CN102778251A - Zero position correction method for permanent magnet alternating current servo motor incremental encoder - Google Patents
Zero position correction method for permanent magnet alternating current servo motor incremental encoder Download PDFInfo
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Abstract
The invention discloses a method for correcting zero position of an incremental encoder of a motor by directly utilizing a servo driver, and in particular relates to a zero position correction method for a permanent magnet alternating current servo motor incremental encoder, which does not require any extra equipment and is easy to operate, high in precision, time-saving and high in practicality. The servo driver receives a position pulse signal transmitted by the incremental encoder, once the servo driver captures a Z pulse signal transmitted by the incremental encoder, the servo driver immediately performs zero clearing on the position pulse counting of the incremental encoder and recounts in an ABZ counting mode, and the motor operates in a closed loop control mode; a closed loop control motor of the servo driver is stopped, and the motor rotor is locked in the U-phase center, and the relative positions of the rotating shaft of the incremental encoder and the rotating shaft of the motor rotor are adjusted, so that the position pulse counting value of the incremental encoder is any one integer value in a closed interval [-10,10], and the rotating shaft of the incremental encoder and the rotating shaft of the motor rotor are fixed.
Description
Technical field
The present invention relates to the servomotor technical field, specifically is a kind of method of permanent magnetic Ac servo motor incremental encoder check and correction zero-bit.
Background technology
Servo-drive system is the complication system of an electromagnetic field couples in itself, for Industry Control, and convenient in application; After ignoring some secondary causes, can pass through appropriate method, the coupled electromagnetic field of complicacy is carried out decoupling zero; Thereby the simplification analytical calculation, and can reach practicability.Servocontrol generally adopts field orientation control (FOC), and is that orientation is carried out in the rotor field, through the SVPWM modulation means, can make servo-drive system reach um (micron) class precision again, can satisfy general industrial control requirement.
(moment of direct current generator becomes simple linear relationship with armature supply in order to make alternating current generator reach the simple speed moment characteristics of similar direct current generator; Good speed adjusting performance is arranged); Need carry out decoupling zero to the electromagnetic field of alternating current generator calculates; And adopt dq coordinate system (a kind of 2 cordic phase rotators are) to analyze, be similar to the dq axle analysis of direct current generator.Reach this purpose, permanent magnetic Ac servo motor incremental encoder phase place is alignd with the rotor magnetic pole phase.And this moment, servomotor can obtain the maximum effect of exerting oneself.
The physics performance that the incremental encoder phase place is alignd with the rotor magnetic pole phase is: the permanent magnetic field quadrature of the electromagnetic field of stator coil and rotor magnetic pole, space electrical angle mutual deviation 90 degree; Or the phase current of servomotor is followed the phase back electromotive force, the two waveform unanimity time phase in time fully.Therefore, on the principle, as long as the ability detection at any time is to the phase current waveform of motor; The phase back emf waveform; The rotating shaft relative position of adjustment incremental encoder and rotor makes the phase current waveform of motor consistent with the two waveform phase of phase back emf waveform, has just accomplished incremental encoder zero-bit is operated; Utilize the method for this principle design specifically to state method one, two as follows, three of methods have been done improvement to display mode.Certainly, method one, two, three operates all comparatively complicated, needs equipment such as oscillograph, also need draw detection tabs, and have distinctive defective separately.
Incremental encoder zero-bit method of adjustment (promptly proofreading the method for zero-bit) commonly used in the practical operation has 3 kinds:
Method one,
1, pass to DC current with a direct current power supply to motor windings less than rated current, U imports mutually; The parallel connection of VW phase winding is as output; There are the effect of power in electric current formed magnetic field in stator UVW three phase windings and rotor permanent magnetic field, obvolvent each other, thereby locked rotor position.Realized that U phase center line aligns with the d axle this moment, just motor pole phase alignment to 0 degree.
2, observe incremental encoder U signal and Z signal with oscillograph.
