CN108111084B - AC servo motor control system and control method - Google Patents
AC servo motor control system and control method Download PDFInfo
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- CN108111084B CN108111084B CN201611045731.3A CN201611045731A CN108111084B CN 108111084 B CN108111084 B CN 108111084B CN 201611045731 A CN201611045731 A CN 201611045731A CN 108111084 B CN108111084 B CN 108111084B
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- 238000013507 mapping Methods 0.000 claims abstract description 16
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- 238000003466 welding Methods 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
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- 239000010949 copper Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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- 239000000696 magnetic material Substances 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
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- GYTROFMCUJZKNA-UHFFFAOYSA-N triethyl triethoxysilyl silicate Chemical compound CCO[Si](OCC)(OCC)O[Si](OCC)(OCC)OCC GYTROFMCUJZKNA-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention provides an alternating current servo motor control system and a control method. The invention provides an alternating current servo motor control system, which comprises: the device comprises an upper computer, an alternating current servo motor and a rotor position positioning device; the rotor position positioning device comprises a magnet, a magnetic rotary position sensor chip and a rotor position detection plate, wherein the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotary position sensor chip is arranged on the rotor position detection plate and is closely arranged on the magnet, and the magnetic rotary position sensor chip is also connected with the upper computer; the magnetic rotary position sensor chip is used for outputting a first pulse signal to the upper computer according to the magnetic field direction of the magnet; and the upper computer is used for determining the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor. The alternating current servo motor control system and the control method provided by the invention can accurately determine the position of the rotor, so that the motor is started with maximum torque.
Description
Technical Field
The invention relates to a motor control technology, in particular to an alternating current servo motor control system and a control method.
Background
Currently, ac servo motors have been widely used in the fields of numerical control machine tools and the like. In an ac servo motor control system, the operation of a motor is generally controlled effectively by a vector control method. In the vector control, at the time of motor start, when the voltage vector applied to the motor advances by 90 ° from the initial position of the rotor, the motor can be ensured to start at the maximum torque. Therefore, in order to start the motor with the maximum torque, the initial position of the rotor is determined before the motor starts, and thus the voltage applied to the motor is determined according to the initial position of the rotor.
In the existing alternating current servo motor control system, before the system is electrified and the motor does not rotate, a control module determines a fuzzy value of an initial position of a motor rotor by acquiring U, V, W pulse signals output by an incremental photoelectric encoder on the motor and further determining a fuzzy value of the initial position of the motor rotor according to a combined state of U, V, W pulse signals, after the fuzzy value of the initial position of the motor rotor is determined, the control module determines a first driving signal according to the fuzzy value of the initial position and controls the motor to start according to the first driving signal, after the motor starts, the control module reversely pushes out an accurate value of the initial position of the motor rotor according to A, B phase information and Z phase information fed back by the encoder, then determines a second driving signal according to the accurate value of the initial position and controls the motor to start according to the second driving signal so as to adjust output torque of the motor and enable the output torque of the motor to meet load characteristics. In the above-mentioned ac servo motor control system, when the initial position of the motor rotor is determined according to the combined state of U, V, W signals, there is a problem in that the initial position of the motor rotor is positioned inaccurately, so that the motor cannot be started with the maximum moment when the motor is started according to the first driving signal, and since the initial position of the motor rotor determined at the time of the motor start is inaccurate, it is also necessary to reversely push out the initial position of the motor rotor according to A, B phase information fed back by the encoder and the Z-phase information after the motor start, thus complicating the control of the motor.
Disclosure of Invention
The invention provides an alternating current servo motor control system and a control method, which are used for solving the problems that the existing alternating current servo motor control system cannot accurately determine the initial position of a rotor before a motor is started, the motor cannot be started with maximum torque, and the control of the motor becomes complex.
