Motor commutation calibration method, device and system and medium

Abstract

The invention discloses a motor commutation calibration method, device and system and a medium, and the method comprises the steps: obtaining the magnetic pole information of a magnetic pole in each phase coil of a three-phase coil based on each Hall sensor, and determining the calibration line current of each phase coil according to the magnetic pole information corresponding to each phase coil, and applying calibration line current to each phase coil in a one-to-one correspondence manner so as to control the motor rotor to move to a position corresponding to the first limiting point along the first direction, then control the motor rotor to return to a position corresponding to the reference point along the second direction, and when the reading information of the reading head of the grating ruler is the reference information of the reference point, controlling the motor rotor to return to the position corresponding to the reference point. And acquiring the horizontal distance between the reading head of the grating ruler and the first magnetic pole, returning to execute the steps from acquiring the magnetic pole information to acquiring the horizontal distance until the number of the acquired horizontal distances is a preset number, and determining the reference phase angle of the motor rotor according to each horizontal distance.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a motor commutation calibration method, device, system and medium. Background Art

[0002] Linear motors are widely used in precision control systems due to their simple structure, high motion efficiency, and easy adjustment and control. When long-stroke and high-precision control is required, long-stroke linear motors are usually selected as the controlled object. During the motion process, the linear motor needs to perform phase commutation control on the rotor coil so that the motor rotor coil reciprocates in the magnetic steel.

[0003] The existing commutation control method is as follows: a Hall sensor is set in the rotor coil of the linear motor, the position of the magnetic field of the motor rotor coil is determined by the detection signal of the Hall sensor, and the driver controls the commutation of the rotor coil according to the position information; or, the motor rotor coil drives the movement of the high-precision grating scale reading head, the reading head feeds back the position data of the coil in real time, and the controller controls the commutation of the rotor coil according to the position data.

[0004] However, for the method of determining the position of the magnetic field of the motor rotor coil through the detection signal of the Hall sensor, due to the deviation in the installation of the Hall sensor and the inability to linearly feedback the distribution of the magnetic field intensity, there is a problem of lead or lag in the feedback of the commutation point position, and the control performance is low; for the method of real-time feedback of the coil position through the reading head, when the system is in the initial power-on state, the rotor coil may be at any position in the full stroke of the magnet, and the grating ruler cannot sense the relative position of the coil and the magnet. The rotor needs to move multiple times to find the optimal commutation angle, which increases the system initialization time. Summary of the invention

[0005] The invention provides a motor commutation calibration method, device, system and medium to improve commutation accuracy.

[0006] In a first aspect, the present invention provides a motor commutation calibration method, comprising the following steps:

[0007] Obtaining magnetic pole information: obtaining magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each Hall sensor;

[0008] Obtaining horizontal distance: determining the calibration line current of each phase coil respectively according to the magnetic pole information;

[0009] Applying the calibration line current to each phase coil one by one to control the motor mover to move to a position corresponding to the first limit point along a first direction, and then controlling the motor mover to return to a position corresponding to a reference point along a second direction; the first direction is opposite to the second direction;

[0010] When the reading information of the grating ruler reading head is the reference information of the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained; the first magnetic pole is located on one side of the reference point and is closest to the reference point;

[0011] Return to execute the steps from obtaining magnetic pole information to obtaining horizontal distances until the number of the obtained horizontal distances reaches a preset number;

[0012] Determining a reference phase angle of the motor mover according to each of the horizontal distances;

[0013] According to the reference phase angle, the movement of the mover is controlled by the grating scale reading head.

[0014] Optionally, determining the calibration line current of each phase coil respectively according to the magnetic pole information corresponding to each phase coil includes:

[0015] Based on the corresponding curve between the magnetic pole information and the line voltage, and according to the magnetic pole information corresponding to each phase coil, the value range of each calibrated line voltage of the three-phase coil is determined;

[0016] Determining the calibrated phase angle of the three-phase coil according to the value range of each calibrated line voltage;

[0017] According to the calibrated phase angle and the calibrated starting current, the calibrated line current of each phase coil is determined respectively.

[0018] Optionally, determining a reference phase angle of the motor mover according to each of the horizontal distances includes:

[0019] Obtaining a magnetic pole distance between two adjacent magnetic poles of the same polarity;

[0020] Determine the calibration distance between the grating ruler reading head and the first magnetic pole according to each of the horizontal distances;

[0021] A reference phase angle of the motor mover is determined according to the magnetic pole distance and the calibration distance.

