Motor verification method and system of linear motor system, and storage medium

Abstract

The invention relates to the field of linear motor control, and discloses a motor verification method and system for a linear motor system, and a storage medium, and the method comprises the following steps: injecting excitation current into a motor, carrying out the open-loop motion control of an excitation current, carrying out the first current excitation, and locking to an initial excitation electrical angle m; current excitation is carried out again according to the excitation electrical angle n to judge the relation between motor operation and the grating ruler feedback direction; current excitation continues, whether the polar distance of the motor is matched with the grating ruler feedback resolution parameter or not is judged according to the error of the given motor electric angle increment motion and the actual grating ruler feedback change angle amount, and verification is completed. According to the scheme, whether the electrical angle direction is the same as the feedback direction of the grating ruler or not and whether the polar distance of the linear motor is matched with the feedback resolution parameter of the grating ruler or not are judged, verification only needs to be carried out when a linear motor control system is built for the first time, and the dangers of motor galloping, stalling, damage and burning are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motor control, and in particular to a motor calibration method and system, and a storage medium for a linear motor system. Background Art

[0002] Linear motor servo control system is an automatic control system that enables the output controlled quantities such as the position, orientation, and state of the linear motor to follow any changes in the input target (or given value). Generally, the linear motor is equipped with an incremental grating ruler as position feedback, and the driver drives the coil to generate current and thrust to drive the mover. It is currently widely used in motion control systems for high-precision positioning platforms, and the industries include semiconductors, processing and manufacturing, and other automation fields.

[0003] When the actual linear motor is running, it is necessary to determine the initial electrical angle of power-on so that the driver can drive the motor to move in the correct operating mode. However, the initial position angle cannot be determined when the incremental grating ruler is initially powered on. Therefore, angle identification is required before actual operation, and the initial electrical angle position of the mover is calculated based on the grating ruler value. The basic initial positioning methods of incremental position sensing include: pre-positioning method, Hall identification, high-frequency injection method and other algorithms. For example, the invention patent CN 113162503A discloses a method for learning the initial electrical angle of a Hall-free linear motor. The linear motor detects the electrical angle of the mover through a binary method, sets the parameters of the rise time, duration, and fall time, and uses voltage vector direct excitation to detect the initial electrical angle; for another example, the invention patent CN115441795A discloses a method and system for positioning the initial electrical angle of a linear motor system, and designs a binary electrical angle search algorithm based on the pulse count of the incremental grating ruler, which can ensure that when the motor current is small, a small current is used to generate a thrust torque, but it is not enough to drive the mover to move a distance.

[0004] However, the existing solutions for determining the initial electrical angle do not recognize that since the linear motor is equipped with an incremental grating scale as position feedback, when the linear motor control system is first built, it is unknown whether the electrical angle direction of the motor is in the same direction as the grating scale feedback direction, and the accuracy of the linear motor's pole pitch and the grating scale feedback resolution parameters is also extremely important. Incorrect settings of these parameters may cause the motor to run away or stall, and there is a risk of damaging or burning the motor. Summary of the invention

[0005] In order to solve the problems in the prior art, the purpose of the embodiments of the present invention is to provide a motor calibration method and system, and a storage medium for a linear motor system to determine whether the electrical angle direction is in the same direction as the grating scale feedback direction, and whether the pole pitch of the linear motor matches the grating scale feedback resolution parameter. Verification only needs to be performed when the linear motor control system is built for the first time, which effectively avoids the risk of motor running away, stalling, damage and burning.

[0006] In order to achieve the above object, the present invention provides a motor calibration method for a linear motor system in a first aspect, comprising the following steps: Inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock it to the initial excitation electrical angle m, and stop the current excitation after locking it in place; After verifying the accuracy of the current electrical angle, current excitation is performed again with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D. Based on the relationship between the motor operation and the grating ruler feedback direction, current excitation continues. According to the error between the given motor electrical angle incremental movement and the actual grating ruler feedback change angle, it is determined whether the motor pole pitch matches the grating ruler feedback resolution parameter to complete the verification.