The first aspect of the present invention provides an ac servo motor control system, comprising: the device comprises an upper computer, an alternating current servo motor and a rotor position positioning device; the rotor position positioning device comprises a magnet, a magnetic rotary position sensor chip and a rotor position detection plate, wherein the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotary position sensor chip is arranged on the rotor position detection plate and is close to one end, far away from the motor shaft, of the magnet, and the magnetic rotary position sensor chip is also connected with the upper computer;
the magnetic rotary position sensor chip is used for outputting a first pulse signal to the upper computer according to the magnetic field direction of the magnet;
The upper computer is used for determining the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor, and outputting starting voltage to the alternating current servo motor according to the position of the rotor so that the alternating current servo motor operates with maximum torque.
Further, the rotor position positioning device further comprises a magnet mounting seat; the magnet mounting seat comprises a motor shaft mounting part and a magnet mounting part, wherein the motor shaft mounting part is provided with a first cylindrical hole, and the magnet mounting part is provided with a second cylindrical hole;
The rear end of the motor shaft is fixed in the first cylindrical hole, and the magnet is fixed in the second cylindrical hole.
Further, the motor shaft mounting portion is of a columnar structure provided with the first cylindrical hole.
Further, the magnet mounting portion has a cylindrical structure in which the second cylindrical hole is formed.
Further, the system further comprises a grating code disc, and the grating code disc is sleeved on the outer surface of the magnet mounting part.
Further, the system also comprises an encoder chip, wherein the encoder chip is arranged on the rotor position detection plate and is connected with the upper computer, and the encoder chip and the grating code disc form an encoder of the system.
Further, the rotor position positioning device further includes: the rotor position detection plate mounting seat is mounted on the rear end cover of the alternating current servo motor, and the rotor position detection plate is mounted on the rotor position detection plate mounting seat.
Further, the rotor position detection plate mounting seat comprises a first fixing part and a second fixing part which are communicated with each other and are of cylindrical structures, the first fixing part is provided with a first through hole, and the diameter of the bottom surface of the second fixing part is the same as that of the first through hole;
the first fixing part is connected with the rear end cover of the alternating current servo motor, and the rotor position detection plate cover is arranged on the second fixing part.
A second aspect of the present invention provides an ac servo motor control method applied to an ac servo motor control system, the system comprising: the device comprises an upper computer, an alternating current servo motor and a rotor position positioning device; the rotor position positioning device comprises a magnet, a magnetic rotary position sensor chip and a rotor position detection plate, wherein the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotary position sensor chip is arranged on the rotor position detection plate and is close to one end, far away from the motor shaft, of the magnet, and the magnetic rotary position sensor chip is also connected with the upper computer; the method comprises the following steps:
The upper computer receives a first pulse signal reported by the magnetic rotation position sensor chip; the first pulse signal is obtained by the magnetic rotary position sensor chip according to the magnetic field direction of the magnet;
The upper computer determines the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor;
and the upper computer outputs starting voltage to the alternating current servo motor according to the position of the rotor so as to enable the alternating current servo motor to operate with maximum torque.
The invention provides an alternating current servo motor control system and a control method, wherein an upper computer, an alternating current servo motor and a rotor position positioning device are arranged, the rotor position positioning device comprises a magnet, a magnetic rotating position sensor chip and a rotor position detection plate, the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotating position sensor chip is arranged on the rotor position detection plate and is close to one end of the magnet, which is far away from the motor shaft, the magnetic rotating position sensor chip is also connected with the upper computer, the magnetic rotating position sensor chip can output a first pulse signal to the upper computer according to the magnetic field direction of the magnet, and then the upper computer can determine the position of a rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the rotor position, and output a starting voltage to the alternating current servo motor according to the position of the rotor so that the alternating current servo motor can operate with maximum torque. Therefore, before the AC servo motor is started, the position of the rotor of the AC servo motor can be accurately determined through the magnet and the magnetic rotary position sensor chip which is closely arranged on the magnet, and then the AC servo motor can be effectively controlled to be started according to the position of the rotor, so that the AC servo motor can be started with maximum torque, and the control process can be simplified.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of an ac servo motor control system according to a first embodiment of the present invention;
Fig. 2 is a schematic structural diagram of an ac servo motor control system according to a second embodiment of the present invention;
FIG. 3 is an exploded view of an AC servo motor control system according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a magnet mounting seat in an ac servo motor control system according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a grating code disc in an ac servo motor control system according to a second embodiment of the present invention;
Fig. 6 is a schematic structural diagram of the cooperation between an encoder chip and a position detection board in an ac servo motor control system according to a second embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a grating code disc and an encoder chip in an ac servo motor control system according to a second embodiment of the present invention;
Fig. 8 is a schematic structural diagram of a rotor position detecting board mounting seat in an ac servo motor control system according to a second embodiment of the present invention;
Fig. 9 is a flowchart of a control method of an ac servo motor according to an embodiment of the present invention.
