A method for realizing servo final stage angle measurement

Abstract

The present invention discloses a method for realizing the angle measurement of the servo final stage, including S1, clearing the final stage angle, converting the angle data of the servo mechanism motor end into the final stage relative angle data; S2, initializing the calibration task; S3, turning the servo search position switch to search; S4, judging whether the effective signal switching of the position switch is detected: if detected, correcting the final stage angle, and turning to S5; if not detected, turning to S3; S5, entering the working state, accumulating the final stage angle data using the angle data of the servo mechanism motor end; S6, judging whether the effective signal switching of the position switch is detected: if detected, correcting the final stage angle; if not detected, turning to S5. This solution has small equipment quantity, high integration, and low cost, realizes the high-precision measurement of the final stage angle of the servo mechanism, and can be widely applied to the engineering field to improve the equipment integration.

Description

Technical Field

[0001] The present invention relates to a servo final stage angle measurement method, and more specifically, to a servo final stage angle measurement implementation method. Background Art

[0002] As an important component of the servo mechanism, the servo final stage angle measurement system provides the necessary angle information for the servo system's angle position positioning or tracking control. Usually, angle measurement sensors such as rotary transformers, photoelectric encoders or grating rulers are installed at the final stage of the servo mechanism, and are equipped with corresponding signal conversion equipment and excitation equipment as the servo final stage angle measurement system. This implementation method requires the separate installation of angle measurement sensors and corresponding excitation and conversion equipment, and the design of corresponding installation structures. The structure size is large and the cost is high. For servo mechanism research and development projects that require cost control or compact structure, a more integrated and cost-optimized final stage angle measurement implementation solution is required.

[0003] Therefore, it is necessary to provide a method for realizing servo final stage angle measurement. Summary of the invention

[0004] The present invention provides a method for realizing servo final stage angle measurement. A position switch with a reachable stroke position is installed at the final stage of a servo mechanism, the angle sensor data at the motor end of the servo mechanism is combined with the state data of the final stage position switch, and the angle data at the motor end is corrected to the final stage angle data through an absolute angle correction operation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] One object of the present invention is to provide a method for realizing servo final stage angle measurement, the method comprising the following steps:

[0007] S1, clear the final angle and convert the angle data of the servo mechanism motor end into the final relative angle data;

[0008] S2, initialization calibration task;

[0009] S3, turn the servo search position switch to search;

[0010] S4, judging whether the effective signal switching of the position switch is detected: if detected, correct the final angle and proceed to S5; if not detected, proceed to S3;

[0011] S5, entering the working state, using the angle data of the servo mechanism motor end to accumulate the final angle data;

[0012] S6, judging whether the effective signal switching of the position switch is detected: if detected, correcting the final angle; if not detected, proceeding to S5. Optionally, the angle data is obtained from the angle sensor at the motor end of the servo mechanism through an AC driver, and converted into the final relative angle data according to the transmission chain reduction ratio parameter.

[0013] Optionally, S1 further includes acquiring the angle data from an angle sensor at a motor end of a servo mechanism through an AC driver.

[0014] Optionally, the S1 further includes converting the angle data into the final-stage relative angle data through a transmission chain reduction ratio parameter.

[0015] Optionally, the angle sensor in S1 converts the mechanical angle of the motor rotor into an electromagnetic field electrical angle.

[0016] Optionally, S3 further includes that the position switch automatically calibrates the direction of the mechanical position, and performs absolute position correction on the relative angle data of the position switch through mechanical measurement calibration to obtain final absolute angle data corresponding to the sensitive effective area of ​​the position switch.

[0017] Optionally, the S4 further includes: if the servo mechanism fails to detect a valid signal switching of the switch position, the process will proceed to the S3 and the servo search position switch will be turned back on to search.