[0007] Preferably, after the current excitation is stopped after the locking is in place, a current excitation is performed at an excitation electrical angle n' to prevent the situation in which the motor cannot be pulled during the first current excitation.

[0008] Preferably, the current excitation process is as follows: Record the current grating ruler position P(T0), inject d-axis current into the motor for open-loop motion control, give a given electrical angle and increase the excitation current by ΔI; The angle change rate is obtained in real time according to the position of the grating ruler. If the angle change rate is greater than the specified value a or the excitation current reaches the rated current of the motor, the current excitation current value is maintained unchanged, otherwise the excitation current continues to increase by ΔI; wait for locking to a given electrical angle, and at the same time obtain the grating ruler position P (T1) corresponding to the current electrical angle; The angle change before and after a single excitation when locked in place is calculated based on P(T0) and P(T1). If the angle change rate after locking in place is less than the specified value b, the excitation current is reduced to 0 to complete the current excitation.

[0009] Preferably, the specified value a is 10-80° / s, and the specified value b is 0.1-5° / s.

[0010] Preferably, judging whether the motor's pole pitch matches the grating ruler feedback resolution parameter according to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle comprises multiple verification stages, which are performed in sequence, and the process of each verification stage is as follows: Current excitation is performed repeatedly in a single electrical angle increasing or decreasing manner, and the number of times the error of the grating ruler feedback change angle exceeds the range after current excitation is counted. If it is less than the tolerance error number, the verification is successful and the next current excitation is continued, otherwise the verification fails; among which, the error of the grating ruler feedback change angle and the number of times the error exceeds the range are different between the verification stages.

[0011] Preferably, the multiple verification stages include 3 verification stages, wherein the current excitation in the first verification stage is 8 times, the electrical angle decrease value is 30°, the error of the grating scale feedback change angle is 3°, and the number of tolerance errors exceeding the error range is 4 times; the current excitation in the second verification stage is 12 times, the electrical angle increase value is 20°, the error of the grating scale feedback change angle is 2°, and the number of tolerance errors exceeding the error range is 6 times; the current excitation in the third verification stage is 16 times, the electrical angle decrease value is 10°, the error of the grating scale feedback change angle is 1°, and the number of tolerance errors exceeding the error range is 8 times.

[0012] Preferably, the method further includes initialization parameters, including: initial excitation electrical angle m=180°, grating scale feedback change angle D=0°, angle change rate dD=0° / s, and tolerance error count of 0.

[0013] Preferably, the method only needs to be performed when the linear motor control system is built for the first time.

[0014] A second aspect of the present invention provides a motor calibration system for a linear motor system, comprising: The pre-positioning module is used to inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock it to the initial excitation electrical angle m, and stop the current excitation after locking it in place; The module for verifying the motor and feedback direction is used to verify the accuracy of the current electrical angle, and then to excite the current again with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D. The pole pitch and grating ruler feedback resolution parameter verification module is used to continue current excitation based on the relationship between the motor operation and the grating ruler feedback direction. According to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle, it is judged whether the motor pole pitch and grating ruler feedback resolution parameters match to complete the verification.

[0015] A third aspect of the present invention provides a computer-readable storage medium, comprising a program, wherein the program can be executed by a processor to implement the steps of the motor calibration method of the linear motor system.

[0016] Through the above technical solution, it is determined whether the electrical angle direction is in the same direction as the grating ruler feedback direction, and whether the pole pitch of the linear motor matches the feedback resolution parameters. This effectively solves the problems of motor stalling and runaway caused by incorrect setting of parameters such as the initial motor pole pitch of the linear motor, the grating ruler feedback resolution, and the motor and feedback direction. Moreover, verification is only required when the linear motor control system is built for the first time, without the need for additional sensors, and the judgment logic is simple to implement. This method process can be embedded in a servo drive and can be widely used in linear motor control systems.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a schematic diagram of open-loop motion control for injecting excitation current into a motor according to an embodiment of the present invention; Figure 2 is a schematic diagram of current vector injection according to an embodiment of the present invention; Figure 3 is a flow chart of the current excitation process of the linear motor system in an embodiment of the present invention; Figure 4 is a flow chart of the motor calibration process of the linear motor system in an embodiment of the present invention, Figure 4 (a) in the figure is the verification phase 1. Figure 4 (b) is the verification stage 2. Figure 4 (c) in the figure is the verification stage 3. Figure 4 (d) in FIG. 4 is verification stage 4. DETAILED DESCRIPTION