[0022] Optionally, determining the calibration distance between the grating ruler reading head and the first magnetic pole according to each of the horizontal distances includes:

[0023] Based on the average value calculation formula, according to the horizontal distances, determine the average distance of the horizontal distances;

[0024] Based on a standard deviation calculation formula, according to each of the horizontal distances and the average distance, determine the distance standard deviation of each of the horizontal distances;

[0025] Based on the calibration distance formula, the calibration distance between the grating scale reading head and the first magnetic pole is determined according to the average distance and the distance standard deviation.

[0026] Optionally, the calibration distance formula is:

[0027] L1=L mean +3*L std ,

[0028] Wherein, L1 is the calibration distance, L mean is the average distance, L std is the standard deviation of the distance.

[0029] Optionally, determining a reference phase angle of the motor mover according to the magnetic pole distance and the calibration distance includes:

[0030] According to the magnetic pole distance and the calibration distance, based on the reference phase angle formula, the reference phase angle of the motor mover is determined; the reference phase angle formula is:

[0031]

[0032] Wherein, L2 is the magnetic pole distance, L1 is the calibration distance, and θ is the reference phase angle.

[0033] Optionally, according to the reference phase angle, controlling the movement of the motor mover by the grating ruler reading head includes:

[0034] Get the startup control current;

[0035] Determining the initial line current of each phase coil respectively according to the reference phase angle and the starting control current;

[0036] Applying the initial line current to each phase coil one by one to control the movement of the motor mover;

[0037] Based on the grating ruler reading head, the real-time moving distance of the motor mover is obtained;

[0038] Determine the real-time line current of each phase coil according to the real-time moving distance, the reference phase angle and the starting control current;

[0039] The real-time line current is applied to each phase coil in a one-to-one correspondence to control the movement of the motor mover.

[0040] In a second aspect, the present invention provides a motor commutation calibration device, which is integrated in a motor commutation calibration system, wherein the motor commutation calibration system comprises at least a motor mover, a stator, a grating ruler, a grating ruler reading head and a Hall sensor group; the stator comprises a plurality of magnetic poles arranged in sequence, any two adjacent magnetic poles have different polarities, and there is a gap between any two adjacent magnetic poles; the motor mover comprises a three-phase coil; the grating ruler is relatively fixed to the stator; the grating ruler comprises a first limit point, a second limit point and a reference point located between the first limit point and the second limit point; the reference point corresponds to the gap between two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor mover; the Hall sensor group comprises three Hall sensors corresponding to the three-phase coil;

[0041] The motor commutation calibration device comprises:

[0042] A magnetic pole information acquisition module, used for respectively acquiring magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each of the Hall sensors;

[0043] A line current determination module, used to determine the calibrated line current of each phase coil according to the magnetic pole information corresponding to each phase coil;

[0044] a position movement module, used for applying the line current to each phase coil one by one, so as to control the motor mover to move along a first direction to a position corresponding to the first limit point, and then control the motor mover to return along a second direction to a position corresponding to the reference point; the first direction is opposite to the second direction;

[0045] A horizontal distance acquisition module, used for acquiring the horizontal distance between the grating ruler reading head and the first magnetic pole when the reading information of the grating ruler reading head is the reference information of the reference point; the first magnetic pole is located on one side of the reference point and is closest to the reference point;

[0046] A return execution module is used to return to execute the steps from obtaining magnetic pole information to obtaining horizontal distances until the number of the obtained horizontal distances reaches a preset number;

[0047] A reference phase angle determination module, used to determine the reference phase angle of the motor mover according to each of the horizontal distances;

[0048] The mover moving module is used to control the movement of the motor mover through the grating ruler reading head according to the reference phase angle.

[0049] In a third aspect, the present invention provides a motor commutation calibration system, the motor commutation calibration system comprising at least a motor mover, a stator, a grating ruler, a grating ruler reading head, a Hall sensor group and a controller;

[0050] The stator comprises a plurality of magnetic poles arranged in sequence, the polarities of any two adjacent magnetic poles are different, and there is a gap between any two adjacent magnetic poles; the motor mover comprises a three-phase coil;

[0051] The grating ruler is relatively fixed to the stator; the grating ruler comprises a first limit point, a second limit point and a reference point located between the first limit point and the second limit point; the reference point corresponds to the gap between two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor mover;

[0052] The Hall sensor group includes three Hall sensors corresponding to the three-phase coils;

[0053] The controller is communicatively connected with the grating scale reading head and the Hall sensor group, and the controller is electrically connected with the control ends of the three-phase coils respectively. The controller is used to execute the motor commutation calibration method described in the first aspect.

