A method and device for universal detection and correction of servo motor phase sequence

Abstract

A method and device for universal detection and correction of servo motor phase sequence, involving the fields of signal processing, motor system control and parameter setting. In order to solve the problems of poor compatibility and poor intelligence of the existing universal detection and correction methods for servo motor phase sequence, the present invention designs a complete set of industrial standardization processes, constructs a universal controller coordinate system, combines false angle injection, analyzes the installation angle deviation of the position sensor, divides the phase sequence into positive sequence and negative sequence, and completes the self-detection and self-correction of the phase sequence without changing the wiring. And in order to adapt to various industrial application scenarios, a method for arbitrarily specifying the positive direction of rotation and mechanical zero is provided. The phase sequence detection and correction strategy makes up for the compatibility of traditional algorithms and improves the degree of intelligence. A series of self-detection measures provide better protection for the servo system, and the mechanical angle setting suitable for industrial applications makes the strategy have a wider range of application scenarios.

Description

Technical Field

[0001] The present application relates to the fields of signal processing, motor system control and parameter setting. Background Art

[0002] In servo industrial systems, with the rapid development of motor drive applications, there is an increasing demand for intelligent, debugging-free motor drive technology that is independent of technicians. However, there are many types of motors, complex encoder types, and different encoder installation locations. How to unify the design of motor drive controllers for different application scenarios, form standardized motor debugging-free control, and improve the intelligence of applications has become a concern for people.

[0003] In actual use, due to different types of motors and differences in manufacturing processes, there are situations where the position sensor is installed in different positions, the number of motor poles is different, the phase sequence mark is missing, or even the mark is wrong. Any of the above errors will cause the motor to fail to start and run normally. In addition, in actual applications, if the user can define the positive and negative directions and any position is zero, it will effectively improve the user experience and the convenience of application. Therefore, how to complete self-detection and start-up operation when any phase sequence is connected is an important part of the debugging-free technology.

[0004] The above-mentioned prior art has the following problems:

[0005] First, most of them are manually rewired after self-detection of phase sequence, lacking a unified self-correction strategy;

[0006] Secondly, there is a lack of mechanical angle regulations and operating direction regulations for the actual system, which will affect the user experience;

[0007] However, there is a lack of a unified, standardized, industrialized process for multi-information correction including security information checking.

[0008] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0009] The present invention aims to solve the problems of poor compatibility and poor intelligence of the existing servo motor phase sequence universal detection and correction methods, thereby providing a servo motor phase sequence universal detection and correction method and device.

[0010] The technical solution adopted by the present invention is:

[0011] It includes the following steps:

[0012] Step 101: Initial parameter setting;

[0013] Step 102: current closed loop injection;

[0014] Step 103: parameter setting check;

[0015] Step 104: electrical angle zero position correction;

[0016] Step 105: Phase sequence determination and correction;

[0017] Step 106: Mechanical zero position correction and running direction regulation;

[0018] Step 107: Correct the information and check again.

[0019] Furthermore, in step 101, the specific method of initial parameter setting is: to ensure the safe operation of the driver and the effective identification of the corresponding phase sequence, the user is required to set the basic parameters of the motor, and the basic parameters include:

[0020] The motor parameters that must be set and the motor parameters that the user can set as needed.

[0021] Furthermore, in step 102, the specific method of current closed-loop injection is: in the current closed-loop control mode, a rotation pseudo angle is given, including:

[0022] Electrical angle θ e The rotor d-axis slope is injected to the maximum peak current I MAX ;

[0023] The given uniform speed changes to 360°, and the rotation direction and encoder feedback value are recorded;

[0024] Change back to 0° at a uniform speed, and record the rotation direction and encoder feedback value;

[0025] The rotor d-axis injection is cleared.

[0026] Furthermore, in step 103, the specific method of checking the parameter settings is as follows: to ensure the safety and effectiveness of the identification strategy, the parameter settings need to be checked according to the injected information, including:

[0027] Encoder feedback information check;

[0028] Pole pair number setting information check;

[0029] Encoder setting information check.

[0030] Further, in step 104, the specific method for correcting the electrical angle zero position is: when it is determined that the above-mentioned key information is set correctly and the encoder feedback is normal, based on the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, this value is used as a reference for correcting the installation deflection angle of the position sensor to correct the calculated electrical angle.