[0019] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0020] Since the linear motor uses an incremental grating ruler as position feedback, it is extremely important to correctly set parameters such as the pole pitch τ, the grating ruler feedback resolution, the motor current direction and the feedback direction, otherwise it will cause problems such as stalling and running away. A control scheme is needed to determine whether such parameters are accurate. Therefore, the first aspect of the embodiment of the present invention provides a motor calibration method for a linear motor system, comprising the following steps: S1, pre-positioning: inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock to the initial excitation electrical angle m, and stop current excitation after locking in place; Furthermore, in step S1, the current excitation process is as follows: Record the current grating ruler position P(T0), inject d-axis current into the motor for open-loop motion control, give a given electrical angle and increase the excitation current by ΔI; The angle change rate is obtained in real time according to the position of the grating ruler. If the angle change rate is greater than the specified value a or the excitation current reaches the rated current of the motor, the current excitation current value is maintained unchanged, otherwise the excitation current continues to increase by ΔI; wait for locking to a given electrical angle, and at the same time obtain the grating ruler position P (T1) corresponding to the current electrical angle; The angle change before and after a single excitation when locked in place is calculated based on P(T0) and P(T1). If the angle change rate after locking in place is less than the specified value b, the excitation current is reduced to 0 to complete the current excitation; the specified value a is 10-80° / s, and the specified value b is 0.1-5° / s.

[0021] Regarding the selection of a value: In order to prevent the current increment from being too large, resulting in a large instantaneous speed change, the current increment can be limited by limiting the speed value a, so the speed value limit a should not be too large; however, if the speed value limit is too small, the current increment may be too small, resulting in the motor being unable to move; Regarding the selection of b value: In theory, after the motor is locked to a fixed electrical angle, the angle change rate should be 0, but due to current fluctuations or interference, there is always a certain speed fluctuation problem, so a certain threshold needs to be set to determine whether the motor has been locked to a fixed electrical angle. The selection of b value mainly depends on the speed fluctuation, and it should not be set too large.

[0022] When designing the motor calibration algorithm, it is necessary to realize the motor displacement movement through the pre-positioning method, as follows Figure 1 The framework injects the dq axis current vector of the current open loop into the motor at an angle θ0, and obtains the dq axis voltage vector Uq and Ud through PID calculation. The inverse park transformation is converted to the αβ axis voltage value Vsα, Vsβ. The subsequent SVPWM drive module generates a PWM wave to the three-phase inverter to power the three-phase winding of the linear motor, generating a three-phase current I a ,I b ,I cThe rotor magnetic poles are aligned with the given phase θ0, corresponding to the actual grating scale position P, and the motor angle locking process is completed. The current vector injection is a current increasing process, such as Figure 2 As shown, for example, given an electrical angle θ0, in the T0-T1 time period, the current of the d-axis increases from 0 to id, and in the T1-T2 time period the d-axis current decreases to 0, and a new angle θ1 is given again, and the steps are repeated.

[0023] S2. Verify the motor and feedback direction: After verifying the accuracy of the current electrical angle, excite the current again with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D. The values ​​of n and m are not equal. S3. Verify the pole pitch and grating ruler feedback resolution parameters: Continue current excitation based on the relationship between the motor operation and the grating ruler feedback direction, and determine whether the motor pole pitch and grating ruler feedback resolution parameters match based on the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle to complete the verification.