Reference numerals illustrate:
1: an upper computer;
2: an alternating current servo motor;
21: a motor shaft of the alternating current servo motor;
211: the rear end of the motor shaft;
22: a rear end cover of the alternating current servo motor;
23: a rear cover of the AC servo motor;
3: rotor position positioning means;
31: a magnet;
32: a magnetic rotational position sensor chip;
33: a rotor position detection plate;
34: a magnet mounting base;
341: a motor shaft mounting portion;
341-1: a first cylindrical bore;
342: a magnet mounting portion;
342-1: a second cylindrical hole;
35: a rotor position detection plate mounting seat;
351: a first fixing portion;
351-1: a first through hole;
352: a second fixing portion;
4: a grating code disc;
41: hollow cylindrical mounting part
5: An encoder chip;
51: a groove;
6: and a differential circuit chip.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides an alternating current servo motor control system and a control method, which are used for solving the problems that the existing alternating current servo motor control system cannot accurately determine the initial position of a rotor before a motor is started, the motor cannot be started with maximum torque, and the control of the motor becomes complex.
The alternating current servo motor control system and the alternating current servo motor control method provided by the invention can be applied to the field of numerical control machine tools. For example, the method can be applied to a horizontal loom.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts.
Fig. 1 is a schematic structural diagram of an ac servo motor control system according to an embodiment of the present invention. Referring to fig. 1, the ac servo motor control system provided in the present embodiment includes: the device comprises an upper computer 1, an alternating current servo motor 2 and a rotor position positioning device 3; the rotor position positioning device 3 comprises a magnet 31, a magnetic rotary position sensor chip 32 and a rotor position detection plate 33, wherein the magnet 31 is connected with a motor shaft 21 of the alternating current servo motor 2, the magnetic rotary position sensor chip 32 is arranged on the rotor position detection plate 33 and is close to one end, far away from the motor shaft 21, of the magnet 31, and the magnetic rotary position sensor chip is also connected with the upper computer 1;
a magnetic rotation position sensor chip 32 for outputting a first pulse signal to the host computer 1 according to the magnetic field direction of the magnet 31;
The upper computer 1 is configured to determine a position of a rotor of the ac servo motor 2 according to the first pulse signal and a mapping relationship between a duty ratio of the pulse signal and the rotor position, and output a start voltage to the ac servo motor 2 according to the position of the rotor, so that the ac servo motor 2 operates with a maximum torque.
Specifically, magnet 31 is cylindrical, and magnet 31 is a radially magnetized magnet. The magnet 31 is fixedly connected to the rear end 211 of the motor shaft 21 of the ac servo motor 2 by a non-magnetic conductive material. For example, magnet 31 may be welded to motor shaft 21 of ac servo motor 2 by copper. Thus, when motor shaft 21 rotates with the rotor of ac servo motor 2, magnet 31 rotates in synchronization with the rotor, and the direction of the magnetic field generated by magnet 31 changes during rotation of magnet 31. Thus, any position of the rotor of the ac servo motor 2 is in one-to-one correspondence with the magnetic field direction of the magnet 31, and therefore, the position of the rotor can be accurately determined by the magnetic position sensor chip 32.