[0054] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the motor commutation calibration method described in the first aspect when executed.

[0055] The technical solution provided by the present invention uses the magnetic pole information obtained in real time by the Hall sensor to adjust the calibration line current applied to each phase coil in real time, so that the motor mover returns to the reference point along a preset route, and each time it returns to the reference point, the horizontal distance between the grating scale reading head and the first magnetic pole is obtained, so that the reference phase angle of the motor mover when the grating scale reading head is at the reference point can be determined based on multiple horizontal distances, thereby improving the accuracy of the reference phase angle, so as to improve the commutation accuracy when the three-phase coil commutation of the motor mover is subsequently controlled by the grating scale reading head based on the reference phase angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of the structure of a motor commutation calibration system provided in Embodiment 1 of the present invention;

[0057] Figure 2 A flow chart of a motor commutation calibration method provided in Embodiment 2 of the present invention;

[0058] Figure 3 A flow chart of a motor commutation calibration method provided in Embodiment 3 of the present invention;

[0059] Figure 4 A schematic diagram of a corresponding curve between magnetic pole information and line voltage provided in the third embodiment of the present invention;

[0060] Figure 5 A schematic diagram of a phase relationship of a three-phase line current provided in Embodiment 3 of the present invention;

[0061] Figure 6 A flow chart of a motor commutation calibration method provided in Embodiment 4 of the present invention;

[0062] Figure 7 A flow chart of a motor commutation calibration method provided in Embodiment 5 of the present invention;

[0063] Figure 8 A schematic diagram of the structure of a motor commutation calibration device provided in Embodiment 6 of the present invention;

[0064] Fig. 9 A schematic diagram of the structure of another motor commutation calibration system provided in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0066] Embodiment 1

[0067] Figure 1 A schematic diagram of the structure of a motor commutation calibration system provided in the first embodiment of the present invention is shown in FIG. Figure 1 As shown, the motor commutation calibration system at least includes a motor mover 10, a stator 20, a grating scale 30, a grating scale reading head 11, a Hall sensor group 12 and a controller 40.

[0068] The stator 20 includes a plurality of magnetic poles arranged in sequence, and the polarity of the magnetic poles includes an N pole and an S pole; the polarity of any two adjacent magnetic poles is different, and there is a gap between any two adjacent magnetic poles; the grating scale 30 is relatively fixed to the stator 20, so that the grating scale reading head 11 can determine the position of the motor mover 10 relative to the stator 20 by reading the scale on the grating scale 30; the grating scale 30 includes a first limit point 31, a second limit point 32 and a reference point 33 located between the first limit point 31 and the second limit point 32, and the first limit point The positions of point 31, the second limit point 32 and the reference point 33 located between the first limit point 31 and the second limit point 32 can be set according to actual needs, and are not specifically limited here. For example, the first limit point 31 is at the leftmost side of the grating scale 30, the second limit point 32 is at the rightmost side of the grating scale 30, the reference point 33 is in the middle of the grating scale 30, and the reference point 33 corresponds to the gap between two adjacent magnetic poles; the grating scale reading head 11 is composed of a light source, a converging lens, an indicating grating, a photoelectric element and an adjustment mechanism. The grating scale reading head 11 includes a silicon photocell reading head, a mirror reading head, a spectroscope reading head and a metal grating reflective reading head, etc. The grating scale reading head 11 and the Hall sensor group 12 are both arranged on the motor mover 10. The motor mover 10 includes a three-phase coil. The positional relationship between the grating scale reading head 11 and the Hall sensor group 12 and the three-phase coil can be set according to actual needs. No specific limitation is made here. For example, the grating scale reading head 11 is located on the left side of the three-phase coil, and the Hall sensor group 12 is located on the left side of the three-phase coil; the Hall sensor group 12 includes three Hall sensors corresponding to the three-phase coil, and the controller 40 is communicatively connected to the grating scale reading head 11 and the Hall sensor group 12, and the controller 40 is electrically connected to the control ends of the three-phase coils respectively.

