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CN110535391B - Compensation method, system and device for angle error of servo motor - Google Patents

Compensation method, system and device for angle error of servo motor Download PDF

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CN110535391B
CN110535391B CN201810507201.9A CN201810507201A CN110535391B CN 110535391 B CN110535391 B CN 110535391B CN 201810507201 A CN201810507201 A CN 201810507201A CN 110535391 B CN110535391 B CN 110535391B
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servo motor
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angular velocity
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CN110535391A (en
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张碧陶
姚科
高福荣
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Guangzhou HKUST Fok Ying Tung Research Institute
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Guangzhou HKUST Fok Ying Tung Research Institute
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

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Abstract

本发明公开了伺服电机角度误差的补偿方法、系统及装置；方法包括：计算伺服电机在开环运行状态下q轴的电流值；根据伺服电机q轴的电流值，计算伺服电机的运行电角速度；根据伺服电机的运行电角速度，计算伺服电机的角度误差补偿值；系统包括电流值计算模块、电角速度计算模块和补偿值计算模块；装置包括存储器和处理器。本发明的角度补偿不需要人为干预，易于实现且人工成本低，避免了人工修正的误差，进而提高了角度检测的精度；另外，本发明不需要通过外部运动机构带动电机运行至一定速度，仅需计算伺服在开环运行状态下q轴的电流值，可广泛应用于伺服电机控制技术领域。

Figure 201810507201

The invention discloses a method, system and device for compensating the angle error of a servo motor; the method comprises: calculating the current value of the q-axis of the servo motor in an open-loop running state; and calculating the running electrical angular velocity of the servo motor according to the current value of the q-axis of the servo motor ; Calculate the angle error compensation value of the servo motor according to the running electric angular velocity of the servo motor; the system includes a current value calculation module, an electric angular velocity calculation module and a compensation value calculation module; the device includes a memory and a processor. The angle compensation of the present invention does not require human intervention, is easy to implement and has low labor cost, avoids the error of manual correction, and further improves the accuracy of angle detection; It is necessary to calculate the current value of the q-axis of the servo in the open-loop operation state, which can be widely used in the field of servo motor control technology.

