大時，代表補償原先初始轉子位置失敗。本發明所揭露的驅動器之實驗模擬請參考『第4 圖』，當外來負載為零，負載慣量為馬達轉子慣量，初始轉子與驅動器的電氣角差為1 5 0 d e g，速度命令為零，得到『第4圖』中的結果，50ms内可得較準確的電氣角差補償值，而且轉子的轉動角度為0.015rad。另一模擬圖請參考『第5圖』，當外來負載為5 0 %額Page 11 1261409 V. Inventor's Note (6) The flow component IQ s is on the qs axis. The driver does not initially obtain the rotor angle 0 through the encoder. Regardless of the size of the ,, the driver synthesizes the qr axis term with I qs and I ds . Current to cope with foreign ugliness. Assume that the external torque is zero, when the speed command is set to zero and I ds * is set to a positive value, and 0 is unknown, when the projection amount of 〇 <0 <180, Ids* in the qr direction is positive, then the rotor It will turn forward, causing the speed error to be negative, so Iqs * is a negative value, so the negative I qs * projection in the qr direction produces a negative value. This negative value resists the qr-direction torque of the original I d s *, causing the rotor to stop quickly, and the fourth integrator 2 3 0 in the angle estimator 200 causes the Iqs* to converge to zero. When I Q s * steadily converges to zero, the rotational speed is already zero, and the output of the fourth integrator 2 3 0 in the angle estimator 2000 has also correctly compensated for the original initial rotor position. Assuming that the external torque is not zero, a torque pre-compensation amount is compensated by the torque pre-compensator 400 to the third subtractor 173, and can be varied from the negative rating to the positive rating at the same interval. Since the torque pre-compensation amount overcomes the external torque, the rotor rotates only slightly, so when the detected rotor is excessively rotated, it represents the failure to compensate the original initial rotor position. For the experimental simulation of the driver disclosed in the present invention, please refer to "Fig. 4". When the external load is zero, the load inertia is the motor rotor inertia, the initial angular angle between the rotor and the driver is 150 deg, and the speed command is zero. As a result of "Fig. 4", a more accurate electrical angular difference compensation value can be obtained within 50 ms, and the rotation angle of the rotor is 0.015 rad. For another simulation, please refer to "Figure 5", when the external load is 50%.

1261409 五、發明說明（7) 定，負載慣量為馬達轉子慣量，初始轉子與驅動器的電氣角差為150deg，速度命令為零，得到『第5圖』中的結果，5 0 m s内可得較準確的電氣角差補償值，而且轉子的轉動角度為〇.〇4rad。根據本發明所揭露的交流伺服驅動器，可實現更低價的伺服馬達，適合大部分不計較初始微動的場合。伺服馬達可任意選擇不同解析度的ABZ編碼器。驅動器只有在初始狀態時進行補正初始轉子與驅動器的電氣角差，不影響之後行進間的性能。雖然本發明以前述之較佳實施例揭露如上，然其並非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍内，當可作些許之更動與潤飾，因此本發明之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。1261409 V. INSTRUCTIONS (7) The load inertia is the motor rotor inertia. The initial angular angle between the rotor and the driver is 150 deg. The speed command is zero. The result in Figure 5 is obtained. Accurate electrical angular difference compensation value, and the rotation angle of the rotor is 〇.〇4rad. According to the AC servo drive disclosed in the present invention, a lower-cost servo motor can be realized, which is suitable for most occasions where the initial fretting is not considered. The servo motor can choose ABZ encoders with different resolutions. The driver only corrects the electrical angular difference between the initial rotor and the driver when it is in the initial state, and does not affect the performance between the subsequent travels. While the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The patent protection scope of the invention is subject to the definition of the scope of the patent application attached to the specification.