3, the relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor.
4, on one side the rotating shaft of rotation increments formula scrambler, observe U signal and Z signal on one side, when saltus step appears in the Z signal, the relative position of the rotating shaft of scrambler rotating shaft of fixed increment formula and rotor.
Defective: because V is the parallel connection relation with W mutually, the difference of 2 phase winding resistance values can cause current imbalance in 2 phase windings, causes U not have and d axle complete matching mutually, thereby influences the accuracy of zero-bit check and correction.
Method two:
1, pass to DC current with a direct current power supply to motor windings less than rated current, U imports mutually, and V exports mutually, and this moment, U lagged behind d axle 30 degree mutually, and promptly the rotor field has snapped to-30 ° position.
2,2,3,4 of 3,4 steps and method one is identical.
This method is the improvement of method one.This method U is a series relationship with V mutually, does not have the current imbalance problem, the shortcoming in the correcting method 1; But it is to snap to-30 degree, and is different with common check and correction zero-bit custom, in also need controlling this-30 degree is dealt with.
Method three:
Method one, two all needs oscillograph to observe the incremental encoder U signal; Z signal, operation are very inconvenient, and method three is utilized the increase of function on the software; The umber of pulse that the incremental encoder position is corresponding shows, and during the relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor, need not observe U signal with oscillograph; The Z signal sees that directly the incremental encoder positional information that shows gets final product.Like U input V output, the pulse of demonstration is got final product for the pairing umber of pulse of-30 degree (for the servomotor of 2500 lines ,-30 degree corresponding-250).And this moment, do not need right-30 degree to handle again in the control.
1, pass to DC current with a direct current power supply to motor windings less than rated current, U imports mutually, and V exports mutually, the locked rotor rotating shaft position;
2, the relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor is-250 (error allows for positive and negative 10 pulses) up to the incremental encoder P-pulse that shows, the position of meeting of scrambler rotating shaft of fixed increment formula and motor shaft.
The shortcoming of method three is equally all to need an extra direct supply with method one, two, and needs lead-in wire during operation, and motor windings is switched on.
Summary of the invention
Technical scheme of the present invention is; A kind of method of permanent magnetic Ac servo motor incremental encoder check and correction zero-bit is provided, and servo-driver control motor moves with certain speed, in motor operation course; Servo-driver receives the position pulse signal that incremental encoder sends; In case servo-driver captures the Z pulse signal that incremental encoder sends, then servo-driver is immediately with the zero clearing of incremental encoder P-pulse counting, and servo-driver converts the ABZ counting mode into to the P-pulse counting of incremental encoder and counts again simultaneously; Servo-driver calculates the corresponding electric current of output through current regulator and controls motor and stop and make rotor be locked in U phase central axis; Then, the relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor makes the P-pulse count value of the incremental encoder that the ABZ counting mode counts again become closed interval [10; 10] arbitrary round values in; Then, the rotating shaft of incremental encoder rotating shaft and rotor is fixed, zeroing is accomplished.
Principle of work of the present invention is and since incremental encoder have UVW just slightly the location accurately locate with ABZ, accurately confirm ABZ be the relative deviation of current physical location and Z position by the location; Therefore, before servo-driver does not capture the Z pulse signal (position of relative zero also not confirm), be that can't to carry out ABZ pinpoint; Therefore before motor has just powered on and also do not rotated, can't locate with ABZ, only be to locate with UVW this moment; Based on the characteristics of incremental encoder, the present invention makes servo-driver control motor move with certain speed earlier, in case servo-driver captures the Z pulse signal that incremental encoder sends; Then servo-driver is immediately with the zero clearing of incremental encoder P-pulse counting, and servo-driver converts the ABZ counting mode into to the P-pulse counting of incremental encoder and counts again simultaneously, and to motor operation carrying out closed-loop control (this sentence deletion); After this, the encoder zero-crossing of the P-pulse of incremental encoder counting is exactly a Z pulse signal loca, given again current corresponding instruction; Servo-driver is through current loop control; Be locked in U phase central axis position to the rotating shaft of rotor, just rotor magnetic field be locked on the d axle (dq coordinate system), at this time the P-pulse count value of servo-driver institute display encoder is to be the starting point generation that adds up with Z pulse signal loca; The position of scrambler can be accurately positioned; The P-pulse that is shown also is accurately, and the relative position of the rotating shaft of itself and rotor is adjusted in then rotary encoder rotating shaft; Making the encoder position counted number of pulses that is shown is 0 (allowing the error of positive and negative 10 pulses); The regular coding device just is fixed on the zero-bit of scrambler on the d axle, and zeroing is accomplished.
