阅读说明：本技术 一种伺服电机校准方法及应用其的伺服电机 (Servo motor calibration method and servo motor applying same ) 是由 杜伟文 于 2021-09-06 设计创作，主要内容包括：本发明公开了一种伺服电机校准方法,电机包括第一转子和第一定子；还包括储存模块；方法包括：对第一转子和第一定子分别设置唯一的识别标记；对第一转子以及第一定子进行校准,并获得定子校准数据和转子校准数据；定子校准数据和转子校准数据存储于储存模块。通过预校准的定子和转子分别对电机的转子和定子进行校准,并将校准数据存储与储存模块内,在对每一个电机的特性相当清楚的情况下,其驱动精度大幅度提高,同时对驱动器的算法要求更低,实现难度大幅下降,避免了DSP无感计算的各种参数无法与电机特性匹配的问题,保证电机输出的扭矩和转速符合高要求、高需求,且易实现规模化、应用难度低,有效降低DSP、制造工艺等成本。(The invention discloses a servo motor calibration method, wherein a motor comprises a first rotor and a first stator; the device also comprises a storage module; the method comprises the following steps: setting unique identification marks for the first rotor and the first stator respectively; calibrating the first rotor and the first stator, and obtaining stator calibration data and rotor calibration data; the stator calibration data and the rotor calibration data are stored in a storage module. The motor rotor and the motor stator are respectively calibrated through the pre-calibrated stator and the pre-calibrated rotor, the calibration data is stored and stored in the module, the driving precision is greatly improved under the condition that the characteristics of each motor are quite clear, meanwhile, the algorithm requirement on a driver is lower, the realization difficulty is greatly reduced, the problem that various parameters of DSP (digital signal processor) non-inductive calculation cannot be matched with the characteristics of the motor is solved, the torque and the rotating speed output by the motor are ensured to meet high requirements and high requirements, the large-scale operation is easy to realize, the application difficulty is low, and the cost of the DSP, the manufacturing process and the like is effectively reduced.)

1. The servo motor calibration method is characterized by comprising a motor, wherein the motor comprises a first rotor and a first stator; the device also comprises a storage module; the calibration method comprises the following steps:

setting unique identification marks for the first rotor and the first stator respectively;

calibrating the first rotor and the first stator, and obtaining stator calibration data and rotor calibration data;

the stator calibration data and the rotor calibration data are stored in the storage module.

2. The servo motor calibration method of claim 1, wherein the method of calibrating the first rotor and the first stator comprises:

testing and recording the 360-degree magnetic field of the first rotor; and testing and recording the magnetic field of the first stator.

3. The servo motor calibration method according to claim 1, further comprising a second rotor and a second stator, wherein the second rotor is provided with a position sensing device, and the second stator is provided with a magnetic inductor; the method of calibrating the first rotor and the first stator includes:

pre-calibrating the second rotor and the second stator;

replacing the first rotor with the second rotor, and driving the motor to operate to obtain stator calibration data of the first stator;

and using the second stator to replace the first stator, and driving the motor to operate to obtain rotor calibration data of the first rotor.

4. The servo motor calibration method according to claim 1, further comprising a driver, and the driving control method of the driver comprises:

the driver is electrically connected with the motor;

the driver acquires corresponding stator calibration data and rotor calibration data of the motor from the storage module according to the identification mark;

and the driver drives the motor to operate according to a preset program according to the stator calibration data and the rotor calibration data.

5. The servo motor calibration method of claim 1, further comprising a driver; when the stator calibration data and the rotor calibration data are stored in the storage module, the calibration method comprises the following steps:

the driver drives the motor to run in a trial mode according to the stator calibration data and the rotor calibration data and a preset program, and if the trial mode meets application requirements, the next step is carried out;

matching and integrating the stator calibration data and the rotor calibration data into factory calibration parameters of the motor and storing the factory calibration parameters in a storage module;

and completing the calibration.