[0069] It is understandable that the connection mode of the three-phase coil can be a Y-type connection or a △-type connection, which can be set according to actual needs. No specific limitation is made here. For the convenience of description, the following embodiment only takes the three-phase coil with a Y-type connection as an example for explanation.

[0070] Specifically, due to the different polarities of the two adjacent magnetic poles in the stator 20, a magnetic field is generated at the gap between the two adjacent magnetic poles and at the two magnetic poles. After the three-phase alternating current is passed into the three-phase coil of the motor mover 10, under the action of the Lorentz force, the motor mover 10 can move in the first direction X or the second direction Y. However, when the system is in the initial power-on state, the three-phase coil of the motor mover 10 may be at any position in the full stroke. It is necessary to adjust the three-phase coil to the reference point and determine the reference phase angle at the reference point through the Hall sensor group 12 and / or the grating scale reading head 11, so as to determine the commutation current of the three-phase coil according to the reference phase angle, and improve the commutation control accuracy of the three-phase coil. The controller 40 can receive the magnetic pole information obtained by the Hall sensor group 12 and / or the reading of the grating scale reading head 11, and execute the motor commutation calibration method provided in the embodiment of the present invention to improve the commutation control accuracy of the three-phase coil.

[0071] In an alternative embodiment, Fig. 9 A schematic diagram of the structure of another motor commutation calibration system provided in the first embodiment of the present invention is shown in FIG. Fig. 9 As shown, the controller 40 includes a host 41, a control board 42, an IO interface board 43 and a driver 44; after the system is powered on, the controller 40 sends a return to zero instruction to the control board 42, and the return to zero means that the motor mover 10 moves to the reference point of the grating ruler, and the control board 42 obtains the Hall signal in the Hall sensor group 12 according to the IO interface board 43, determines the current sent to each phase coil in the motor mover 10 according to the Hall signal truth table, and transmits the sent current signal to the driver 44 through the IO interface board 43, and directly sends the corresponding drive current to each phase coil through the driver 44 to control the motor mover 10 to move to the reference point; when the motor mover 10 moves to the reference point, the reading of the grating ruler reading head 11 is obtained through the IO interface board 43, so that the control board 42 outputs the drive current to the driver 44 according to the reading of the grating ruler, and controls the motor mover 10 to precisely change phases. In this way, the Hall sensor group 12 can be used to first realize that the motor mover 10 finds a reference point at any position in the initial stage. When the motor mover 10 finds the reference point or reaches the reference point, the reading of the grating scale reading head is used to perform precise phase change, thereby realizing high-precision control of the movement of the motor mover 10.

[0072] It should be noted that the three-phase coil includes an A-phase coil, a B-phase coil and a C-phase coil, and the three Hall sensors include an A-phase Hall sensor, a B-phase Hall sensor and a C-phase Hall sensor corresponding to the three-phase coil. The positional relationship between the coil and the Hall sensor can be set according to actual needs and is not specifically limited here. For example, the distance between the A-phase Hall sensor and the A-phase coil is l1, the distance between the B-phase Hall sensor and the B-phase coil is l2, the distance between the C-phase Hall sensor and the C-phase coil is l3, and the distance between two adjacent magnetic poles of the same polarity is L1.

[0073] It can be understood that limiters can be respectively set at the first limit point 31 and the second limit point 32, so that when the motor mover 10 moves to the first limit point 31 or the second limit point 32, the control current input into the three-phase coil of the motor mover 10 is adjusted to make the motor move away from the first limit point 31 or the second limit point 32. The limiter includes a limit switch, etc., which can be set according to actual needs and is not specifically limited here.

[0074] The technical solution of the embodiment of the present invention is to set a grating scale reading head and a Hall sensor group on the motor mover. The controller controls the three-phase coils of the motor mover to change phases according to the magnetic pole information obtained by the Hall sensor group and / or the reading of the grating scale reading head, so as to improve the commutation accuracy of the three-phase coils.

[0075] Embodiment 2

[0076] Figure 2 This is a flow chart of a motor commutation calibration method provided in the second embodiment of the present invention. The method is applicable to the case of controlling motor commutation. The method can be executed by the motor commutation calibration device provided in the embodiment of the present invention. The motor commutation calibration device can be implemented in the form of hardware and / or software. The motor commutation calibration device can be integrated into the motor commutation calibration system. Figure 2 As shown, the motor commutation calibration method includes the following steps:

[0077] S101, obtaining magnetic pole information: obtaining magnetic pole information of magnetic poles in each phase coil of the three-phase coil based on each Hall sensor.

