Initial electrical angle learning method for Hall-free linear motor

Abstract

The invention discloses an initial electrical angle learning method for a Hall-free linear motor. The method comprises the following steps of: S1, iteratively searching an electrical angle of a rotor by adopting a binary search mode; S2, judging whether the rotor is located at the mechanical edge or not, if yes, dragging the rotor to leave the mechanical edge, then returning to the step S1, and if not, executing the step S3; and step S3, verifying a learning result: sending a voltage vector to the electrical angle position of the rotor searched in the step S1, judging whether the rotor moves or not through data fed back by an incremental encoder, and if the rotor moves, indicating that the search result is inaccurate and learning fails; and if the rotor does not move, determining that the electrical angle of the rotor is the initial electrical angle of the rotor obtained by learning, and ending the learning process. According to the invention, the electrical angle of the rotor can be learned when the system is powered on, an additional sensor does not need to be installed, the moving range of the rotor in the learning process is small, and the learning result is high in accuracy.

Description

technical field [0001] The invention relates to a Hallless linear motor, in particular to a method for learning the initial electrical angle of a Hallless linear motor. Background technique [0002] The linear motor is a structural deformation of the rotary servo motor. It can be regarded as a rotary servo motor that is cut along its radial direction and then flattened to evolve. Compared with the rotary servo motor, the linear motor has the following characteristics: First, the structure is simple. Since the linear motor does not need additional devices to convert the rotary motion into a linear motion, the structure of the system itself is greatly simplified, and the weight and volume Second, the positioning accuracy is high. Where linear motion is required, the linear motor can realize direct transmission, so various positioning errors caused by intermediate links can be eliminated; the third is fast response, high sensitivity, and follow-up it is good. With the upgradi...

AI Technical Summary

Problems solved by technology

The estimation accuracy of this scheme is related to the number of pulse voltage injections and the accuracy of current collection. To achieve higher accuracy, the number of injections must be sufficient and the estimation time is long. In addition, how to reasonably select the parameters of the pulse voltage so that the The sub moves less during the estimation process a

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