6. A servo motor calibration method according to claim 2, wherein the motors comprise magnetic encoders, the magnetic encoders of any one of the motors being provided with unique identification codes of the first stator and the first rotor as the identification marks; when the driver obtains the stator calibration data and the rotor calibration data of the motor from the storage module, the method comprises the following steps:

and the driver acquires the stator calibration data and the rotor calibration data of the motor from the storage module according to the unique identification code.

7. A method of calibrating a servo motor according to any of claims 1-6, wherein the first rotor and the first stator are marked with initial positions.

8. The servo motor calibration method according to any one of claims 1 to 6, wherein the storage module is a storage chip, and the storage chip is disposed in the motor.

9. The servo motor calibration method according to any one of claims 1 to 6, wherein the storage module is a server side.

10. A servo motor, wherein the servo motor is calibrated by the servo motor calibration method according to any one of claims 1 to 8.

Technical Field

The invention relates to motor calibration, in particular to a servo motor calibration method and a servo motor using the same.

Background

The servo motor is an engine for controlling mechanical elements to operate in a servo system, is an auxiliary motor indirect speed changing device, and has higher precision and larger torque compared with the traditional stepping motor.

In the manufacturing process of the servo motor, there are inevitable process errors as well as manufacturing errors, which cause the characteristics of each motor to have slight differences. In the case of high-speed operation of the motor, these slight differences result in insufficient calculation accuracy of the driving and thus small driving errors, thereby affecting the overall performance of the motor. Usually, each parameter of the motor is calculated in a DSP non-inductive calculation mode, a relatively mature DSP algorithm is provided abroad, and a domestic driver starts late and most of the drivers are realized in a reverse mode, so that the integral performance is different from the import. The self-adaptive motor parameters using the DSP algorithm can only calculate rough parameters by indirect methods such as back electromotive force and the like, only can be identified in a fuzzy manner, and can not meet the requirements even depending on imports under the condition of higher and higher requirements on the motor driving precision; in addition, the same driver and all corresponding motors need to be adapted, so that the algorithm is relatively complex, the requirement on the consistency of the motor manufacturing process is high, the requirements on a DSP (digital signal processor) and the manufacturing process are high, and the cost is relatively high.

Disclosure of Invention

To overcome the disadvantages of the prior art, the present invention aims to provide a high-precision and low-cost motor calibration method.

The invention is realized by the following technical measures, which comprise a motor, wherein the motor comprises a first rotor and a first stator; the device also comprises a storage module; the calibration method comprises the following steps:

setting unique identification marks for the first rotor and the first stator respectively;

calibrating the first rotor and the first stator, and obtaining stator calibration data and rotor calibration data;

the stator calibration data and the rotor calibration data are stored in the storage module.

As a preferable mode, the method of calibrating the first rotor and the first stator includes:

testing and recording the 360-degree magnetic field of the first rotor; and testing and recording the magnetic field of the first stator.

As a preferable mode, the magnetic induction type magnetic induction device further comprises a second rotor and a second stator, wherein the second rotor is provided with a position induction device, and the second stator is provided with a magnetic inductor; the method of calibrating the first rotor and the first stator includes:

pre-calibrating the second rotor and the second stator;

replacing the first rotor with the second rotor, and driving the motor to operate to obtain stator calibration data of the first stator;

and using the second stator to replace the first stator, and driving the motor to operate to obtain rotor calibration data of the first rotor.

As a preferable mode, the system further includes a driver, and the drive control method of the driver includes:

the driver is electrically connected with the motor;

the driver acquires corresponding stator calibration data and rotor calibration data of the motor from the storage module according to the identification mark;

and the driver drives the motor to operate according to a preset program according to the stator calibration data and the rotor calibration data.

As a preferable mode, the device further comprises a driver; when the stator calibration data and the rotor calibration data are stored in the storage module, the calibration method comprises the following steps:

the driver drives the motor to run in a trial mode according to the stator calibration data and the rotor calibration data and a preset program, and if the trial mode meets application requirements, the next step is carried out;

matching and integrating the stator calibration data and the rotor calibration data into factory calibration parameters of the motor and storing the factory calibration parameters in a storage module;

and completing the calibration.