[0031] Furthermore, in step 105, the specific method of phase sequence judgment and correction is: after the encoder value is relatively zero, it is compared with the injected false angle value to judge the positive and negative sequence of the motor power line:

[0032] If it is a positive sequence, there is no need to correct the electrical angle;

[0033] If it is a negative sequence, let the motor electrical angle = maximum electrical angle θe-encoder value after zero / pole pair number P n ;

[0034] If it is not the case mentioned above, the error message is: encoder signal failure.

[0035] Furthermore, the method for mechanical zero position correction and running direction regulation in step 106 is:

[0036] Get the encoder feedback value at the mechanical zero point specified by the user as the mechanical zero point parameter th0;

[0037] The user specifies the mechanical forward direction;

[0038] Corrected instruction feedback information;

[0039] Provides various mechanical position unit conversions.

[0040] Furthermore, the specific method of correcting the instruction feedback information is as follows:

[0041] If the forward direction is specified as encoder increment, no change is required;

[0042] If the forward transmission direction is specified as the encoder minus direction, the position command and position feedback of the driver and host computer communication will be inverted.

[0043] A servo motor phase sequence universal detection and correction device for implementing the above method, which includes an initial parameter setting module, a current closed-loop injection module, a parameter setting check module, an electrical angle zero position correction module, and a phase sequence judgment and correction module;

[0044] The initial parameter setting module is configured to set key motor parameters required for control and debugging-free, so as to ensure safe operation of the drive and effective identification of the phase sequence;

[0045] The current closed-loop injection module is configured to perform false angle rotation and record feedback values ​​of the position sensor in a current closed-loop control mode under any wiring mode;

[0046] The parameter setting checking module is configured to compare the acquired driver related information with the above-mentioned set related parameters to prevent the occurrence of loss of control due to parameter setting errors or abnormal encoder feedback information;

[0047] The electrical angle zero position correction module is configured to record the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, and use this value as the corrected electrical angle;

[0048] The phase sequence judgment and correction module is configured to realize the positive and negative phase sequence judgment and correction of the motor power line;

[0049] The mechanical angle control module is configured to define the mechanical angle relative to zero and the positive and negative directions, and to process the angle as a control instruction.

[0050] The correction information recheck module is configured to check whether the correction values ​​of the mechanical angle, encoder value and electrical angle are correct.

[0051] Beneficial effects obtained by the present invention: The present invention provides a complete set of industrial standardized processes, constructs a universal controller coordinate system, combines false angle injection, analyzes the installation angle deviation of the position sensor, divides the phase sequence into positive sequence and negative sequence, and completes the self-detection and self-correction of the phase sequence without changing the wiring. And in order to adapt to various industrial application scenarios, a method for arbitrarily specifying the positive direction of rotation and mechanical zero is provided. This phase sequence detection and correction strategy makes up for the compatibility of traditional methods and improves the degree of intelligence. A series of self-detection measures provide better protection for the servo system. The mechanical angle setting that meets industrial applications makes the strategy have a wider range of application scenarios, and is an important part of the motor control system's debugging-free strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of a universal servo motor arbitrary phase sequence detection and correction strategy provided by an embodiment of the present disclosure;

[0053] Figure 2 is a schematic diagram of current injection strategy control provided by an embodiment of the present disclosure;

[0054] Figure 3 is a schematic diagram of current injection related signal waveforms provided by an embodiment of the present disclosure;

[0055] Figure 4 is a schematic diagram of a setting information checking process provided by an embodiment of the present disclosure;

[0056] Figure 5 It is a schematic diagram of a strategy for judging and correcting the positive and negative sequence of a motor power line provided by an embodiment of the present disclosure;

[0057] Figure 6 is a schematic diagram of a strategy for mechanical angle setting and control provided by an embodiment of the present disclosure;

[0058] Figure 7is a schematic diagram of a strategy for rechecking corrected relevant information provided by an embodiment of the present disclosure;

[0059] Figure 8 It is a schematic diagram of a universal servo motor arbitrary phase sequence detection and starting device;

[0060] Fig. 9 The present invention is a schematic diagram of a universal servo motor arbitrary phase sequence detection and start calculation device. DETAILED DESCRIPTION

[0061] Specific implementation method 1. Combination Figure 1-9 The present embodiment is described as a method for universal detection and correction of the phase sequence of a servo motor.