Figure 201810507201

Description

Servo motor angle error compensation method, system and device
Technical Field
The invention relates to the technical field of servo motor control, in particular to a method, a system and a device for compensating an angle error of a servo motor.
Background
The servo motor (permanent magnet synchronous motor) is widely applied to new energy automobiles, robots and numerical control machines. Compared with other motors, the servo motor has the following advantages: the servo motor is provided with a sensor for detecting an angle, and can provide a required feedback value for realizing high-precision closed-loop control in practical engineering application. But due to the errors caused by the sensors: such as manufacturing error, installation error, etc., so that the motor cannot obtain high control accuracy.
In order to solve the above-mentioned accuracy problem due to the sensor error, chinese patent application No. 201280062593.3, entitled "motor control device, motor control method", and No. CN 104011992B, provides a motor control method and device for generating a voltage command value from a current command value and performing feedback control using a detected current flowing through a motor, with respect to the problem of the error of an angle resolver of a brushless motor.
The angle resolver correction disclosed in the above patent document (application No. 201280062593.3) has the following disadvantages:
1) the disclosed technique requires the use of a current proportional-integral controller, which requires that the d-axis and q-axis currents be zero, respectively. However, the detection of the current has noise, and the requirement of parameter adjustment of the controller on operators is high, so that the method is not easy to realize in practical engineering application;
2) in the correction process of the angle resolver, an external movement mechanism (such as a motor or a generator) is required to drive the motor to operate to a certain rotating speed, so that the angle resolver cannot independently operate and correct, and is low in practicability;
3) in the resolver error correction process of the scheme, angle errors need to be adjusted manually through an adjusting part (such as a potentiometer), whether corresponding current integral values are zero or not is observed through a display, the adjustment precision depends on manual experience, the precision is not high, and the correction process is complicated;
disclosure of Invention
To solve the above technical problems, the present invention aims to: the method, the system and the device for compensating the angle error of the servo motor have high practicability, are easy to implement and have low labor cost, so that the precision of angle error adjustment is improved.
The first technical scheme adopted by the invention is as follows:
the compensation method for the angle error of the servo motor comprises the following steps:
calculating the current value of a q axis of the servo motor in an open loop operation state;
calculating the operation electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor;
and calculating an angle error compensation value of the servo motor according to the running electrical angular velocity of the servo motor.
Further, the step of calculating the current value of the q axis of the servo motor in the open loop operation state includes the steps of:
acquiring an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor; wherein, the equivalent equation of the servo motor is as follows:
Figure BDA0001671568370000021
Figure BDA0001671568370000022
wherein u isdRepresenting the component of the stator voltage on the d-axis; rsRepresents the stator resistance; i.e. idRepresenting the component of the stator current in the d-axis;
Figure BDA0001671568370000023
representing a differential operator; psidRepresenting the component of the stator flux linkage in the d-axis; omegaeRepresenting the operating electrical angular velocity of the servo motor; psiqRepresenting the component of the stator flux linkage in the q-axis; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis;
calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor; the open-loop operation equation of the servo motor is as follows:
Figure BDA0001671568370000024
Figure BDA0001671568370000025
wherein L isqRepresents the q-axis inductance; l isdRepresents the d-axis inductance; psifRepresenting the rotor flux.
Further, the step of calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor comprises the following steps:
controlling the starting of the motor according to an open-loop operation equation of the servo motor;
detecting three-phase current of the servo motor through a Hall sensor;
and calculating the current value of the q axis of the servo motor according to the three-phase current of the servo motor.
Further, the step of controlling the motor to start up according to the open-loop operation equation of the servo motor comprises the following steps:
converting a voltage set value of a d axis of the servo motor into a voltage set value of an alpha axis, and converting a voltage set value of a q axis of the servo motor into a voltage set value of a beta axis;
converting the voltage set value of the alpha axis and the voltage set value of the beta axis into corresponding pulse widths;
and controlling the inverter to drive the servo motor to operate according to the pulse width obtained by conversion.
Further, in the step of calculating the operating electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor, the calculation formula of the operating electrical angular velocity is as follows:
Figure BDA0001671568370000031
wherein, ω iseRepresenting the operating electrical angular velocity of the servo motor; psifRepresenting the rotor flux; psiqRepresenting the component of the stator flux linkage in the q-axis; rsRepresents the stator resistance; l isdRepresents the d-axis inductance; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis.
Further, the step of calculating the angle error compensation value of the servo motor according to the operating electrical angular velocity of the servo motor includes the steps of:
acquiring an actual angular velocity value of the servo motor through an angular velocity sensor;
calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor;
calculating the angle error of the servo motor according to the angular speed error of the servo motor;
and carrying out error compensation according to the angle error of the servo motor.
The second technical scheme adopted by the invention is as follows:
servo motor angular error's compensation system includes:
the current value calculation module is used for calculating the current value of the q axis of the servo motor in an open-loop operation state;
the electric angular velocity calculation module is used for calculating the operation electric angular velocity of the servo motor according to the current value of the q axis of the servo motor;
and the compensation value calculating module is used for calculating the angle error compensation value of the servo motor according to the running electrical angular velocity of the servo motor.