After adopting said method, the present invention compared with prior art has following remarkable advantage and beneficial effect: since the zeroing process without any need for extras; Such as the direct supply of prior art, oscillograph etc., do not need lead-in wire yet, only need to get final product with servo-driver control; When motor returns to zero; Only need motor is connected with servo-driver, let servo-driver be operated under the scrambler zeroing pattern (scrambler zeroing pattern obtains for the method programming of the permanent magnetic Ac servo motor incremental encoder check and correction zero-bit according to the present invention) driver rotary electric machine rotating shaft automatically; After receiving the Z pulse signal; Automatically rotor is locked on the d axle, and the exact position of display encoder, the rotary encoder rotating shaft; Making the P-pulse count value of the scrambler that servo-driver shows is closed interval [10; 10] arbitrary round values in is promptly accomplished the zeroing process, proofreaies and correct incremental encoder about 10s consuming time of a motor through the method for permanent magnetic Ac servo motor incremental encoder check and correction zero-bit of the present invention; Comprehensively above-mentioned, the present invention has and directly utilizes servo-driver that the motor incremental encoder is proofreaied and correct the method for zero-bit, and simple to operate without any need for extras, precision is high, and is time-consuming few, the advantage that practicality is extremely strong.
Embodiment
Below in conjunction with specific embodiment the present invention is described further.
Servo-driver control motor moves with certain speed; Such as the operation of servo-driver open loop (position, speed open loop) control motor, given motor open loop travelling speed is 120r/min, i.e. per second 2 circles; R=2r/min, the position command P of given correspondence in closed loop is calculated
S, the frequency that closed loop is calculated is f=10k, and scrambler is 2500 lines, and motor is 4 pairs of utmost points, and the umber of pulse that motor rotates 1 circle is P
T=4 * 2500=10000, each computation period then, P
SIncrement be Δ P
S=rP
T/ f=2 * 10000/k1=0; In motor operation course, servo-driver receives the position pulse signal that incremental encoder sends, in case servo-driver captures the Z pulse signal that incremental encoder sends; Then servo-driver is immediately with the zero clearing of incremental encoder P-pulse counting; Simultaneously servo-driver converts the ABZ counting mode into to the P-pulse counting of incremental encoder and counts again, and servo-driver calculates the corresponding electric current of output through current regulator and controls motor and stop and make rotor be locked in U phase central axis, then; The relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor; Make the P-pulse count value of the incremental encoder that the ABZ counting mode counts again become arbitrary round values in the closed interval [10,10], then; The rotating shaft of incremental encoder rotating shaft and rotor is fixed, and zeroing is accomplished.
In this example, servo-driver provides the current corresponding instruction, through loop control, makes the motor stall and rotor is locked in U phase central axis; The relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor makes the P-pulse count value of the incremental encoder that the ABZ counting mode counts again become 0; Among the present invention except that the two present need manually-operated of rotating shaft of the relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor and the scrambler rotating shaft of fixed increment formula and rotor; Other processes all can control auto-action through servo-driver; Adjusting zero method provided by the present invention is succinct, and precision is high, and is easy to operate; Speed is fast, and is practical.