[0018] Optionally, the S4 determines whether a valid signal switch of the position switch is detected, including the position switch obtaining the rotation speed direction of the servo motor at the rising edge moment, determining the direction of the servo mechanism's final stage passing through the position switch, and compensating for the angle jump caused by the switch width.

[0019] Optionally, S6 further includes that after the servo mechanism detects the effective signal switching of the switch position, it will trigger the angle correction task to eliminate the error occurring in the final angle data accumulation process.

[0020] Optionally, the S6 also includes that if the servo mechanism does not detect the effective signal switching of the switch position, the process will proceed to the S5 to re-acquire the final angle data by accumulating the motor end angle data.

[0021] The beneficial effects of the present invention are as follows:

[0022] The present invention installs a position switch with a reachable stroke position at the final stage of the servo mechanism, combines the angle sensor data of the servo mechanism motor end with the state data of the final stage position switch, and corrects the motor end angle data to the final stage angle data through an absolute angle correction operation. This solution has a small amount of equipment, high integration, low cost, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0024] Figure 1 The following figure shows the working process of servo final stage angle measurement. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0026] The present invention can realize servo final stage angle measurement, specifically, it is a method for realizing servo final stage angle measurement through a servo mechanism motor end angle sensor and a final stage position switch state.

[0027] A method for realizing servo final stage angle measurement, the steps of which include:

[0028] S1, clear the final angle and convert the angle data of the servo mechanism motor end into the final relative angle data;

[0029] S2, initialization calibration task;

[0030] S3, turn the servo search position switch to search;

[0031] S4, determine whether the effective signal switching of the position switch is detected: if detected, correct the final angle and turn to S5; if not detected, turn to S3;

[0032] S5, entering the working state, using the angle data of the servo mechanism motor end to accumulate the final angle data;

[0033] S6. Determine whether effective signal switching of the position switch is detected: if detected, correct the final angle; if not detected, proceed to S5.

[0034] In a specific embodiment, the motor is the power output component of the servo mechanism. In terms of structure, the motor is seamlessly connected to the power reducer through a coupling, and the output end of the power reducer and the final gear plate of the servo mechanism realize power transmission through gear meshing. 1 , the gear ratio k between the output gear of the reducer and the final gear of the servo mechanism 2 The angle data is obtained from the angle sensor at the motor end of the servo mechanism through the AC drive, and the final relative angle data is calculated according to the transmission chain reduction ratio parameter.

[0035] In a specific embodiment, in order to realize the control of the AC permanent magnet synchronous motor, an angle sensor is generally installed at the motor end to provide the mechanical angle θ of the motor rotor. motor , and convert this angle into the electromagnetic field electrical angle, and finally realize the magnetic field direction calculation. Ignoring the small transmission tooth gap between the output gear of the reducer and the final gear of the servo mechanism, the mechanical angle θ at the end of the servo mechanism is mech =θ motor / (k 1 ×k 2 ), where θ motor It needs to be accumulated continuously, but this angle is a relative angle and cannot represent the absolute position of the servo mechanism. After the system is powered on, the absolute mechanical angle value θ of the current state can be obtained by measuring and calibrating. mech ', and by setting the correction parameter θ para =θ mech '-θ mech To real-time monitor the motor The transformed θ mech Perform real-time correction, and the corrected angle is θ mech ' is the final angle of the servo mechanism. However, this method requires a mechanical pointing calibration after each power-on operation, which is complicated to operate. Moreover, as the rotation angle continues to accumulate, the rounding error of the calculation process continues to accumulate, resulting in a continuous increase in the final angle measurement error.

[0036] Specifically, in order to realize the automatic calibration of the mechanical position orientation, a position switch is installed within the reachable travel range of the servo mechanism end. Since the position switch has a certain travel range in its sensitive effective area, after the switch is installed, the absolute angle value θ corresponding to the sensitive effective area of ​​the position switch is obtained through mechanical measurement and calibration. mech1 '-θ mech2 ', and θ mech1 ' and θ mech2 'Then it corresponds to the final absolute mechanical angle at the moment when the position switch output signal switches.