Further, the current value calculation module includes:
the open-loop operation equation obtaining unit is used for obtaining an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor;
and the current value calculating unit is used for calculating the current value of the q axis of the servo motor according to the open-loop operation equation of the servo motor.
Further, the offset value calculation module includes:
the actual angular velocity value calculating unit is used for acquiring an actual angular velocity value of the servo motor through the angular velocity sensor;
the angular velocity error calculation unit is used for calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor;
the angle error calculation unit is used for calculating the angle error of the servo motor according to the angular speed error of the servo motor;
and the error compensation unit is used for carrying out error compensation according to the angle error of the servo motor.
The third technical scheme adopted by the invention is as follows:
the compensation arrangement of servo motor angle error includes:
a memory for storing a program;
and the processor is used for loading a program to execute the compensation method of the angle error of the servo motor according to the first technical scheme.
The invention has the beneficial effects that: the method includes the steps that the current value of a q axis of the servo motor in an open-loop operation state and the operation electrical angular speed of the servo motor are calculated, and finally the angle error compensation value of the servo motor is obtained; the angle compensation method can perform angle compensation in real time under the open-loop operation state of the servo motor, does not need human intervention, is easy to realize and low in labor cost, and simultaneously avoids errors of manual correction, thereby improving the precision of angle detection; in addition, the invention does not need to drive the motor to run to a certain speed through an external motion mechanism, only needs to calculate the current value of the q axis of the servo under the open-loop running state, and has high practicability.
Drawings
FIG. 1 is a flowchart illustrating the overall steps of a method for compensating for an angle error of a servo motor according to the present invention;
fig. 2 is a schematic structural diagram of a servo motor angle error compensation system according to an embodiment of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to fig. 1, the method for compensating the angle error of the servo motor of the present invention includes the following steps:
calculating the current value of a q axis of the servo motor in an open loop operation state;
calculating the operation electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor;
and calculating an angle error compensation value of the servo motor according to the running electrical angular velocity of the servo motor.
Further preferably, the step of calculating the current value of the q axis of the servo motor in the open loop operation state includes the steps of:
acquiring an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor; wherein, the equivalent equation of the servo motor is as follows:
Figure BDA0001671568370000051
Figure BDA0001671568370000052
wherein u isdRepresenting the component of the stator voltage on the d-axis; rsRepresents the stator resistance; i.e. idRepresenting the component of the stator current in the d-axis;
Figure BDA0001671568370000053
representing a differential operator; psidRepresenting the component of the stator flux linkage in the d-axis; omegaeRepresenting the operating electrical angular velocity of the servo motor; psiqRepresenting the component of the stator flux linkage in the q-axis; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis;
calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor; the open-loop operation equation of the servo motor is as follows:
Figure BDA0001671568370000054
Figure BDA0001671568370000055
wherein L isqRepresents the q-axis inductance; l isdRepresents the d-axis inductance; psifRepresenting the rotor flux.
Further, as a preferred embodiment, the step of calculating the current value of the q-axis of the servo motor according to the open loop operation equation of the servo motor includes the steps of:
controlling the starting of the motor according to an open-loop operation equation of the servo motor;
detecting three-phase current of the servo motor through a Hall sensor;
and calculating the current value of the q axis of the servo motor according to the three-phase current of the servo motor.
Further, as a preferred embodiment, the step of controlling the motor to start according to the open-loop operation equation of the servo motor includes the following steps:
converting a voltage set value of a d axis of the servo motor into a voltage set value of an alpha axis, and converting a voltage set value of a q axis of the servo motor into a voltage set value of a beta axis;
converting the voltage set value of the alpha axis and the voltage set value of the beta axis into corresponding pulse widths;
and controlling the inverter to drive the servo motor to operate according to the pulse width obtained by conversion.
In a further preferred embodiment, in the step of calculating the operating electrical angular velocity of the servo motor based on the current value of the q-axis of the servo motor, the operating electrical angular velocity is calculated by the following formula:
Figure BDA0001671568370000061
wherein, ω iseRepresenting the operating electrical angular velocity of the servo motor; psifRepresenting the rotor flux; psiqRepresenting the component of the stator flux linkage in the q-axis; rsRepresents the stator resistance; l isdRepresents the d-axis inductance; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis.
Further, as a preferred embodiment, the step of calculating the angular error compensation value of the servo motor according to the operating electrical angular velocity of the servo motor includes the steps of:
acquiring an actual angular velocity value of the servo motor through an angular velocity sensor;
calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor;
calculating the angle error of the servo motor according to the angular speed error of the servo motor;
and carrying out error compensation according to the angle error of the servo motor.
Corresponding to the method of fig. 1, the compensation system for the angle error of the servo motor of the invention comprises:
the current value calculation module is used for calculating the current value of the q axis of the servo motor in an open-loop operation state;
the electric angular velocity calculation module is used for calculating the operation electric angular velocity of the servo motor according to the current value of the q axis of the servo motor;
and the compensation value calculating module is used for calculating the angle error compensation value of the servo motor according to the running electrical angular velocity of the servo motor.
Further preferably, the current value calculating module includes:
the open-loop operation equation obtaining unit is used for obtaining an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor;
and the current value calculating unit is used for calculating the current value of the q axis of the servo motor according to the open-loop operation equation of the servo motor.
Further as a preferred embodiment, the offset value calculation module includes:
the actual angular velocity value calculating unit is used for acquiring an actual angular velocity value of the servo motor through the angular velocity sensor;
the angular velocity error calculation unit is used for calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor;
the angle error calculation unit is used for calculating the angle error of the servo motor according to the angular speed error of the servo motor;
and the error compensation unit is used for carrying out error compensation according to the angle error of the servo motor.
Corresponding to the method of fig. 1, the compensation device for the angle error of the servo motor of the invention comprises:
a memory for storing a program;
and the processor is used for loading a program to execute the compensation method of the servo motor angle error.
The following takes the angular error compensation system shown in fig. 2 as an example to describe in detail the specific implementation steps of the compensation method for the angular error of the servo motor of the present invention:
s1, acquiring an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor;
wherein, the equivalent equation of the servo motor in step S1 is as follows:
Figure BDA0001671568370000071
Figure BDA0001671568370000072
wherein u isdRepresenting the component of the stator voltage on the d-axis; rsRepresents the stator resistance; i.e. idRepresenting the component of the stator current in the d-axis;
Figure BDA0001671568370000073
representing a differential operator; psidRepresenting the component of the stator flux linkage in the d-axis; omegaeRepresenting the operating electrical angular velocity of the servo motor; psiqRepresenting the component of the stator flux linkage in the q-axis; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis;
in this embodiment, let u in the equivalent equationd＝0，
Figure BDA0001671568370000074
And
Figure BDA0001671568370000075
obtaining:
0＝Rsid-ωeψq
uq＝Rsiq+ωeψd，
wherein psiq＝iqLq；ψq＝idLd+ψf；LdRepresents the d-axis inductance; l isqRepresents the q-axis inductance; psifRepresenting the rotor flux;
and finally, obtaining an open-loop operation equation of the servo motor by sorting:
Figure BDA0001671568370000076
Figure BDA0001671568370000081
s2, calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor;
wherein, step S2 specifically includes the following steps:
s21, controlling the motor to start according to the open-loop operation equation of the servo motor; step S21 specifically includes the following steps;
s211, converting a voltage set value of a d axis of the servo motor into a voltage set value of an alpha axis, and converting a voltage set value of a q axis of the servo motor into a voltage set value of a beta axis;
s212, converting the voltage set value of the alpha axis and the voltage set value of the beta axis into corresponding pulse widths;
and S213, controlling the inverter to drive the servo motor to operate according to the converted pulse width.
Such as: by controlling u in the open-loop operating equationqAnd controlling the servo motor to start within the range of 0-10V.
S22, detecting three-phase current of the servo motor through a Hall sensor;
and S23, calculating the current value of the q axis of the servo motor according to the three-phase current of the servo motor.
In this embodiment, a matrix calculation method is adopted to obtain a current value of a q axis of a servo motor, where the matrix calculation method is:
Figure BDA0001671568370000082
Figure BDA0001671568370000083
wherein iA、iBAnd iCRepresenting three-phase currents of the servo motor; the current value i of the q axis of the servo motor can be obtained through calculation of the two matrix equationsq。
S3, calculating the operation electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor; the calculation formula of the operating electrical angular velocity is as follows:
Figure BDA0001671568370000091
wherein, ω iseRepresenting the operating electrical angular velocity of the servo motor; psifRepresenting the rotor flux; psiqRepresenting the component of the stator flux linkage in the q-axis; rsRepresents the stator resistance; l isdRepresents the d-axis inductance; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis.
And S4, calculating an angle error compensation value of the servo motor according to the running electrical angular velocity of the servo motor.
Wherein, step S4 specifically includes the following steps:
s41, acquiring an actual angular velocity value of the servo motor through an angular velocity sensor;
s42, calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor; the calculation formula of the angular speed error of the servo motor is as follows:
Figure BDA0001671568370000092
wherein e (ω) represents an angular velocity error; omegarRepresenting the actual angular velocity value of the servo motor acquired by the angular velocity sensor; omegaeRepresenting the operating electrical angular velocity of the servo motor; psifRepresenting the rotor flux; rsRepresents the stator resistance;Ldrepresents the d-axis inductance; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis.
S43, calculating the angle error of the servo motor according to the angular speed error of the servo motor; the calculation formula of the angle error is as follows: Δ θ ═ e (ω) T, where Δ θ represents the angle error; e (ω) represents the angular velocity error; t is the sampling time of the servo motor.
And S44, compensating the error according to the angle error of the servo motor. Step S44 specifically includes: acquiring actual rotation angle theta of servo motor through angle sensor1Then, according to the actual rotation angle and the angle error obtained by settlement, the ideal rotation angle theta of the servo motor is calculated, and the calculation formula is as follows: theta is equal to theta1And + delta theta, and finally, the ideal rotation angle is sent to a corresponding control module for error compensation.
In summary, the method, system and device for compensating the angle error of the servo motor of the invention have the following advantages:
1) the method can perform angle compensation in real time under the open-loop operation state of the servo motor, does not need human intervention, is easy to realize, has low labor cost, and simultaneously improves the precision of angle detection;
2) real-time angle compensation is carried out on each adopted period, dynamic error compensation of motor operation can be realized, and accurate operation angle detection and control are obtained;
3) according to the invention, the motor is not required to be driven to run to a certain speed by an external motion mechanism, the current value of the q axis of the servo motor can be calculated only according to the open-loop running equation, and the practicability is high.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (5)