Accomplishing a servomotor scrambler zeroing with the present invention only needs about 10s, and with common method, the not only extra oscillograph that needs; Instruments such as direct supply; Also need on motor windings, draw joint, with switch on, operation such as observation, a skilled operator; Accomplish a motor encoder zeroing, also need at least 3 minutes time.
Through given corresponding current-order, by loop control, rotor is locked on the d axle, this lock out action ratio of precision is higher.Current-order is to be calculated by the servo-driver control loop to provide, and its precision is only relevant with controlling models, and irrelevant with the UVW phase winding resistance value of reality.In the controlling models, exactly with the UVW three-phase fully to being called the basis, therefore under suitable instruction, the result of driver loop control be with ideal situation under DC current import VW phase output equivalent mutually by U.In the method one of front, the imbalance of VW phase winding can cause the VW phase current uneven, be because to the winding power supply be direct supply, be voltage-type output, VW is in parallel, its voltage is identical, the difference of resistance will cause the difference of electric current.But among the present invention, to winding power supply to be that driver is calculated by the servo-driver control loop given, and the output quantity of servo-driver is electric current, so VW phase winding imbalance can not have influence on current imbalance.
The size of current of lock out motor rotor can be by servo-driver according to parameter of electric machine automatic setting, or the operator sets manually, easily.
The positional information of incremental encoder directly may be displayed on the display panel of servo-driver, does not need oscillograph to observe waveform, without any need for drawing the line of observation.
In this example, the least unit of incremental encoder position is 1 pulse, i.e. 1/10000 circle; Allow the error of positive and negative 10 pulses; Also still can reach the precision of 1/500 circle, and oscillograph is the consistance of checking waveform phase through naked eyes when observing; Its precision is compared with the present invention, not in an one magnitude.
Claims (1)
1. the method for a permanent magnetic Ac servo motor incremental encoder check and correction zero-bit is characterized in that, servo-driver control motor moves with certain speed; In motor operation course; Servo-driver receives the position pulse signal that incremental encoder sends, in case servo-driver captures the Z pulse signal that incremental encoder sends, then servo-driver is immediately with the zero clearing of incremental encoder P-pulse counting; Simultaneously servo-driver converts the ABZ counting mode into to the P-pulse counting of incremental encoder and counts again; Then, servo-driver calculates the corresponding electric current of output through current regulator and controls motor and stop and make rotor be locked in U phase central axis, then; The relative position of the rotating shaft of adjustment incremental encoder rotating shaft and rotor; Make the P-pulse count value of the incremental encoder that the ABZ counting mode counts again become arbitrary round values in the closed interval [10,10], then; The rotating shaft of incremental encoder rotating shaft and rotor is fixed, and zeroing is accomplished.
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| CN103217988A (en) * | 2013-03-20 | 2013-07-24 | 华中科技大学 | Synchronous control system of generalized ellipsometer |
| CN103292837A (en) * | 2013-06-17 | 2013-09-11 | 北京万源多贝克包装印刷机械有限公司 | Encoder zero position testing method and instrument |
| CN103746518A (en) * | 2014-01-18 | 2014-04-23 | 宁波海得工业控制系统有限公司 | Adjusting method for aligning phase of servo motor and phase of coder |
| CN104132684A (en) * | 2014-05-30 | 2014-11-05 | 北京航天自动控制研究所 | Incremental grating encoder zero position signal detection method |
| CN104767467A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Method for calibrating mechanical zero of motor |
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| CN106374791A (en) * | 2015-07-23 | 2017-02-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Zero adjustment method and device for incremental encoder servo motor |
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| CN103217988B (en) * | 2013-03-20 | 2015-07-29 | 华中科技大学 | A kind of synchronous control system of broad sense ellipsometer |
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| CN114465539A (en) * | 2020-11-05 | 2022-05-10 | 核工业理化工程研究院 | Method for calculating offset value of incremental photoelectric encoder |
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