[0024] Further, in step S3, the method of judging whether the pole pitch of the motor matches the grating ruler feedback resolution parameter according to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle includes multiple verification stages, and the multiple verification stages are executed in sequence. The process of each verification stage is as follows: Current excitation is performed multiple times in a single electrical angle increment or decrement manner, and the number of times the error of the grating ruler feedback change angle exceeds the range after the current excitation is counted. If it is less than the tolerance error number, the verification is successful and the next current excitation is continued, otherwise the verification fails; wherein, the error of the grating ruler feedback change angle and the number of times the error exceeds the range are different between the verification stages.

[0025] To determine whether the electrical angle direction is in the same direction as the grating scale feedback direction, and whether the linear motor's pole pitch matches the grating scale feedback resolution parameter, verification is only required when the linear motor control system is first built. The entire positioning process has a small current, a small motion displacement, no additional sensors are required, and the judgment logic is simple. This verification method can be embedded in the servo drive and can be widely used in linear motor control systems.

[0026] In the special case where the initial electrical angle is 0° or 180°, no processing is performed, and the actual movement may cause the movement to be reversed or the motor to be blocked.

[0027] In another embodiment of the present invention, between step S1 and step S2, a current excitation is also included with an excitation electrical angle n', and the three values ​​of n', n and m are not equal to prevent the situation in which the initial electrical angle of the motor in the first current excitation is m or 180-m and cannot be pulled.

[0028] The motor calibration process of the linear motor system can be used only when the linear motor control system is first built to set the motor pole pitch, grating scale feedback resolution, and motor and feedback direction parameters. There is no need to perform calibration for the same linear motor control system in the future. For example, the specific process is as follows: Figure 3 and Figure 4 As shown: Step S1, pre-positioning process: 1) Initialization parameters: initial excitation electrical angle m = 180°, grating scale feedback change angle D = 0°, angle change rate dD = 0° / s; pre-positioning stage Flag = 0; calculate the current unit increment ΔI through the motor rated current and the set rise time; Figure 4 As shown in (a), the verification phase = 1, the tolerance error count = 0; 3) According to Figure 1 and Figure 2 The motor is injected with d-axis current open-loop motion control and initial excitation electrical angle m. The excitation current increases by ΔI, and the position changes, causing the grating ruler to produce pulse changes. If the angle change rate |dD|>60° / s or the excitation current reaches the rated current of the motor, the current current excitation value is maintained unchanged, waiting to be locked to the fixed initial excitation electrical angle m (when |dD|<2° / s, it is considered fixed and locked); 3) In Figure 2 Before the current is injected, the grating ruler position P(T0) and the grating ruler position P(T1) corresponding to the maximum current are recorded, and the grating ruler change amount = P(T1)-P(T0) is calculated and obtained, and the pulse change amount is converted into degree D; after recording, the excitation current is reduced to 0; 4) If the verification stage = 1 and Flag = 0 at this time, it means that the initial excitation using m = 180° is completed; however, to prevent the actual electrical angle from being 0° and the excitation using m = 180° from being unable to pull, set m = m-45°, pull the electrical angle to 135° again, enter the Flag = 1 stage, re-perform current excitation, and go to step 2); 5) If the verification stage = 1 and Flag = 1 at this time, it means that the current excitation is completed and the electrical angle has reached m = 135°; set Flag = 2, m = m + 105°, enter the process of verifying the motor and feedback direction, continue current excitation, and go to step 2); In step S2, based on step S1, the motor and feedback direction process are verified: 6) If the verification stage = 1 and Flag = 2 at this time, it means that the current excitation is completed and the electrical angle has reached m = 240°; when the motor moves from 135° to 240°, the positive and negative directions of the grating ruler feedback change angle D can be used to determine whether the motor operation and the grating ruler feedback direction are in the same direction; since the electrical angle is an incremental movement, if the grating ruler feedback change angle D>0 at this time, it means that the motor and the feedback direction are in the same direction, otherwise they are in the opposite direction; after verification, enter the verification stage = 2, step 7), if Figure 4 As shown in (b) in .