1. The compensation method for the angle error of the servo motor is characterized by comprising the following steps: the method comprises the following steps:
calculating the current value of a q axis of the servo motor in an open loop operation state;
calculating the operation electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor;
calculating an angle error compensation value of the servo motor according to the operating electrical angular velocity of the servo motor;
the step of calculating the angle error compensation value of the servo motor according to the operating electrical angular velocity of the servo motor comprises the following steps:
acquiring an actual angular velocity value of the servo motor through an angular velocity sensor;
calculating the angular velocity error of the servo motor according to the actual angular velocity value and the operation electrical angular velocity of the servo motor;
calculating the angle error of the servo motor according to the angular speed error of the servo motor;
performing error compensation according to the angle error of the servo motor;
in the step of calculating the operating electrical angular velocity of the servo motor according to the current value of the q axis of the servo motor, the calculation formula of the operating electrical angular velocity is as follows:
Figure FDA0002920795880000011
wherein, ω iseRepresenting the operating electrical angular velocity of the servo motor; psifRepresenting the rotor flux; psiqRepresenting the component of the stator flux linkage in the q-axis; rsRepresents the stator resistance; l isdRepresents the d-axis inductance; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis.
2. The method of compensating for an angle error of a servo motor according to claim 1, wherein: the step of calculating the current value of the q axis of the servo motor in the open loop operation state comprises the following steps:
acquiring an open-loop operation equation of the servo motor according to the equivalent equation of the servo motor; wherein, the equivalent equation of the servo motor is as follows:
Figure FDA0002920795880000012
Figure FDA0002920795880000013
wherein u isdRepresenting the component of the stator voltage on the d-axis; rsRepresents the stator resistance; i.e. idRepresenting the component of the stator current in the d-axis;
Figure FDA0002920795880000021
representing a differential operator; psidRepresenting the component of the stator flux linkage in the d-axis; omegaeRepresenting the operating electrical angular velocity of the servo motor; psiqRepresenting the component of the stator flux linkage in the q-axis; i.e. iqRepresenting the component of the stator current in the q-axis; u. ofqRepresenting the component of the stator voltage on the q-axis;
calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor; the open-loop operation equation of the servo motor is as follows:
Figure FDA0002920795880000022
Figure FDA0002920795880000023
wherein L isqRepresents the q-axis inductance; l isdRepresents the d-axis inductance; psifRepresenting the rotor flux.
3. The method of compensating for an angular error of a servo motor according to claim 2, wherein: the step of calculating the current value of the q axis of the servo motor according to the open loop operation equation of the servo motor comprises the following steps:
controlling the starting of the motor according to an open-loop operation equation of the servo motor;
detecting three-phase current of the servo motor through a Hall sensor;
and calculating the current value of the q axis of the servo motor according to the three-phase current of the servo motor.
4. The method of compensating for an angular error of a servo motor according to claim 3, wherein: the step of controlling the starting and starting of the motor according to the open-loop operation equation of the servo motor comprises the following steps:
converting a voltage set value of a d axis of the servo motor into a voltage set value of an alpha axis, and converting a voltage set value of a q axis of the servo motor into a voltage set value of a beta axis;
converting the voltage set value of the alpha axis and the voltage set value of the beta axis into corresponding pulse widths;
and controlling the inverter to drive the servo motor to operate according to the pulse width obtained by conversion.
5. The compensation arrangement of servo motor angle error, its characterized in that: the method comprises the following steps:
a memory for storing a program;
processor for loading a program for performing the method of compensation of servo motor angle error according to any of claims 1-4.
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