Preferably, the motor includes a magnetic encoder, and the magnetic encoder of any one of the motors is provided with a unique identification code of the first stator and the first rotor, and the unique identification code is used as the identification mark; when the driver obtains the stator calibration data and the rotor calibration data of the motor from the storage module, the method comprises the following steps:

and the driver acquires the stator calibration data and the rotor calibration data of the motor from the storage module according to the unique identification code.

Preferably, the first rotor and the first stator are marked with initial positions.

As a preferable mode, the storage module is a storage chip, and the storage chip is disposed in the motor.

As a preferred mode, the storage module is a server side.

According to the servo motor calibration method provided by the invention, the rotor and the stator of the motor are respectively calibrated through the pre-calibrated stator and the pre-calibrated rotor, and the calibration data is stored in the storage module, so that the driving precision is greatly improved under the condition that the characteristics of each motor are quite clear, the algorithm requirement on a driver is lower, the realization difficulty is greatly reduced, the problem that various parameters of DSP (digital signal processor) non-inductive calculation cannot be matched with the characteristics of the motor is solved, the torque and the rotating speed output by the motor meet high requirements and high requirements, the scale and the application difficulty are easy to realize, and the cost of the DSP, the manufacturing process and the like is effectively reduced.

A servo motor is provided, and the servo motor calibration method is applied. By the servo motor calibration method, the problem that each motor has different characteristics due to process errors and manufacturing errors is effectively avoided; the motor avoids the defect that each parameter of the DSP noninductive calculation can not be perfectly matched with the motor characteristic, and can meet the requirement of high precision when in use.

Drawings

FIG. 1 is a flowchart illustrating a calibration method according to a first embodiment of the present invention;

FIG. 2 is a partial flowchart of a calibration method according to a second embodiment of the present invention;

fig. 3 is a flowchart of a driving control method according to a first embodiment of the invention.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings.

Example one

A servo motor calibration method comprises a motor, wherein the motor comprises a first rotor and a first stator; also comprises a storage module.

The calibration method comprises the following steps:

s1, setting unique identification marks for a first rotor and a first stator respectively;

wherein, the identification mark can be used for distinguishing and identifying the rotor and the stator of each different motor by the driver.

Specifically, the first rotor and the first stator are both provided with initial position marks.

S2, calibrating the first rotor and the first stator to obtain stator calibration data and rotor calibration data;

specifically, the method for calibrating the first rotor and the first stator in this embodiment includes: calibrating the first rotor and the first stator, and testing and recording a 360-degree magnetic field of the first rotor; the magnetic field of the first stator is tested and recorded.

And S3, storing the stator calibration data and the rotor calibration data in a storage module.

Further, the driver is also included, and the driving control method of the driver comprises the following steps:

A1. the driver is electrically connected with the motor;

it should be understood that the drive and motor are electrically connected using a communication line.

A2. The driver acquires stator calibration data and rotor calibration data of the motor from the storage module according to the identification mark;

specifically, the motor comprises a magnetic encoder, the magnetic encoder of any motor is provided with a unique identification code, and the unique identification code is used as an identification mark; the method for acquiring the stator calibration data and the rotor calibration data of the motor by the driver through the storage module specifically comprises the following steps: and the driver acquires the stator calibration data and the rotor calibration data of the motor from the storage module according to the unique identification code. Namely, the driver can be matched according to different parameters and different characteristics of each motor so as to drive the motor to operate; in other embodiments, the manner in which the indicia are identified should not be limiting.

A3. The driver drives the motor to operate according to the stator calibration data and the rotor calibration data according to a preset program;

further, step S3 specifically includes:

s31, the driver drives the motor to run in a trial mode according to the stator calibration data and the rotor calibration data and a preset program, and if the trial operation meets application requirements, the step S32 is carried out;

s32, matching and integrating the stator calibration data and the rotor calibration data into factory calibration parameters of the motor and storing the factory calibration parameters in a storage module;

it should be noted that the storage module may be a storage chip disposed in the motor, and when the driver is electrically connected to the motor, the storage chip of the motor obtains factory calibration parameters of the motor; the storage module can also be a server side, and the server side can be a cloud server side or a local server; the driver is connected with the server end in a wired or wireless mode, and corresponding factory calibration parameters are inquired/obtained/downloaded by the server end according to the unique identification code of the motor.