[0078] Among them, the Hall sensor is a magnetic field sensor made according to the Hall signal. When a positive magnetic field passes through, the Hall sensor outputs a high level, and when a reverse magnetic field passes through, the Hall sensor outputs a low level. That is, when the Hall sensor corresponds to the magnetic pole N, the Hall sensor outputs a high level, and when the Hall sensor corresponds to the magnetic pole S, the Hall sensor outputs a low level.

[0079] Specifically, when the motor moves a period T, the magnetic pole information output by the three Hall sensors changes regularly, with six magnetic pole information states. The high level is marked as 1 and the low level is marked as 0. The six magnetic pole information states are 101, 100, 110, 010, 011, and 001 respectively.

[0080] S102, obtaining horizontal distance: determining the calibration line current of each phase coil according to the magnetic pole information.

[0081] Specifically, the range of the calibrated line voltage of each phase coil can be determined based on the corresponding curve between the magnetic pole information and the calibrated line voltage of each phase coil, and then the phase angle of each phase coil can be determined based on the phase relationship of the three-phase line voltage. After that, the amplitude of the calibrated line current and the phase angle of each phase coil are substituted into the calculation formula of the three-phase line current to determine the calibrated line current of each phase coil.

[0082] It can be understood that the above is only an exemplary description of a principle of determining the calibration line current of each phase coil according to the magnetic pole information corresponding to each phase coil. The principle of determining the calibration line current of each phase coil according to the magnetic pole information corresponding to each phase coil may be other, which can be set according to actual needs and is not specifically limited here.

[0083] S103, applying calibration line current to each phase coil one by one to control the motor mover to move along the first direction to a position corresponding to the first limit point, and then controlling the motor mover to return along the second direction to a position corresponding to the reference point.

[0084] The first direction is opposite to the second direction.

[0085] Specifically, a calibration line current is applied to each phase coil in a one-to-one correspondence to control the motor mover to move in the first direction. When the detection equipment such as the limiter at the first limit point obtains the signal that the motor mover moves to the first limit point, the magnetic pole information of the magnetic pole corresponding to each phase coil in the three-phase coil is respectively obtained through the Hall sensor group, so as to determine the phase angle of each phase coil when each phase coil moves in the second direction according to the magnetic pole information, and determine the calibration line current applied to each phase coil according to the current phase angle of each phase coil and the calibration line current to control the motor mover to move in the second direction. In the process of the motor mover moving from the first limit point to the reference point, the Hall sensor group respectively obtains the magnetic pole information of the magnetic pole corresponding to each phase coil in the three-phase coil in real time, so as to determine the calibration line current of each phase coil in real time according to the magnetic pole information, so as to apply the corresponding calibration line current to each phase coil in real time, and drive the motor mover to move in the second direction until the reading information of the grating scale reading head is the reference information of the reference point.

[0086] S104. When the reading information of the grating ruler reading head is the reference information of the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained.

[0087] The first magnetic pole is located on one side of the reference point and is closest to the reference point. The first magnetic pole can be magnetic pole N or magnetic pole S, and can be set according to actual needs. It is not specifically limited here. For example, the first magnetic pole is magnetic pole N. The reference information of the reference point can be the scale line of the grating ruler, etc.

[0088] Specifically, the grating scale reading head may include devices such as photoelectric sensors, so that when the grating scale reading head reaches the reference point, the grating scale reading head can obtain reference information of the reference point through devices such as photoelectric sensors. At this time, the horizontal distance between the grating scale reading head and the first magnetic pole can be determined based on the reading of the grating scale reading head and the distance between the reference point and the first magnetic pole, wherein the distance between the reference point and the first magnetic pole is a fixed value after the motor is prepared. Exemplarily, the distance between the reference point and the first magnetic pole is a, the reading of the grating scale reading head is a', and the horizontal distance between the grating scale reading head and the first magnetic pole is a1=a+|a'|. The reading of the grating scale reading head can be a positive value or a negative value.

[0089] It is understood that the value of the grating reading head is related to the direction of movement. For example, Figure 1 When the motor mover 10 moves along the first direction X, the value of the grating ruler reading head increases, and when the motor mover 10 moves along the second direction Y, the value of the grating ruler reading head decreases. The relationship between the value of the grating ruler reading head and the direction of movement can also be other, which is not specifically limited here.