Alternatively, the magnetic rotary position sensor chip 32 may be selected from the magnetic rotary position sensor chip manufactured by austria microelectronics corporation under the model AS 560. In addition, the specific structure and operation principle of the magnetic rotation position sensor chip 32 can be referred to the description in the prior art, and will not be repeated here.
Further, referring to fig. 1, the rotor position detecting plate 33 is a plate-like structure, which is mainly used for supporting the magnetic rotation position sensor chip (the magnetic rotation position sensor chip 32 is welded on the rotor position detecting plate 33). In addition, the rotor position detection plate 33 may be fixed to the rear end cover 22 or the rear cover 23 of the ac servo motor 2 through a support rod, or directly fixed to the rear cover 23 of the ac servo motor by welding, in this embodiment, the specific installation position of the rotor position detection plate 33 is not limited, as long as it is ensured that the magnetic rotation position sensor chip 32 on the rotor position detection plate 33 is located close to the end of the magnet 31 remote from the motor shaft 21 after the rotor position detection plate 33 is installed. Preferably, after the rotor position detection plate 33 is mounted, the center line of the magnetic rotation position sensor chip 32 on the rotor position detection plate 33 is on the same line as the center line of the magnet 31.
The mapping relationship between the duty ratio of the pulse signal and the rotor position is predetermined by the host computer. Specifically, the upper computer determines the mapping relation between the duty ratio of the pulse signal and the rotor position according to the following method. After the ac servo motor control system provided in this embodiment is fixed according to the above structure for the first time, the system is powered on (at this time, the ac servo motor does not rotate), and the rotor of the ac servo motor is fixed at a zero position, at this time, the upper computer obtains the pulse signal output by the magnetic rotation position sensor chip, and determines the duty ratio of the pulse signal, so that the upper computer can determine the corresponding relationship between the rotor position and the duty ratio of the pulse signal when the rotor is at 0 °, and further, because the duty ratio of the pulse signal output by the rotation position sensor chip increases in proportion to the position of the rotor, the upper computer can determine the corresponding relationship between different rotor positions and different duty ratios. For example, when the rotor is at 0 °, the duty ratio of the pulse signal output by the magnetic rotation position sensor chip is 3%, and it is assumed that the range of the pulse signal that the magnetic rotation position sensor chip can output is 3% to 93%, whereby it is known that when the rotor position is at 360 °, the magnetic rotation position sensor chip will output the pulse signal with the duty ratio of 93%. In this way, the correspondence between different rotor positions and different duty ratios of the pulse signals can be determined, in this embodiment, assuming that the duty ratio is denoted as y, and the rotor position is denoted as x, where x is greater than or equal to 0 and less than or equal to 360, the mapping relationship between the duty ratio of the pulse signals and the rotor position can be determined as follows: y=0.25%x+3%. For example, when the duty ratio of the first pulse signal output from the magnetic position sensor chip is 5.5%, the position of the rotor can be determined to be 10 ° according to the above-described mapping relationship.
After describing the ac servo motor control system provided in this embodiment, the control principle and control method of the ac servo motor control system provided in this embodiment will be briefly described below. Specifically, the control method may include the steps of:
Step one: the upper computer receives a first pulse signal reported by the magnetic rotation position sensor chip; wherein the first pulse signal is obtained by the magnetic rotation position sensor chip according to the magnetic field direction of the magnet.
Specifically, when the system is powered on (at this time, the ac servo motor does not rotate), the magnetic rotation position sensor chip outputs a first pulse signal to the host computer according to the magnetic field direction of the magnet. For example, a first pulse signal with a duty ratio of 8% is output, and at this time, the upper computer receives the first pulse signal.
And step two, the upper computer determines the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor.
In this step, in combination with the above example, it is assumed that the mapping relationship between the duty ratio of the pulse signal and the rotor position is: y=0.25%x+3%, where y represents the duty cycle of the pulse signal, x represents the position of the rotor, and x is equal to or greater than 0 and equal to or less than 360. At this time, the upper computer can determine that the rotor position is 20 ° based on the first pulse signal (first pulse signal having a duty ratio of 8%) and the mapping relationship between the duty ratio of the pulse signal and the rotor position (y=0.25%x+3%).