It can be understood that, in step a2, the stator calibration data and the rotor calibration data read by the drive from the storage module are factory calibration parameters of the motor; in step a3, the driver imports factory calibration parameters of the motor into a preset program to match and drive the motor to operate.

And S33, completing calibration, and continuing the subsequent steps or leaving the factory.

According to the calibration method, the rotor and the stator of the motor are calibrated, the calibration data are stored in the storage module, the driving precision of each motor is greatly improved under the condition that the characteristics of each motor are quite clear, the algorithm requirement on a driver is lower, the realization difficulty is greatly reduced, the problem that various parameters of DSP (digital signal processor) non-inductive calculation cannot be matched with the characteristics of the motor is solved, the torque and the rotating speed output by the motor meet high requirements and high requirements is ensured, the large scale is easy to realize, the application difficulty is low, and the costs of the DSP, the manufacturing process and the like are effectively reduced.

Example two

The difference from the first embodiment also comprises a second rotor and a second stator, wherein the second rotor is provided with a position sensing device, and the second stator is provided with a magnetic inductor;

it is understood that the second rotor used in the present embodiment is the same as the first rotor, and the second stator is the same as the first stator; in other embodiments, the calibration requirements are not limited, if they can be met.

The difference between the calibration method and the first embodiment is that step S2 includes:

s21, pre-calibrating a second stator and a second rotor;

it should be noted that, this method of pre-calibration is equivalent to the method of calibrating the first stator and the first rotor in the first embodiment;

it will be appreciated that after pre-calibration of the second rotor, parameter information and characteristics of the second rotor are obtained.

S22, replacing the first rotor with the second rotor, and driving the motor to operate to obtain stator calibration data of the first stator;

the parameter information of the pre-calibrated second rotor is known, after the driving motor operates, the first stator performs fixed work, the rotor rotates, the number of rotation turns and the position offset of the rotor are obtained by the position sensing device, and the stator calibration data of the first stator is obtained based on the number of rotation turns and the position offset of the rotor and the parameter information of the second rotor.

The position sensing device of the present embodiment is preferably a position sensor; the first stator is marked with a zero point, the first rotor is marked with an initial position, and the position sensor calculates the position offset according to the initial position and the actual position after rotation and the initial position.

S23, replacing the first stator with the second stator, and driving the motor to operate to obtain rotor calibration data of the first stator;

it can be understood that the driving motor rotates, the second stator does work fixedly, the magnetic inductor of the second stator induces the magnetic field characteristic of the rotor, and the rotor calibration data of the first rotor is obtained based on the magnetic field characteristic and the parameter information of the second stator.

In the embodiment, the calibration accuracy of the first stator and the first rotor is further improved through the pre-calibrated second rotor and the second stator; in actual production and manufacturing, the second rotor and the second stator are reused after each motor of the same type enters a calibration process, and compared with a mode of calibrating the first stator and the second stator in the embodiment, the efficiency is further improved, and the cost is reduced.

EXAMPLE III

A servo motor is provided, which applies the servo motor calibration method of the first embodiment.

The servo motor of the embodiment effectively avoids the problem that each motor has different characteristics caused by process errors and manufacturing errors through the servo motor calibration method; the defect that each parameter of the DSP noninductive calculation cannot be perfectly matched with the motor characteristic is avoided, and the requirement of high precision can be met during use.

It should be noted that, in the first to third embodiments, the type of the motor should not be limited, such as a permanent magnet motor, an ac motor, etc.; the rotor structure and the stator structure are not limited.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.

The above description is provided for the calibration method of the servo motor and the servo motor using the same, and is used to help understanding of the present invention, but the implementation manner of the present invention is not limited by the above embodiments, and any changes, modifications, substitutions, combinations, and simplifications that do not depart from the principle of the present invention should be replaced by equivalents, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.