[0062] For one phase sequence of the servo motor, it includes the following steps:

[0063] Step 101: Initial parameter setting;

[0064] Step 102: current closed loop injection;

[0065] Step 103: parameter setting check;

[0066] Step 104: electrical angle zero position correction;

[0067] Step 105: Phase sequence determination and correction;

[0068] Step 106: Mechanical zero position correction and running direction regulation;

[0069] Step 107: Correct the information and check again.

[0070] Furthermore, in step 101, the specific method of initial parameter setting is: to ensure the safe operation of the driver and the effective identification of the corresponding phase sequence, the user is required to set the basic parameters of the motor, and the basic parameters include:

[0071] The motor parameters that must be set and the motor parameters that the user can set as needed.

[0072] Furthermore, in step 102, the specific method of current closed-loop injection is: in the current closed-loop control mode, a rotation pseudo angle is given, including:

[0073] Electrical angle θ e The rotor d-axis slope is injected to the maximum peak current I MAX ;

[0074] The given uniform speed changes to 360, and the rotation direction and encoder feedback value are recorded;

[0075] The speed changes back to 0 at a constant speed, and the rotation direction and encoder feedback value are recorded;

[0076] The rotor d-axis injection is cleared.

[0077] Furthermore, in step 103, the specific method of checking the parameter settings is as follows: to ensure the safety and effectiveness of the identification strategy, the parameter settings need to be checked according to the injected information, including:

[0078] Encoder feedback information check;

[0079] Pole pair number setting information check;

[0080] Encoder setting information check.

[0081] Furthermore, in step 104, the specific method for correcting the electrical angle zero position is: after completing the setting information security check, based on the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, this value is used as a reference for correcting the installation deflection angle of the position sensor to correct the calculated electrical angle.

[0082] Furthermore, in step 105, the specific method of phase sequence judgment and correction is: after the encoder value is relatively zero, it is compared with the injected false angle value to judge the positive and negative sequence of the motor power line:

[0083] If it is a positive sequence, there is no need to correct the electrical angle;

[0084] If it is a negative sequence, let the motor electrical angle = maximum electrical angle θ e - Encoder value after zero / number of pole pairs P n ;

[0085] If it is not the case mentioned above, the error message is: encoder signal failure.

[0086] Furthermore, the method for mechanical zero position correction and running direction regulation in step 106 is:

[0087] Get the encoder feedback value at the mechanical zero point specified by the user as the mechanical zero point parameter th0;

[0088] The user specifies the mechanical forward direction;

[0089] Corrected instruction feedback information;

[0090] Handles mechanical position units and unit factors for reducers.

[0091] Furthermore, the specific method of correcting the instruction feedback information is as follows:

[0092] If the forward direction is specified as encoder increment: no change is required;

[0093] If the forward transmission direction is specified as the encoder minus direction, the position command and position feedback of the driver and host computer communication will be inverted.

[0094] Furthermore, in step 107, a signal is injected to perform a security check on the revised information, including:

[0095] The mechanical angle is corrected to the encoder value according to the correction method;

[0096] The encoder value is corrected to electrical angle according to the correction method;

[0097] Set the fluctuation margin θ M , check whether the mechanical angle, encoder value and electrical angle correction value are correct.

[0098] Principle: With the rapid development of motor drive applications, the demand for intelligent and debugging-free motor drive technology that is independent of technicians is increasing. However, in actual use, due to different types of motors and differences in manufacturing processes, there are different installation positions of position sensors, different numbers of motor poles, missing phase sequence marks, and even wrong marks. Any of the above errors will cause the motor to fail to start and run normally. In order to ensure the safe operation of the drive and the effective identification of the phase sequence, it is necessary to require the user to set the basic parameters of the motor. On the premise of knowing the maximum operating current and maximum voltage of the drive, the user needs to set them in sequence according to the actual situation of the motor:

[0099] The motor parameters that must be set are:

[0100] 1) Motor type and number of motor phases;

[0101] 2) Motor peak current I max ;

[0102] 3) Maximum continuous running current of the motor I con ;

[0103] 4) Maximum motor speed S max ;

[0104] 5) Number of motor pole pairs P n ;

[0105] 6) Encoder type and resolution θ n .

[0106] The motor parameters that can be set are:

[0107] 1) Motor peak voltage U max ;

[0108] 2) Maximum running acceleration of the motor a max ;

[0109] 3) Position / speed units.