And thirdly, the upper computer outputs starting voltage to the alternating current servo motor according to the position of the rotor so as to enable the alternating current servo motor to operate with maximum torque.
In the step, after the upper computer determines the position of the rotor, the upper computer outputs a starting electric power to the alternating current servo motor, and the phase of the starting voltage leads the position of the rotor by 90 degrees, so that the alternating current servo motor is started with maximum torque under the action of the voltage. It should be noted that, when the ac servo motor is started with the maximum torque, the subsequent control principle is similar to that of the prior art, and will not be described herein.
In the embodiment, the magnet and the magnetic rotary position sensor closely arranged to the magnet are arranged, and the position of the rotor is detected through the magnetic rotary position sensor chip, so that the initial position of the rotor can be accurately determined, and the motor is effectively controlled to start according to the initial position of the rotor, so that the motor is started with maximum torque, and the load requirement is met; the problem that in the prior art, the initial position of the rotor cannot be accurately determined before the AC servo motor is started, and further the position of the rotor needs to be accurately determined after the AC servo motor is started, so that the control is complex can be avoided, and the control process is simple.
According to the alternating current servo motor control system and the control method, the upper computer, the alternating current servo motor and the rotor position positioning device are arranged, the rotor position positioning device comprises the magnet, the magnetic rotating position sensor chip and the rotor position detection plate, the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotating position sensor chip is arranged on the rotor position detection plate and is close to one end of the magnet, which is far away from the motor shaft, the magnetic rotating position sensor chip is further connected with the upper computer, the magnetic rotating position sensor chip can output a first pulse signal to the upper computer according to the magnetic field direction of the magnet, and then the upper computer can determine the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the rotor position, and output starting voltage to the alternating current servo motor according to the position of the rotor so that the alternating current motor can operate with maximum torque. Therefore, before the AC servo motor is started, the position of the rotor of the AC servo motor can be accurately determined through the magnet and the magnetic rotary position sensor chip which is closely arranged on the magnet, and then the AC servo motor can be effectively controlled to be started according to the position of the rotor, so that the AC servo motor can be started with maximum torque, and the control process can be simplified.
Fig. 2 is a schematic structural diagram of an ac servo motor control system according to a second embodiment of the present invention. Fig. 3 is an exploded view of an ac servo motor control system according to a second embodiment of the present invention. Fig. 4 is a schematic structural diagram of a magnet mounting seat in an ac servo motor control system according to a second embodiment of the present invention. Referring to fig. 2 to 4, based on the above embodiment, the ac servo motor control system provided in this embodiment, the rotor position positioning device 3 further includes a magnet mounting seat 34; the magnet mounting seat 34 comprises a motor shaft mounting part 341 and a magnet mounting part 342, wherein the motor shaft mounting part 341 is provided with a first cylindrical hole 341-1, and the magnet mounting part 342 is provided with a second cylindrical hole 342-1;
The rear end 211 of the motor shaft 21 is fixed in the first cylindrical hole 341-1, and the magnet 31 is fixed in the second cylindrical hole 342-1.
The magnet mounting base 34 is made of a non-magnetic material. For example, metallic copper may be used. In addition, first cylindrical hole 341-1 and second cylindrical hole 342-1 are not in communication, so that the magnetic field of magnet 31 can be prevented from being affected by the magnetic field of the rotor to improve the accuracy of positioning.
Specifically, the motor shaft mounting portion 341 may have a cylindrical structure in which a first cylindrical hole 341-1 is formed. For example, it may be a square structure, a rectangular parallelepiped structure, or a cylindrical structure, and the aperture of the first cylindrical hole 341-1 is equal to the diameter of the rear end 211 of the motor shaft 21. Further, the magnet mounting portion 342 has a cylindrical structure in which a second cylindrical hole 342-1 is formed, and the diameter of the second cylindrical hole 342-1 is equal to the diameter of the magnet 31. Further, motor shaft 21 and magnet 31 may be fixed in first cylindrical hole 341-1 and second cylindrical hole 342-1, respectively, by welding.
