Jiggling phase searching method for three-phase AC servo motor
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A servo motor, three-phase AC technology, applied in the field of micro-motion phase finding, can solve the problems of large rotation angle of the motor, low phase finding accuracy, long phase finding time, etc. High phase precision effect
Active Publication Date: 2009-12-16
河北海纳电测仪器股份有限公司
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Problems solved by technology
The advantages of this method are: simple program implementation and high reliability; the disadvantages are: the phase finding accuracy is not high, the motor rotation angle is large, and the phase finding time is long
However, the algorithm of this method is more complicated, the calculation amount is large, and only the motor with obvious salient pole effect can accurately track the rotor position, and the adaptability is not strong.
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Embodiment 1
[0051] In this embodiment, Elmo APM SB02ADK-9 rotary three-phase AC servo motor and HN-10 / 400 servo driver are used to realize the micro-motion phase finding method of the present invention, and the servo motor is unloaded during the experiment.
[0052] First, according to the step 1 of the phase finding method of the present invention, the phase finding parameter initialization setting is carried out:
[0053] Set the assumed value α of the rotor magnetic pole electrical angle α 0 is 0°;
[0054] Set the allowable deviation angle δ of the electrical angle α to 2°;
[0055] Set the initial value of angle correction θ to 180°;
[0056] Set the maximum value of the phase-seeking current I maxThe maximum continuous current of the three-phase AC servo motor is 4A;
[0057] Set the stop value θ of the angle correction amount θ 0 is 22.5°.
[0058] Set the adjustment coefficient k of the angle correction amount θ to 0.75;
[0059] Then perform phase finding, according to ste...
Embodiment 2
[0068] In this embodiment, the allowable deviation angle δ value in the initialization setting of the above-mentioned embodiment 1 is set to 1°, and the initialization settings of other parameters remain unchanged, and the phase finding is performed again. The process is similar to that of the embodiment 1 and will not be described again. The final phase-finding result is α=109.3°, the whole phase-finding process takes 1.2 seconds, and the phase-finding error does not exceed 1°. The process data are shown in Table 2.
[0069] Table 2: Phase finding process data with allowable deviation angle δ=1°
[0070]
[0071] As can be seen from the data in Table 2, since the phase-finding accuracy is improved to δ=1°, the number of phase-finding times of the offset weighted stepping method increases, which is increased by 2 compared with the embodiment 1 of the phase-finding accuracy δ=2° For the second time, the phase finding time has also been extended, but more accurate phase findi...
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Abstract
The invention relates to a jiggling phase searching method, wherein a phase searching current is applied to the winding of the three-phase AC servo motor, and an electric angle alpha of the rotor magnetic pole relative to the stator is determined through measuring jiggling of the motor, which includes steps: 1. defining and initializing the phase searching parameters; 2. applying a gradually increased phase searching current corresponding to the assumed value of the electric angle alpha[0] so as to generate jiggling of the rotor, then turning to the step 5 if the phase searching current reaches a maximum value I[max] and the movement of the rotor still does not exceed a permitted deviation angle delta; 3. determining an angle modification value theta; 4. modifying the assumed value of the electric angle alpha[0] based on jiggling direction of the servo motor and the angle modification value theta, then returning to the step 2; 5. using the assumed value of the electric angle alpha' as the actual value of the electric angle alpha; and optionally 6. determining and correcting the phase sequence of the three-phase winding wiring of the motor, wherein the angle modification value can be determined by subsequently using a bisection method and a bias weighted stepping method. Comparing with methods in prior art, the method has features of small stroke, fast phase searching speed, high phase searching precision, and wide range of compatibility because it is applicable not only to the rotation motors, but also to the linear motors.
Description
technical field [0001] The invention relates to a phase finding method for measuring the magnetic pole position of the rotor of a three-phase AC servo motor, in particular to a method for applying a phase finding current to the windings of a three-phase AC servo motor, and determining the relative position of the rotor magnetic poles by measuring the tiny movement of the rotor. The micro-phase finding method based on the electrical angle α of the stator. Background technique [0002] Modern AC servo systems have been gradually applied to high-tech fields such as robots and CNC machine tools. The emergence of vector control technology and direct torque control technology, as well as the rapid development of high-power fully-controlled power electronic devices and high-performance microprocessors, have further promoted It shows the development and application of AC servo system, and shows the trend of replacing DC servo system. Since the essence of vector control is the contr...
Claims
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