[0110] After completing the above motor parameter settings, in order to realize the detection of phase sequence and confirmation of related parameters, this application needs to inject current signal in current closed loop mode. It should be noted that the injection in current closed loop mode proposed in this application is reasonable. First of all, injecting the maximum possible current or voltage can ensure the accuracy of encoder information. Therefore, the injection amplitude in the current closed loop is the motor peak current I max The signal is the best choice; secondly, the setting of the current loop controller does not require the information of the encoder and phase sequence, that is, the driver can complete the current loop debugging-free and false angle closed-loop control for any unfamiliar motor.

[0111] As a method for realizing arbitrary phase sequence detection, under any wiring method described in this application, the UVW coordinate system of the universal controller is used as the reference, and the maximum peak current I set above is used according to the current closed-loop control method. MAX To inject the DC current into the rotor d-axis, the electrical angle θ of the anti-Park in the given vector control is e The position sensor is then moved from 0° to 360° and then back to 0°. The reading of the absolute position sensor is recorded. Figure 2 As shown, Figure 3 Shown are the injected and acquired signals during the injection process.

[0112] After the above-mentioned signal injection is implemented to obtain key information, in order to first ensure safe and effective drive control, the present application proposes to compare the obtained driver-related information with the above-mentioned set related parameters to prevent loss of control due to incorrect parameter settings or abnormal encoder feedback information.

[0113] Combination Figure 4 As shown, the embodiment of the present disclosure provides a flow chart of setting information checking, including:

[0114] Encoder feedback information check;

[0115] Pole pair number setting information check;

[0116] Encoder setting information check.

[0117] First, given the known encoder resolution θ n and the number of motor pole pairs P n After that, the electrical angle corresponding to the scale θ can be calculated. eN =θ n / P n In addition, to check a wider range of encoder feedback or to shorten the detection time, if the injection electrical angle is not 360° but n e , we can get the electrical angle corresponding to the scale θ eN =n e ·θ n / (360·Pn ). Let the electrical angle command during the injection process be θ e , the encoder feedback is θ, and the position increment Δθ can be calculated by the encoder initial value θ1 and the encoder final value θ2 during the injection process. n =|θ2-θ1|; it should be noted that what is obtained is the position increment. If there is a sudden change in the encoder, additional processing is required.

[0118] After obtaining the above information, if the encoder return value fluctuates abnormally during the injection process, the error report must be: encoder setting / connection error;

[0119] If θ e ≈Δθ n , then the pole pair number and encoder settings are normal, and you can proceed to the next step;

[0120] Take n = θ n / Δθ n , if n is a positive integer, the error report is: the number of motor pole pairs is set incorrectly;

[0121] If n is not a positive integer, the error message is: Encoder setting error;

[0122] In addition, it is necessary to determine whether there is any abnormal feedback in the middle of the encoder and set the fluctuation margin to θ M During the injection process, if ||θ-θ1|-P n ·θ e |>θ M , the error report should be: encoder feedback abnormality.

[0123] After confirming that the above key information is set correctly and the encoder feedback is normal, the calculated electrical angle is corrected based on the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°. This value is used as a reference for correcting the position sensor installation angle.

[0124] After the above encoder value is zero, the position signal after zero is compared with the injected false angle value to determine the positive and negative sequence of the motor power line. Figure 5 As shown, the embodiment of the present disclosure provides a strategy for judging and correcting the positive and negative phase sequence of a motor power line, including:

[0125] If the injected electrical angle and the position increment / pole pair number Pn are basically the same, there is no need to correct the electrical angle and go to the next step. At this time, the motor phase sequence may be: A->B->C, B->C->A, C->A->B, but the motor control can be achieved without accurately confirming the phase sequence.

[0126] If the electrical angle and position increment / pole pair number P are injected nThe value is basically opposite, and the encoder value after zero needs to be inverted, that is: motor electrical angle = maximum electrical angle θ e - Encoder value after zero / number of motor pole pairs P n At this time, the motor phase sequence may be: A->C->B, B->A->C, C->B->A, and there is no need to accurately confirm the phase sequence.

[0127] If it is not the above two situations, the error report should be: encoder signal failure.

[0128] In actual industrial servo application scenarios such as CNC machine tools and industrial robots, users do not care about the electrical angle and encoder feedback value. In actual use, they are concerned about the mechanical angle visible to the naked eye. Therefore, in order to meet the needs of mechanical control in actual industrial production and the convenience of users, if users can calibrate the motor mechanical zero position and specify the positive and negative directions of the motor mechanical operation according to the actual application requirements, the practicality of the system will be greatly enhanced.