[0090] S105 , returning to execute steps S101 to S104 until the number of acquired horizontal distances reaches a preset number.

[0091] It can be understood that since the grating scale reading head has the characteristic of numerical accumulation, if the horizontal distance between the grating scale reading head and the first magnetic pole is obtained through the grating scale reading head, then after the horizontal distance is obtained, the reading of the grating scale reading head needs to be cleared to prevent the current reading from affecting the accuracy of the subsequent horizontal distance acquisition, thereby improving the accuracy of the motor commutation calibration.

[0092] S106. Determine a reference phase angle of the motor mover according to each horizontal distance.

[0093] Specifically, the reference phase angle of the motor mover at the reference point is related to each horizontal distance. Based on the calculation formula of the reference phase angle and each horizontal distance, each horizontal distance can be substituted into the calculation formula for calculation to determine the reference phase angle of the motor mover.

[0094] S107, according to the reference phase angle, control the movement of the motor mover through the grating ruler reading head.

[0095] Specifically, after determining the reference phase angle, the initial line current of each coil of the motor rotor can be determined according to the starting current set by the system, and the initial line current can be applied to each phase coil to move the motor rotor. During the movement of the motor rotor, the moving distance of the motor rotor is obtained in real time through the grating ruler reading head, and the real-time line current of each phase coil in the motor rotor is determined in real time according to the moving distance, so that the line current corresponding to the current displacement is applied to each phase coil in the motor rotor in real time to improve the commutation accuracy of the motor rotor.

[0096] In an embodiment of the present invention, the magnetic pole information obtained in real time by the Hall sensor is used to adjust the calibration line current applied to each phase coil in real time, so that the motor mover returns to the reference point along a preset route, and each time it returns to the reference point, the horizontal distance between the grating scale reading head and the first magnetic pole is obtained, so that the reference phase angle of the motor mover when the grating scale reading head is at the reference point can be determined based on multiple horizontal distances, thereby improving the accuracy of the reference phase angle, so as to improve the commutation accuracy when the grating scale reading head is used to control the commutation of the three-phase coils of the motor mover based on the reference phase angle.

[0097] Embodiment 3

[0098] On the basis of the above-mentioned embodiments, the embodiments of the present invention illustrate the case of respectively determining the calibrated line current of each phase coil according to the magnetic pole information. Figure 3 A flow chart of a motor commutation calibration method provided in Embodiment 3 of the present invention is shown in FIG. Figure 3 As shown, the motor commutation calibration method includes:

[0099] S201, obtaining magnetic pole information: obtaining magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each Hall sensor.

[0100] S202 . Based on the corresponding curve between the magnetic pole information and the line voltage and according to the magnetic pole information corresponding to each phase coil, determine the value range of each calibrated line voltage of the three-phase coil.

[0101] Among them, the corresponding curve of the magnetic pole information and the line voltage is related to conditions such as the magnetic pole setting spacing of the stator, and can be set according to actual needs, and is not specifically limited here.

[0102] Specifically, Figure 4 A schematic diagram of a corresponding curve between magnetic pole information and line voltage provided in the third embodiment of the present invention, referring to Figure 4In order to make the motor move smoothly and avoid the problem of being stationary or stuck, the value range of each calibrated line voltage of the three-phase coil can be determined according to the magnetic pole information corresponding to each phase coil, so that the calibrated line current of each phase coil can be determined according to the value range of each calibrated line voltage of the three-phase coil, thereby improving the commutation smoothness of the motor. Exemplarily, when the magnetic pole information corresponding to each phase coil is 0, 0, and 1 respectively, the value range of each calibrated line voltage of the three-phase coil is determined to be U according to the corresponding curve of magnetic pole information and line voltage. bc ≥0, U ca ≤0,U ab ≤0.

[0103] S203: Determine the calibrated phase angle of the three-phase coil according to the value range of each calibrated line voltage.

[0104] Specifically, based on the value range of each calibrated line voltage and the calculation formula of the calibrated phase angle of the three-phase coil, the value range of each calibrated line voltage is substituted into the calculation formula to determine the calibrated phase angle of the three-phase coil.

