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Positionless permanent magnet brushless motor with load start positioning method, device and robot

A permanent magnet brushless motor and positioning method technology, applied in the field of robots, can solve problems such as increasing the difficulty of installation, and achieve the effects of high positioning accuracy and improving startup efficiency

Active Publication Date: 2021-02-05
INST OF INTELLIGENT MFG TECH JITRI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common method is to align the zero position of the incremental code disc with the zero position of the motor before driving the motor, which increases the difficulty of installation

Method used

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  • Positionless permanent magnet brushless motor with load start positioning method, device and robot
  • Positionless permanent magnet brushless motor with load start positioning method, device and robot
  • Positionless permanent magnet brushless motor with load start positioning method, device and robot

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Embodiment Construction

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0023] The on-load start-up and positioning method and device of the positionless permanent magnet brushless motor in the embodiments of the present invention are preferably applicable to a robot with a mechanical arm.

[0024] Such as figure 1 As shown, the positioning method of the positionless permanent magnet brushless motor in the embodiment of the present invention with load starting includes the following steps:

[0025] S1, given the step-by-step d-ax...

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Abstract

The invention provides a positionless permanent magnet brushless motor on-load positioning method, device and robot. The method includes the following steps: given step-by-step d-axis current value and rotor electrical angle, and judge in real time whether the rotor is not Rotation occurs; obtain the current d-axis current value and the current rotor electrical angle when the rotor rotates; obtain the load gravity; calculate the deviation angle according to the current d-axis current value and load gravity; calculate the actual rotor angle according to the current rotor electric angle and deviation angle angle. The present invention can complete starting and positioning at the same time, can improve the program starting efficiency, is simple and easy to implement, and has high positioning accuracy, and is suitable for applications such as mechanical arms, and each joint does not shake significantly during the starting process by means of soft starting.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for on-load starting and positioning of a positionless permanent magnet brushless motor, a device for on-load starting and positioning of a positionless permanent magnet brushless motor and a robot. Background technique [0002] The permanent magnet brushless DC motor has the advantages of small size, large torque, and fast dynamic response, which makes it widely used in servo control systems. In the position servo control system, the determination of the rotor position of the permanent magnet brushless DC motor is very important. If the position is determined to be misplaced, the motor may be in danger of stalling or even running out of steps. Therefore, determining the rotor position is the first priority of the control system. step, is also a very important step. At present, position sensors such as resolvers and absolute photoelectric encoders can determine th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/20H02P6/18
CPCH02P6/18H02P6/20H02P2203/03
Inventor 康淼淼辛艳峰周晓莉王永黄旭升黄家豪
Owner INST OF INTELLIGENT MFG TECH JITRI