Further, referring to fig. 2 and 3, on the basis of the foregoing embodiments, the ac servo motor control system provided in this embodiment further includes a grating code disc 4, where the grating code disc 4 is sleeved on the outer surface of the magnet mounting portion 342.
Specifically, fig. 5 is a schematic structural diagram of a grating code disc in an ac servo motor control system according to a second embodiment of the present invention. Referring to fig. 5, the grating code wheel 4 has a hollow cylindrical mounting portion 41, and the grating code wheel 4 is sleeved on the outer surface of the magnet mounting portion 342 through the hollow cylindrical mounting portion 41.
Further, please continue to refer to fig. 2 and 3, on the basis of the above embodiment, the ac servo motor control system provided in this embodiment further includes an encoder core 5, the encoder core 5 is disposed on the rotor position detecting board 33 and connected to the host computer 1, and the encoder core 5 and the grating code disc 4 form an encoder of the system.
Specifically, fig. 6 is a schematic structural diagram of the cooperation between an encoder chip and a position detection board in the ac servo motor control system according to the second embodiment of the present invention; fig. 7 is a schematic structural diagram of a grating code disc and an encoder chip in an ac servo motor control system according to a second embodiment of the present invention. Referring to fig. 6 and 7, the encoder chip 5 is C-shaped, the light-transmitting slit of the grating code disc 4 is located in the groove 51 of the C-shaped encoder chip, and the grating code disc 4 and the encoder chip 5 form an encoder. It should be noted that, the encoder chip 5 may be an encoder chip with a model number of HEDS, and the specific structure and working principle of the encoder chip may be described in the prior art, which is not described herein.
According to the alternating current servo motor control system provided by the embodiment, the encoder is formed by arranging the code disc and the encoder chip, so that after the position of the rotor is determined and the alternating current servo motor is controlled to be started with the maximum torque, in the subsequent working process of the alternating current servo motor, the upper computer can judge whether the operation of the alternating current servo motor accords with the operation instruction through the obtained A, B-phase pulse signal and the operation instruction (for example, the operation instruction is an instruction for controlling the motor to rotate by 50 degrees) output by the encoder chip 35.
Further, please continue to refer to fig. 6, the ac servo motor control system provided in this embodiment further includes a differential circuit chip 6, the differential circuit chip 6 is mounted on the rotor position detecting board 33, the input end of the differential circuit chip 6 is connected with the output end of the magnetic rotation position sensor chip 32 and the output end of the encoder chip 35, the output end of the differential circuit chip 6 is connected with the upper computer 1, and the differential circuit chip 6 is used for filtering electromagnetic interference in the environment.
According to the alternating current servo motor control system provided by the embodiment, through the arrangement of the differential circuit chip, electromagnetic interference in the environment can be filtered, the accuracy of signals output by the magnetic rotary position sensor chip and the encoder chip can be improved, and the positioning accuracy is further improved.
Further, referring to fig. 2 and 3, the ac servo motor control system provided in the present embodiment, on the basis of the above embodiment, the rotor positioning device 3 further includes: a rotor position detection plate mount 35, the rotor position detection plate mount 35 being mounted on the rear end cap 22 of the ac servo motor, and the rotor position detection plate 33 being mounted on the rotor position detection plate mount 35.
Specifically, the rotor position detection plate mount 35 may be a cylindrical structure having a through hole. The rotor position detection plate mount 35 may be a support rod.
Referring to fig. 8, in this embodiment, the rotor position detecting board mounting seat 35 includes a first fixing portion 351 and a second fixing portion 352 which are mutually communicated and are both cylindrical structures, the first fixing portion 351 is provided with a first through hole 351-1, the bottom surface diameter of the second fixing portion 352 is the same as the diameter of the first through hole 351-1, the first fixing portion 351 is connected with the rear end cover 22 of the ac servo motor 2, and the rotor position detecting board 33 is covered on the second fixing portion 352.