[0105] Optionally, determining the calibrated phase angle of the three-phase coil according to the value range of each calibrated line voltage includes: determining the calibrated phase angle of the three-phase coil according to the value range of each line voltage based on a first calculation relationship; the first calculation relationship is:

[0106]

[0107] Among them, Um is the fundamental peak value of phase voltage, U ab is the nominal line voltage between the A-phase coil and the B-phase coil, U bc is the nominal line voltage between the B-phase coil and the C-phase coil, U ca is the nominal line voltage between the C-phase coil and the A-phase coil, θ a is the nominal line voltage U ab The phase angle, θ b is the nominal line voltage U bc The phase angle, θ c is the nominal line voltage U ca The calibrated phase angle.

[0108] Specifically, substituting the value range of each line voltage into the first calculation formula, we can get:

[0109]

[0110] By calculation, we can get You can Any value between a , for example, take As the nominal line voltage U abThe phase angle of is the nominal line voltage U bc The phase angle, is the nominal line voltage U ca The calibrated phase angle.

[0111] S204. Determine the calibrated line current of each phase coil according to the calibrated phase angle and the calibrated starting current.

[0112] Specifically, the calibration line current is alternating current, including amplitude and phase angle. The phase angle of the calibration line current is the calibration phase angle, and the amplitude of the calibration line current is the calibration starting current. Substituting the calibration phase angle and the calibration starting current into the calculation formula of the calibration line current can determine the calibration line current of each phase coil.

[0113] Optionally, the calibrated line current of each phase coil is determined according to the calibrated phase angle and the calibrated starting current, including: according to the calibrated phase angle and the calibrated starting current, based on the calculation formula of the three-phase line current, the calibrated line current of each phase coil is determined respectively; the calculation formula of the three-phase line current is:

[0114]

[0115] Where I is the calibrated starting current, θ1 is the calibrated phase angle, I a is the nominal line current of phase A coil, I b is the nominal line current of the B-phase coil, I c is the rated line current of the C phase coil.

[0116] Specifically, Figure 5 A schematic diagram of a phase relationship of a three-phase line current provided in Embodiment 3 of the present invention is shown in FIG. Figure 5 As shown, the phase angle of the nominal starting current I is 0°, and the nominal line current of the A phase coil I a The angle between the start current I and the calibration phase angle θ1 is the calibration phase angle θ1, and the calibration line current I of the A phase coil is a The rated line current I of the B phase coil b The angle between them is 120°, and the nominal line current I c The rated line current I of the B phase coil b The angle between them is 120°, and the rated line current I a The nominal line current I of the C phase coil c The angle between them is 120°. The calculation formula for the three-phase line current can be determined based on the above relationship. Then, the calibrated phase angle and the calibrated starting current can be substituted into the calculation formula for the calibrated line current to determine the calibrated line current of each phase coil.

[0117] S205, applying calibration line current to each phase coil one by one to control the motor mover to move along the first direction to a position corresponding to the first limit point, and then controlling the motor mover to return along the second direction to a position corresponding to the reference point.

[0118] The first direction is opposite to the second direction.

[0119] S206. When the reading information of the grating ruler reading head is the reference information of the reference point, obtain the horizontal distance between the grating ruler reading head and the first magnetic pole.

[0120] The first magnetic pole is located at one side of the reference point and is closest to the reference point.

[0121] S207 , returning to execute steps S201 to S206 until the number of acquired horizontal distances reaches a preset number.

[0122] S208. Determine a reference phase angle of the motor mover according to each horizontal distance.

[0123] S209, according to the reference phase angle, the movement of the motor mover is controlled by the grating ruler reading head.

[0124] The technical solution provided by the embodiment of the present invention determines the value range of each calibrated line voltage of the three-phase coil according to the magnetic pole information corresponding to each phase coil based on the corresponding curve of the magnetic pole information and the line voltage, determines the calibrated phase angle of the three-phase coil according to the value range of each calibrated line voltage, and determines the calibrated line current of each phase coil respectively based on the calculation formula of the calibrated line current according to the calibrated phase angle and the calibrated starting current. In this way, after the calibrated line current of each phase coil is input into each phase coil, the motor mover moves under the current corresponding magnetic pole. During the movement of the motor mover, the magnetic pole information corresponding to the three-phase coil is obtained in real time, and the calibrated line current of each phase coil is determined in real time according to the magnetic pole information, so as to realize high-precision commutation of the three-phase coil of the motor mover.