[0037] Specifically, after the system is powered on, it first enters the automatic calibration task, controls the servo mechanism to slowly rotate within the reachable range until the effective signal switching of the position switch is detected. At the same time, the speed direction of the servo final stage rotation at this time can be combined to determine the θ corresponding to the current absolute mechanical angle value. mech1 ' or θ mech2', and enter the working state after completing the angle correction; when the effective signal switching of the position switch is not detected, the search for the position switch is turned again. The position switch obtains the direction of the servo motor rotation speed at the rising edge, which is used to determine the direction of the switch position passed by the final stage of the servo mechanism, compensate for the angle jump caused by the switch width, and improve the angle measurement accuracy. In the working state, the servo mechanism also triggers the angle correction task every time it detects the effective signal switching of the position switch, eliminates the influence of rounding errors in the calculation process, and improves the accuracy of the final angle measurement of the servo mechanism; if the effective signal switching of the position switch is not detected, return to the previous step to re-accumulate the final angle until the effective signal switching of the position switch is detected, and the angle correction task is triggered.

[0038] The present invention installs a position switch that can reach the stroke position at the final stage of the servo mechanism, combines the servo mechanism motor end angle sensor data and the final stage position switch state data, and corrects the motor end angle data to the final stage angle data through the absolute angle correction operation. This solution does not require the servo mechanism final stage angle sensor and signal conversion device, and can realize the servo final stage angle measurement through the servo mechanism motor end angle sensor and the final stage position switch state. The equipment is small, the integration is high, the cost is low, and it is easy to implement.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A method for realizing servo final stage angle measurement, It is characterized in that include, S1, clear the final angle and convert the angle data of the servo mechanism motor end into the final relative angle data; S2, initialization calibration task; S3, turn the servo search position switch to search; S4, determine whether the effective signal switching of the position switch is detected: if detected, correct the final angle and go to S5; If not detected, proceed to S3; S5, entering the working state, using the angle data of the servo mechanism motor end to accumulate the final angle data; S6, judging whether the effective signal switching of the position switch is detected: if detected, correcting the final angle; If not detected, proceed to S5.

2. The method according to claim 1, It is characterized in that The S1 further includes acquiring the angle data from an angle sensor at the motor end of the servo mechanism through an AC driver.

3. The method according to claim 2, It is characterized in that The S1 also includes converting the angle data into the final stage relative angle data through the transmission chain reduction ratio parameter.

4. The method according to claim 2, It is characterized in that The angle sensor in S1 converts the mechanical angle of the motor rotor into the electrical angle of the electromagnetic field.

5. The method according to claim 1, It is characterized in that The S3 further includes that the position switch automatically calibrates the direction of the mechanical position, and performs absolute position correction on the relative angle data of the position switch through mechanical measurement calibration to obtain the final absolute angle data corresponding to the sensitive effective area of ​​the position switch.

6. The method according to claim 5, It is characterized in that The S4 further includes that if the servo mechanism fails to detect a valid signal switching of the switch position, the process will be transferred to the S3 to re-turn the servo search position switch for searching.

7. The method according to claim 5, It is characterized in that The S4 determines whether a valid signal switching of the position switch is detected, including obtaining the rotation speed direction of the servo motor at the rising edge moment of the position switch, determining the direction of the servo mechanism's final stage passing through the position switch, and compensating for the angle jump caused by the switch width.

8. The method according to claim 1, It is characterized in that The S6 further includes that after the servo mechanism detects the effective signal switching of the switch position, it will trigger the angle correction task to eliminate the error occurring in the final angle data accumulation process.

9. The method according to claim 8, It is characterized in that The S6 also includes that if the servo mechanism does not detect the effective signal switching of the switch position, the process will be transferred to the S5 to re-acquire the final angle data by accumulating the motor end angle data.

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