Specifically, the rotor position detection plate mount 35 may be fixed to the rear end cap 22 of the ac servo motor 2 by welding, and in addition, the rotor position detection plate 33 and the rotor position detection plate mount 35 may be connected by bolting, or may be connected by welding. When the rotor position detecting plate mounting seat 35 is mounted, the magnet mounting seat 34, the magnet 32 and the code wheel 4 are all located inside the rotor position detecting plate mounting seat 35.
Fig. 9 is a flowchart of a control method of an ac servo motor according to an embodiment of the present invention. The ac servo motor control method provided in this embodiment is applied to the ac servo motor control system shown in fig. 1, please refer to fig. 1, and the system includes: the device comprises an upper computer 1, an alternating current servo motor 2 and a rotor position positioning device 3; the rotor position positioning device 3 comprises a magnet 31, a magnetic rotation position sensor chip 32 and a rotor position detection plate 33, wherein the magnet 31 is connected with a motor shaft 21 of the alternating current servo motor 2, the magnetic rotation position sensor chip 32 is arranged on the rotor position detection plate 33 and is close to one end of the magnet far away from the motor shaft, and the magnetic rotation position sensor chip is also connected with the upper computer 1. The alternating current servo motor control method provided by the embodiment can comprise the following steps:
s101, an upper computer receives a first pulse signal reported by a magnetic rotation position sensor chip; wherein the first pulse signal is obtained by the magnetic rotation position sensor chip according to the magnetic field direction of the magnet.
S102, the upper computer determines the position of a rotor of an alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor;
And S103, the upper computer outputs a starting voltage to the alternating current servo motor according to the position of the rotor so as to enable the alternating current servo motor to operate at maximum torque.
In particular, the specific implementation process and implementation principle of the above steps have been specifically described in the device embodiments, and are not repeated herein.
Further, the method for controlling an ac servo motor according to the present embodiment may further include the following steps when the ac servo motor is started with the maximum torque:
the upper computer sends an operation instruction to the alternating current servo motor so that the alternating current servo motor operates according to the operation instruction, wherein the operation instruction is a control instruction for indicating the alternating current servo motor to rotate by a preset angle;
The upper computer acquires A, B-phase pulse signals output by the encoder chip and judges whether the operation of the alternating current servo motor accords with the operation instruction according to the A, B-phase pulse signals.
Specifically, the specific implementation process and implementation principle of the above steps may refer to the description of the prior art, which is not repeated herein.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. An ac servo motor control system, comprising: the device comprises an upper computer, an alternating current servo motor and a rotor position positioning device; the rotor position positioning device comprises a magnet, a magnetic rotary position sensor chip and a rotor position detection plate, wherein the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotary position sensor chip is arranged on the rotor position detection plate and is close to one end, far away from the motor shaft, of the magnet, and the magnetic rotary position sensor chip is also connected with the upper computer;
the magnetic rotary position sensor chip is used for outputting a first pulse signal to the upper computer according to the magnetic field direction of the magnet;
The upper computer is used for determining the position of a rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor, and outputting starting voltage to the alternating current servo motor according to the position of the rotor so as to enable the alternating current servo motor to operate with maximum torque;
The system also comprises a differential circuit chip, wherein the differential circuit chip is arranged on the rotor position detection plate, the input end of the differential circuit chip is connected with the output end of the magnetic rotation position sensor chip, and the output end of the differential circuit chip is connected with the upper computer.
2. The system of claim 1, wherein the rotor position locating device further comprises a magnet mount; the magnet mounting seat comprises a motor shaft mounting part and a magnet mounting part, wherein the motor shaft mounting part is provided with a first cylindrical hole, and the magnet mounting part is provided with a second cylindrical hole;
The rear end of the motor shaft is fixed in the first cylindrical hole, and the magnet is fixed in the second cylindrical hole.
