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Encoderless driving method and device for servo motor in robot integrated joint module

A servo motor and encoderless technology, which is applied in the direction of electrical components, electronic commutators, electronic commutation motor control, etc., can solve the problems of low integration efficiency and high difficulty in the integration of robot joint components, and achieve improved integration and reliability sexual effect

Inactive Publication Date: 2019-04-05
张茂青
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the requirements for the machining and installation accuracy of the encoder are very high, which will lead to high difficulty in the integration of robot joint components and low integration efficiency.

Method used

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  • Encoderless driving method and device for servo motor in robot integrated joint module
  • Encoderless driving method and device for servo motor in robot integrated joint module
  • Encoderless driving method and device for servo motor in robot integrated joint module

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Embodiment Construction

[0043] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] First, some terms involved in this application are introduced.

[0045] Counter electromotive force: refers to the tendency to resist the change of current to generate electromotive force, which is essentially induced electromotive force. Back electromotive force generally appears in electromagnetic coils, such as relay coils, solenoid valves, contactor coils, motors, inductors, etc.

[0046] Field Oriented Control (FOC): It uses mathematical methods to realize the decoupling control of torque and excitation of three-phase motors. The FOC algorithm is mainly to vector-decompose the control current of the motor into excitation current and quadrature-axis current. T...

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Abstract

The present invention relates to an encoderless driving method and device for a servo motor in a robot integrated joint module, and belongs to the technical field of motor control. The encoderless driving method comprises the steps of: obtaining a back-EMF zero-crossing pulse of each phase of a motor to obtain three back-EMF zero-crossing pulses; performing inner interpolation processing between each two pulses in the three back-EMF zero-crossing pulses to obtain two sets of 2 frequency-doubled pulse signals; calculating digital corner signals of the motor according to the two sets of 2 frequency-doubled pulse signals; based on the FOC algorithm, employing the motor speed, the digital corner signals and the current value of the motor to calculate and obtain a three-phase pulse width modulation waveform; and driving the motor according to the three-phase pulse width modulation waveform. The encoderless driving method and device can solve the problem that the integration efficiency of the intelligent robot integrated joint module is low when a motor control of the encoder is employed to drive the servo motor so as to improve the integration and the reliability of the joint module.

Description

technical field [0001] The invention relates to an encoderless driving method and device for a servo motor in an integrated joint assembly of a robot, belonging to the technical field of motor control. Background technique [0002] Joint components are an important core component of a robot, especially a robotic arm. The joint components of the robot mainly rely on the motor controller to control the motor movement to realize the joint movement. [0003] Currently, motor controllers typically use encoders to detect the position and rotational speed of the motor rotor. However, the requirements for the machining and installation accuracy of the encoder are very high, which will lead to high difficulty in the integration of robot joint components and low integration efficiency. Contents of the invention [0004] The object of the present invention is to provide an encoderless driving method and device for a servo motor in a robot integrated joint assembly. To achieve the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/182H02P6/18
CPCH02P6/182H02P6/183
Inventor 张茂青董璐周鹏惠越超
Owner 张茂青