第13頁 1261409 圖式簡單說明第1圖係為本發明所揭露之交流伺服驅動器之系統架構圖，第2 A圖〜第2 B圖係為本發明所揭露之交流伺服驅動器之定子糸統架構圖；第3圖係為轉子旋轉座標、定子電流與轉子磁軸狀態；第4圖係為本發明所揭露之交流伺服驅動器之模擬圖；以及第5圖係為本發明所揭露之交流伺服驅動器之模擬圖。【圖式符號說明】 100 驅動器 200 角度估測器 300 馬達 400 扭矩前置補償器 110 第一座標轉換哭 πσ 120 脈波寬度調變器 130 第二座標轉換器 141 電流感測器 142 電流感測器 143 電流感測器 150 解偶補償器 161 第一積分器 162 第二積分器 163 第二積分器 171 第一減法器Page 13 1261409 Brief Description of the Drawings FIG. 1 is a system architecture diagram of an AC servo drive disclosed in the present invention, and FIG. 2A to FIG. 2B are diagrams showing the stator architecture of the AC servo drive disclosed in the present invention. Figure 3 is a rotor rotation coordinate, stator current and rotor magnetic axis state; Figure 4 is a simulation diagram of the AC servo drive disclosed in the present invention; and Figure 5 is an AC servo drive disclosed in the present invention. The simulation map. [Description of Symbols] 100 Driver 200 Angle Estimator 300 Motor 400 Torque Pre-Compensator 110 First Standard Conversion Cry πσ 120 Pulse Width Modulator 130 Second Coordinate Converter 141 Current Sensor 142 Current Sensing 143 current sensor 150 decoupling compensator 161 first integrator 162 second integrator 163 second integrator 171 first subtractor

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Claims

1261409 六、申請專利範圍 1. 一種不需換相信號的交流伺服啟動方法，用以驅動具有一增量型編碼器之一交流伺服馬達，包括有：根據一初始d軸電流分量與一初始q軸電流分量輸出一驅動訊號，以驅動該交流伺服馬達；在該交流伺服馬達初始轉動時，根據該初始q轴電流分量，估測該交流伺服馬達中之一轉子的初始角度；以及根據該估測的初始角度，據以輸出一正確的該驅動訊號以帶動該交流伺服馬達正確地轉動。 2. —種交流伺服驅動器，用以驅動具有一增量型編碼器之一交流伺服馬達，包括有：一驅動器，係根據一初始d轴電流分量與一初始q軸電流分量輸出一驅動訊號，以驅動該交流伺服馬達；以及一角度估測器，與該驅動器柄接，在該交流伺服馬達初始轉動時5用以根據該初始q軸電流分量，估測該交流伺服馬達中之一轉子的初始角度，並將估測的該初始角度迴授至該驅動器，俾使該驅動器據以輸出正確的該驅動訊號以帶動該交流伺服馬達正確地轉動。 3 .如申請專利範圍第2項所述之交流伺服驅動器，其中該驅動器包括有：一第一座標轉換器，用以將該交流伺服馬達之轉子座標系統轉換成定子座標系統；一脈波寬度調變器，根據該轉換後的定子座標系統1261409 VI. Patent Application Range 1. An AC servo starting method that does not require a commutation signal for driving an AC servo motor having an incremental encoder, comprising: according to an initial d-axis current component and an initial q The shaft current component outputs a driving signal to drive the AC servo motor; and when the AC servo motor is initially rotated, estimating an initial angle of one of the rotors of the AC servo motor according to the initial q-axis current component; The initial angle of the measurement is based on which a correct driving signal is output to drive the AC servo motor to rotate correctly. 2. An AC servo drive for driving an AC servo motor having an incremental encoder, comprising: a driver for outputting a drive signal based on an initial d-axis current component and an initial q-axis current component, To drive the AC servo motor; and an angle estimator coupled to the driver handle, and during the initial rotation of the AC servo motor, 5 is configured to estimate a rotor of the AC servo motor based on the initial q-axis current component The initial angle is fed back to the driver, so that the driver outputs the correct driving signal to drive the AC servo motor to rotate correctly. 3. The AC servo drive of claim 2, wherein the driver comprises: a first coordinate converter for converting the rotor coordinate system of the AC servo motor into a stator coordinate system; a pulse width Modulator according to the converted stator coordinate system

1261409 六、申請專利範圍輸出該驅動訊號以驅動該交流伺服馬達；一第二座標轉換器，用以將該驅動訊號由定子座標系統轉換成轉子座標系統，以得到一 d軸電流分量與一 q 軸電流分量；以及一解偶補償器，用以將該d轴電流分量與該q轴電流分量解偶以輸出一 d轴解偶訊號與一 q軸解偶訊號。 4 .如申請專利範圍第3項所述之交流伺服驅動器，其中該驅動器更包括有：1261409 6. The patent application scope outputs the driving signal to drive the AC servo motor; a second coordinate converter is used to convert the driving signal from the stator coordinate system into a rotor coordinate system to obtain a d-axis current component and a q a shaft current component; and a decoupling compensator for decoupling the d-axis current component from the q-axis current component to output a d-axis decoupling signal and a q-axis decoupling signal. 4. The AC servo drive of claim 3, wherein the driver further comprises:

一第一減法器’用以將該初始d轴電流分量減去該d 軸電流分量；一第一積分器，用以根據該第一減法器之輸出以輸出一 d轴速度分量；以及一第一加法器；用以將該d軸速度分量與該d轴解偶訊號相加後輸出給該第一座標轉換器。 L如申請專利範圍第4項所述之交流伺服驅動器，其中該驅動器更包括有：一第二減法器，用以將一初始角速度減去一估測速度；以及a first subtractor 'for subtracting the d-axis current component from the initial d-axis current component; a first integrator for outputting a d-axis velocity component according to the output of the first subtractor; An adder is configured to add the d-axis velocity component to the d-axis decoupling signal and output the signal to the first coordinate converter. L. The AC servo drive of claim 4, wherein the driver further comprises: a second subtractor for subtracting an initial angular velocity from an estimated velocity;

一第二積分器，用以將該第二減法器的輸出積分以_ 取得該初始q軸電流分量。 6 .如申請專利範圍第5項所述之交流伺服驅動器，其中該驅動器更包括有：一第三減法器，用以將該初始q車由電流分量減去該q 轴電流分置，A second integrator is used to integrate the output of the second subtractor to obtain the initial q-axis current component. 6. The AC servo drive of claim 5, wherein the driver further comprises: a third subtractor for subtracting the q-axis current from the current component of the initial q-car,

第17頁 1261409 六、申請專利範圍一第三積分器，用以根據該第三減法器之輸出以輸出一 q轴速度分量；以及一第二加法器，用以將該q軸速度分量與該q轴解偶訊號相加後輸出給該第一座標轉換器。 7 .如申請專利範圍第6項所述之交流伺服驅動器，其中該驅動器更包括：一計數器用以計數該交流伺服馬達之正反轉脈波數；以及一速度估測器，根據該正反轉脈波數估測該交流伺服馬達之轉動速度，以輸出該估測速度。 8 .如申請專利範圍第7項所述之交流伺服驅動器，其中該驅動器更包括：一第三加法器，將該轉子之該估測初始角度與該正反轉脈波數相加後，輸出給該第一座標轉換器、該第二座標轉換器與該脈波寬度調變器，以正確補償該轉子之初始位置。 9 .如申請專利範圍第8項所述之交流伺服驅動器，該角度估測器包括有：一低通濾波器，用以將該初始q車由電流分量濾波；一第四加法器，用以將該濾波後的該初始q軸電流分量與一零訊號相加；以及一第四積分器，用以將該第四加法器之相加訊號輸出至該第三加法器。 1 0 ,如申請專利範圍第2項所述之交流伺服驅動器，其中該Page 17 1261409 6. Patent Application Scope A third integrator for outputting a q-axis velocity component according to the output of the third subtractor; and a second adder for the q-axis velocity component The q-axis decoupling signals are added and output to the first coordinate converter. 7. The AC servo drive of claim 6, wherein the driver further comprises: a counter for counting the number of forward and reverse pulse waves of the AC servo motor; and a speed estimator according to the positive and negative The number of revolutions is used to estimate the rotational speed of the AC servo motor to output the estimated speed. 8. The AC servo drive according to claim 7, wherein the driver further comprises: a third adder, adding the estimated initial angle of the rotor to the number of the positive and negative pulse waves, and outputting The first coordinate converter, the second coordinate converter, and the pulse width modulator are provided to properly compensate for the initial position of the rotor. 9. The AC servo drive of claim 8, wherein the angle estimator comprises: a low pass filter for filtering the initial q vehicle by a current component; and a fourth adder for And adding the filtered initial q-axis current component to a zero signal; and a fourth integrator for outputting the added signal of the fourth adder to the third adder. 1 0, as described in claim 2, the AC servo drive, wherein

第18頁 1261409 六、申請專利範圍驅動器包括有複數個電流感測器，用以I 訊號給該第二座標轉換器。 1 1 .如申請專利範圍第2項所述之交流伺服驅包括有一扭矩前置補償器，用以當外部4 時，補償一扭矩前置補償量至該第三減扭矩前置補償量係由負額定值至正額定1 變動。 ί出二相電流動器，其中更 ί矩不為零 ^器，其中該 ί以同樣間隔Page 18 1261409 VI. Scope of Application The driver includes a plurality of current sensors for I signals to the second coordinate converter. 1 1. The AC servo drive according to item 2 of the patent application scope includes a torque pre-compensator for compensating a torque pre-compensation amount to the third de-torque pre-compensation amount when external 4 Negative rating to positive rating 1 change. ί out of the two-phase current actuator, where the ί moment is not zero, where the ί is equally spaced