3. The system of claim 2, wherein the motor shaft mounting portion is a cylindrical structure in which the first cylindrical bore is formed.
4. A system according to claim 3, wherein the magnet mounting portion is of cylindrical configuration provided with the second cylindrical bore.
5. The system of claim 4, further comprising a grating code wheel that is sleeved on an outer surface of the magnet mounting portion.
6. The system of claim 5, further comprising an encoder chip disposed on the rotor position sensing board and connected to the host computer, the encoder chip and the grating code wheel comprising an encoder of the system.
7. The system of claim 6, wherein the rotor position locating device further comprises: the rotor position detection plate mounting seat is mounted on the rear end cover of the alternating current servo motor, and the rotor position detection plate is mounted on the rotor position detection plate mounting seat.
8. The system of claim 7, wherein the rotor position sensing plate mount includes a first fixed portion and a second fixed portion that are communicated with each other and each have a cylindrical structure, the first fixed portion is provided with a first through hole, and a bottom surface diameter of the second fixed portion is the same as a diameter of the first through hole;
the first fixing part is connected with the rear end cover of the alternating current servo motor, and the rotor position detection plate cover is arranged on the second fixing part.
9. An ac servo motor control method, characterized by being applied to an ac servo motor control system, the system comprising: the device comprises an upper computer, an alternating current servo motor and a rotor position positioning device; the rotor position positioning device comprises a magnet, a magnetic rotary position sensor chip and a rotor position detection plate, wherein the magnet is connected with a motor shaft of the alternating current servo motor, the magnetic rotary position sensor chip is arranged on the rotor position detection plate and is close to one end, far away from the motor shaft, of the magnet, and the magnetic rotary position sensor chip is also connected with the upper computer; the system also comprises a differential circuit chip, wherein the differential circuit chip is arranged on the rotor position detection board, the input end of the differential circuit chip is connected with the output end of the magnetic rotation position sensor chip, and the output end of the differential circuit chip is connected with the upper computer;
The method comprises the following steps:
The upper computer receives a first pulse signal reported by the magnetic rotation position sensor chip; the first pulse signal is obtained by the magnetic rotary position sensor chip according to the magnetic field direction of the magnet;
The upper computer determines the position of the rotor of the alternating current servo motor according to the first pulse signal and the mapping relation between the duty ratio of the pulse signal and the position of the rotor;
and the upper computer outputs starting voltage to the alternating current servo motor according to the position of the rotor so as to enable the alternating current servo motor to operate with maximum torque.
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| CN111071164B (en) * | 2018-10-19 | 2023-12-05 | 浙江舜宇智能光学技术有限公司 | Hidden shaft type rotating device and manufacturing method thereof |
| CN112018960A (en) * | 2019-05-29 | 2020-12-01 | 上海安浦鸣志自动化设备有限公司 | An integrated motor encoder device |
| CN113300649B (en) * | 2021-06-11 | 2022-11-18 | 华北电力大学（保定） | PMSM (permanent magnet synchronous motor) control method for mechanical elastic energy storage based on increment reverse thrust control |
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| CN103424132A (en) * | 2013-08-22 | 2013-12-04 | 浙江大学 | Magnetic coder in three-dimensional space |
| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
| CN206211897U (en) * | 2016-11-24 | 2017-05-31 | 北京大豪科技股份有限公司 | AC servo motor control system |
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| CN1062391C (en) * | 1996-08-08 | 2001-02-21 | 中国科学院电工研究所 | Method and device for testing original position of electric motor's rotator for ac servo system |
| CN101594114B (en) * | 2009-07-02 | 2011-04-20 | 哈尔滨工业大学 | Method for determining initial position angle of rotor of permanent magnet synchronous motor |
| CN105490596B (en) * | 2016-02-01 | 2017-12-08 | 重庆理工大学 | A kind of embedded position detecting system of permanent-magnet alternating current servo motor |
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| CN103424132A (en) * | 2013-08-22 | 2013-12-04 | 浙江大学 | Magnetic coder in three-dimensional space |
| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
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