[0029] In step S3, based on step S2, the process of verifying whether the motor pole pitch matches the grating ruler feedback resolution parameter is as follows: 7) If the verification stage = 2 at this time, the current excitation of step 2) is started 8 times with a single electrical angle m decreasing by 30°. After the single excitation is completed, the judgment is started. Theoretically, the electrical angle m decreases by 30°, and the grating ruler feedback change angle D is also 30°. However, due to friction resistance, motor load, and uneven resistance in each section, the actual grating ruler feedback change angle D cannot accurately reach 30°. For a single electrical angle m decreasing by 30°, if the actual error of the grating ruler feedback change angle D is within 3°, and the number of times the error exceeds the range is less than 4 times, it means that the verification of verification stage 2 is successful, and the verification stage 3 is entered. Otherwise, the verification fails and the motor verification ends. 8) If Figure 4 As shown in (c), if the verification stage = 3 at this time, the current excitation described in step 2) is performed 12 times with a single electrical angle m increasing by 20°, and the judgment is started after the single excitation is completed; the same is true for verification stage 2, for a single electrical angle m increasing by 20°, if the actual error of the grating ruler feedback change angle D is within 2°, and the number of times the error exceeds the range is less than 6 times, it means that the verification of verification stage 3 is successful, and the verification stage 4 is entered, otherwise the verification fails and the motor verification ends; 9) If Figure 4As shown in (d), if the verification stage = 4 at this time, the current excitation described in step 2) is performed 16 times with a single electrical angle m decreasing by 10°, and the judgment is started after the single excitation is completed; similarly to the verification stage 2, for a single electrical angle m decreasing by 10°, if the actual error of the grating ruler feedback change angle D is within 1°, and the number of times the error exceeds the range is less than 8 times, it means that the verification of verification stage 4 is successful and the motor verification is completed; otherwise, the verification fails. The setting of the number of verification stages, the number of current excitations in each verification stage, and the number of tolerance errors in step S are the best choices in this embodiment, which can take into account the matching verification accuracy and verification efficiency. If the number of verification stages is set, the number of current excitations in each verification stage is too low or the number of tolerance errors is too high, it will cause the motor's pole pitch to match the grating ruler feedback resolution parameter too low; if the number of verification stages is set, the number of current excitations in each verification stage is too high or the number of tolerance errors is too low, it will cause the verification efficiency to be too low.

[0030] It is worth noting that there is no order between step S2 and step S3. Step S2 may be performed first and then step S3, or step S3 may be performed first and then step S2.

[0031] Based on the same inventive concept, the second aspect of the present invention provides a motor calibration system for a linear motor system, comprising: The pre-positioning module is used to inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock it to the initial excitation electrical angle m, and stop the current excitation after locking it in place; The motor and feedback direction verification module is used to verify the accuracy of the current electrical angle, and then re-excite the current with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D, where n is not equal to 180°; The pole pitch and grating ruler feedback resolution parameter verification module is used to continue current excitation based on the relationship between the motor operation and the grating ruler feedback direction. According to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle, it is judged whether the motor pole pitch and grating ruler feedback resolution parameters match to complete the verification.

[0032] Based on the same inventive concept, the third aspect of the present invention provides a computer-readable storage medium, including a program, which can be executed by a processor to implement the steps of the above method.

[0033] To sum up, the technical solution of the present invention first considers the problem of stalling caused by the special circumstances of the initial electrical angle of 0° or 180°, and avoids the occurrence of this situation by verifying the current excitation under stage = 1 and Flag = 0; then determines whether the electrical angle direction is in the same direction as the grating scale feedback direction, and verifies whether the pole pitch of the linear motor matches the feedback resolution parameters, effectively solving the problems of motor stalling, runaway, etc. caused by incorrect setting of parameters such as the initial motor pole pitch of the linear motor, the grating scale feedback resolution, and the motor and feedback direction; and only needs to be verified when the linear motor control system is built for the first time, without the need for additional sensors, and the judgment logic is simple to implement. The method flow can be embedded in a servo drive and can be widely used in linear motor control systems.

[0034] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity, or apparatus.