[0129] After completing the above system phase sequence identification and correction, the user should set the mechanical angle of the motor according to usage habits or industrial application requirements. This angle is used as a control instruction in actual use, and the real-time position obtained for the motor is the encoder feedback. In order to achieve closed-loop control, the two must be effectively matched.

[0130] like Figure 6 As shown, the embodiment of the present disclosure provides a strategy for mechanical angle setting and control, including:

[0131] The user can use any desired position as the mechanical zero point, and use the encoder feedback value at that position as the mechanical zero point parameter th0. The mechanical zero point can be redefined at any time if necessary.

[0132] When the current wiring mode remains unchanged, the user can specify the positive and negative directions of movement. If the positive direction is specified as the encoder increment, no change is required. If the positive direction is specified as the encoder subtraction direction, the position command and position feedback of the driver and host computer communication are both inverted.

[0133] Since the position information obtained by the motor is only the feedback value of the encoder, for the convenience of users, the function of converting instructions and feedback into various mechanical position units should be provided. In addition, if the user needs to obtain the position information of the end, if there is no position sensor, the user needs to enter the reduction ratio of the reducer.

[0134] like Figure 7 As shown, inject the signal again. This time, inject it according to the defined mechanical angle and check whether the correction values ​​of the mechanical angle, encoder value and electrical angle are correct.

[0135] In this way, by designing a complete set of standardized processes, the present invention provides a universal servo motor arbitrary phase sequence detection and correction strategy. By constructing a universal controller coordinate system, combined with false angle injection, analyzing the installation angle deviation of the position sensor, the phase sequence is divided into positive sequence and negative sequence, and the phase sequence self-detection and self-correction are completed without changing the wiring. In order to adapt to application scenarios in various industries, a method for arbitrarily specifying the positive direction of rotation and the mechanical zero point is provided. This phase sequence detection and correction strategy makes up for the compatibility of traditional algorithms and improves the degree of intelligence. A series of self-detection measures provide better protection for the servo system. The mechanical angle setting that meets industrial applications makes the strategy have a wider range of application scenarios and is an important part of the motor control system's debugging-free strategy.

[0136] Specific embodiment 2, a servo motor phase sequence universal detection and correction device for implementing the method described in specific embodiment 1, which includes an initial parameter setting module 801, a current closed-loop injection module 802, a parameter setting check module 803, an electrical angle zero position correction module 804, a phase sequence judgment and correction module 805, a mechanical angle control module 806 and a correction information recheck module 807;

[0137] The initial parameter setting module 801 is configured to set key motor parameters required for control and debugging-free, so as to ensure safe operation of the drive and effective identification of the phase sequence;

[0138] The current closed-loop injection module 802 is configured to perform false angle rotation and record the feedback value of the position sensor in the current closed-loop control mode under any wiring mode;

[0139] The parameter setting checking module 803 is configured to compare the acquired driver related information with the above-mentioned set related parameters to prevent the occurrence of loss of control due to parameter setting errors or abnormal encoder feedback information;

[0140] The electrical angle zero position correction module 804 is configured to record the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, and use this value as the corrected electrical angle;

[0141] The phase sequence judgment and correction module 805 is configured to realize the positive and negative phase sequence judgment and correction of the motor power line;

[0142] The mechanical angle control module 806 is configured to define the mechanical angle relative to zero and the positive and negative directions, and to process the angle when it is used as a control instruction;

[0143] The correction information recheck module 807 is configured to check whether the correction values ​​of the mechanical angle, encoder value and electrical angle are correct.

[0144] Combination Fig. 9 As shown, an embodiment of the present disclosure provides a universal servo motor arbitrary phase sequence detection and correction computing device, including a processor (processor) 900 and a memory (memory) 901. Optionally, the device may also include a communication interface (Communication Interface) 902 and a bus 903. Among them, the processor 900, the communication interface 902, and the memory 901 can communicate with each other through the bus 903. The communication interface 902 can be used for information transmission. The processor 900 can call the logic instructions in the memory 901 to execute the fast debugging-free method for the servo system of the above embodiment.

[0145] In addition, the logic instructions in the memory 901 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0146] The memory 901 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 900 executes the functional application and data processing by running the program instructions / modules stored in the memory 901, that is, the fast debugging-free method for the servo system in the above embodiment is implemented.

[0147] The memory 901 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 901 may include a high-speed random access memory and may also include a non-volatile memory.

[0148] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned fast debugging-free method for a servo system.

[0149] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0150] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0151] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0152] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0153] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0154] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for universal detection and correction of servo motor phase sequence, characterized by: It includes the following steps: Step 101: Initial parameter setting; Step 102: current closed loop injection; Step 103: parameter setting check; Step 104: electrical angle zero position correction; Step 105: Phase sequence determination and correction; Step 106: Mechanical zero position correction and running direction regulation; Step 107: Correct the information and check again; In step 102, the specific method of current closed-loop injection is: in the current closed-loop control mode, a rotation pseudo angle is given, including: Electrical angle θ e The rotor d-axis slope is injected to the maximum peak current I MAX ; The given uniform speed changes to 360°, and the rotation direction and encoder feedback value are recorded; Change back to 0° at a uniform speed, and record the rotation direction and encoder feedback value; The rotor d-axis injection is cleared; In step 104, the specific method of correcting the electrical angle zero position is: according to the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, this value is used as a reference for correcting the installation deflection angle of the position sensor to correct the calculated electrical angle; In step 105, the specific method of phase sequence judgment and correction is: after the encoder value is zero, it is compared with the injected false angle value to determine the positive and negative sequence of the motor power line: If it is a positive sequence, there is no need to correct the electrical angle; If it is a negative sequence, let the motor electrical angle = maximum electrical angle θ e - Encoder value after zero / number of pole pairs P n ; If it is not the case mentioned above, the error message is: encoder signal failure.

2. A method for universal detection and correction of servo motor phase sequence according to claim 1, characterized in that In step 101, the specific method of initial parameter setting is: to ensure the safe operation of the driver and the effective identification of the corresponding phase sequence, the user is required to set the basic parameters of the motor, which include: The motor parameters that must be set and the motor parameters that the user can set as needed.

3. A method for universal detection and correction of servo motor phase sequence according to claim 1, characterized in that In step 103, the specific method of checking the parameter settings is as follows: to ensure the safety and effectiveness of the identification strategy, the parameter settings need to be checked according to the injected information, including: Encoder feedback information check; Pole pair number setting information check; Encoder setting information check.

4. A method for universal detection and correction of servo motor phase sequence according to claim 1, characterized in that In step 106, the method for mechanical zero position correction and running direction regulation is: Get the encoder feedback value at the mechanical zero point specified by the user as the mechanical zero point parameter th0; The user specifies the mechanical forward direction; Corrected instruction feedback information; Provides various mechanical position unit conversions.

5. A method for universal detection and correction of servo motor phase sequence according to claim 4, characterized in that The specific method to correct the instruction feedback information is: If the forward direction is specified as encoder increment, no change is required; If the forward transmission direction is specified as the encoder minus direction, the position command and position feedback of the driver and host computer communication will be inverted.

6. A servo motor phase sequence universal detection and correction device for realizing a servo motor phase sequence universal detection and correction method according to any one of claims 1 to 5, characterized in that: It includes an initial parameter setting module (801), a current closed-loop injection module (802), a parameter setting check module (803), an electrical angle zero position correction module (804), a phase sequence judgment and correction module (805), a mechanical angle control module (806) and a correction information recheck (807); The initial parameter setting module (801) is configured to set key motor parameters required for control and debugging-free, so as to ensure safe operation of the drive and effective identification of the phase sequence; The current closed-loop injection module (802) is configured to perform false angle rotation and record feedback values ​​of the position sensor in a current closed-loop control mode under any wiring mode; The parameter setting checking module (803) is configured to compare the acquired driver related information with the above-mentioned set related parameters to prevent the occurrence of loss of control due to parameter setting errors or abnormal encoder feedback information; The electrical angle zero position correction module (804) is configured to record the position sensor reading θ1 recorded when the current injection reaches the maximum and the electrical angle injection is 0°, and use this value as the corrected electrical angle; The phase sequence judgment and correction module (805) is configured to realize positive and negative phase sequence judgment and correction of the motor power line; A mechanical angle control module (806) is configured to define the mechanical angle relative to zero and the positive and negative directions, and to process the angle when used as a control instruction; The correction information recheck module (807) is configured to check whether the correction values ​​of the mechanical angle, encoder value and electrical angle are correct.

Images