[0035] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A motor calibration method for a linear motor system, characterized in that: The following steps are involved: Inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock it to the initial excitation electrical angle m, and stop the current excitation after locking it in place; After verifying the accuracy of the current electrical angle, current excitation is performed again with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D. Based on the relationship between the motor operation and the grating ruler feedback direction, current excitation continues. According to the error between the given motor electrical angle incremental movement and the actual grating ruler feedback change angle, it is determined whether the motor pole pitch matches the grating ruler feedback resolution parameter to complete the verification.

2. The method according to claim 1, characterized in that After the current excitation is stopped after the locking is in place, a current excitation is performed at an excitation electrical angle n' to prevent the situation in which the motor cannot be pulled during the first current excitation.

3. The method according to claim 1, characterized in that The current excitation process is as follows: Record the current grating ruler position P(T0), inject d-axis current into the motor for open-loop motion control, give a given electrical angle and increase the excitation current by ΔI; The angle change rate is obtained in real time according to the position of the grating ruler. If the angle change rate is greater than the specified value a or the excitation current reaches the rated current of the motor, the current excitation current value is maintained unchanged, otherwise the excitation current continues to increase by ΔI; Wait to lock to a given electrical angle, and obtain the grating ruler position P (T1) corresponding to the current electrical angle; The angle change before and after a single excitation when locked in place is calculated based on P(T0) and P(T1). If the angle change rate after locking in place is less than the specified value b, the excitation current is reduced to 0 to complete the current excitation.

4. The method according to claim 3, characterized in that The specified value a is 10-80° / s, and the specified value b is 0.1-5° / s.

5. The method according to claim 3, characterized in that: The method of judging whether the motor pole pitch matches the grating ruler feedback resolution parameter according to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle includes multiple verification stages, which are performed in sequence. The process of each verification stage is as follows: Current excitation is performed repeatedly in a single electrical angle increasing or decreasing manner, and the number of times the error of the grating ruler feedback change angle exceeds the range after current excitation is counted. If it is less than the tolerance error number, the verification is successful and the next current excitation is continued, otherwise the verification fails; among which, the error of the grating ruler feedback change angle and the number of times the error exceeds the range are different between the verification stages.

6. The method according to claim 5, characterized in that The multiple verification stages include 3 verification stages, among which, the current excitation in the first verification stage is 8 times, the electrical angle decrease value is 30°, the error of the grating scale feedback change angle is 3°, and the number of tolerance errors exceeding the error range is 4 times; the current excitation in the second verification stage is 12 times, the electrical angle increase value is 20°, the error of the grating scale feedback change angle is 2°, and the number of tolerance errors exceeding the error range is 6 times; the current excitation in the third verification stage is 16 times, the electrical angle decrease value is 10°, the error of the grating scale feedback change angle is 1°, and the number of tolerance errors exceeding the error range is 8 times.

7. The method according to any one of claims 1 to 6, characterized in that: The method also includes initializing parameters, including: an initial excitation electrical angle m=180°, a grating scale feedback variation angle D=0°, an angle variation rate dD=0° / s, and a tolerance error count of 0.

8. The method according to claim 7, characterized in that The method described only needs to be performed when setting up a linear motor control system for the first time.

9. A motor calibration system for a linear motor system, characterized in that: include: The pre-positioning module is used to inject excitation current into the motor for open-loop motion control to perform the first current excitation, lock it to the initial excitation electrical angle m, and stop the current excitation after locking it in place; The module for verifying the motor and feedback direction is used to verify the accuracy of the current electrical angle, and then to excite the current again with the excitation electrical angle n. After the excitation is completed, the relationship between the motor operation and the grating ruler feedback direction is determined according to the positive and negative directions of the grating ruler feedback change angle D. The pole pitch and grating ruler feedback resolution parameter verification module is used to continue current excitation based on the relationship between the motor operation and the grating ruler feedback direction. According to the error between the given motor electrical angle incremental motion and the actual grating ruler feedback change angle, it is judged whether the motor pole pitch and grating ruler feedback resolution parameters match to complete the verification.

10. A computer-readable storage medium, characterized in that: The method comprises a program which can be executed by a processor to implement the steps of the method according to any one of claims 1 to 8.

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