[0125] Embodiment 4

[0126] On the basis of the above-mentioned embodiment, the embodiment of the present invention describes the case of determining the reference phase angle of the motor mover according to each horizontal distance. Figure 6 A flow chart of a motor commutation calibration method provided in Embodiment 4 of the present invention is shown in FIG. Figure 6 As shown, the motor commutation calibration method includes:

[0127] S301, obtaining magnetic pole information: obtaining magnetic pole information of magnetic poles in each phase coil of the three-phase coil based on each Hall sensor.

[0128] S302, obtaining horizontal distance: determining the calibration line current of each phase coil respectively according to the magnetic pole information.

[0129] S303, applying calibration line current to each phase coil one by one to control the motor mover to move along the first direction to a position corresponding to the first limit point, and then controlling the motor mover to return along the second direction to a position corresponding to the reference point.

[0130] The first direction is opposite to the second direction.

[0131] S304. When the reading information of the grating ruler reading head is the reference information of the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained.

[0132] S305 , returning to execute steps S301 to S304 until the number of acquired horizontal distances reaches a preset number.

[0133] S306: Obtain a magnetic pole distance between two adjacent magnetic poles of the same polarity.

[0134] Specifically, refer to Figure 1 The magnetic pole distance between two adjacent magnetic poles of the same polarity is L2, which can be the distance between two adjacent magnetic poles N or the distance between two adjacent magnetic poles S. After the stator design is completed, the magnetic pole distance is a fixed value, which can be obtained through the relevant identification of the stator or through measuring equipment such as a magnetic distance meter.

[0135] S307. Determine the calibration distance between the grating ruler reading head and the first magnetic pole according to each horizontal distance.

[0136] Specifically, by obtaining multiple horizontal distances, when the grating scale reading head reaches the reference point, there is no need to obtain the horizontal distance between the grating scale reading head and the first magnetic pole. The average of the horizontal distances can be used as the calibration distance to improve the accuracy of the calibration distance, so that the commutation control can be performed according to the calibration distance later to improve the commutation accuracy.

[0137] It can be understood that the above description is merely an exemplary description of taking the average of each horizontal distance as the calibration distance, and the principle of determining the calibration distance according to each horizontal distance may be other, which is not specifically limited here.

[0138] Optionally, the calibration distance between the grating scale reading head and the first magnetic pole is determined according to each horizontal distance, including: based on the average value calculation formula, determining the average distance of each horizontal distance according to each horizontal distance; based on the standard deviation calculation formula, determining the distance standard deviation of each horizontal distance according to each horizontal distance and the average distance; based on the calibration distance formula, determining the calibration distance between the grating scale reading head and the first magnetic pole according to the average distance and the distance standard deviation.

[0139] The formula for calculating the average value is: The standard deviation calculation formula is L std=sqrt((L 11 -L mean ) 2 +(L 12 -L mean ) 2 +…(L 1n-1 -L mean ) 2 ), where L 11 , L 12 ,…,L 1n-1 is the horizontal distance obtained each time, L mean is the average distance, L std is the distance standard deviation, and the calibration distance formula can be determined according to actual needs and is not specifically limited here. For example, the calibration distance formula is: L1 = L mean +2*L std , or L1=L mean +L std . Optionally, the calibration distance formula is: L1 = L mean +3*L std , where L1 is the calibration distance, L mean is the average distance, L std is the distance standard deviation.

[0140] Specifically, the average distance is the average value of each horizontal distance. The average distance represents the central value of each horizontal distance and can reflect the concentration degree of each horizontal distance. The distance standard deviation is an indicator that describes the degree of dispersion or variation of each horizontal distance. The distance standard deviation measures the average difference between each horizontal distance and the average distance. The larger the standard deviation, the higher the volatility of each horizontal distance, and the smaller the standard deviation, the lower the volatility of each horizontal distance. When the number of horizontal distances obtained is large enough, the obtained horizontal distances obey the normal distribution. According to the three-times standard deviation principle, if the difference between the value of a data point and the average value exceeds the range of three times the standard deviation, it can be regarded as an outlier. Therefore, the sum of the average value and three times the standard deviation can be used as the calibration distance to improve the credibility of the calibration distance.

[0141] S308. Determine a reference phase angle of the motor rotor according to the magnetic pole distance and the calibration distance.

[0142] Specifically, the reference phase angle is related to the magnetic pole distance and the calibration distance. Based on the calculation formula of the reference phase angle, the magnetic pole distance and the calibration distance, the magnetic pole distance and the calibration distance can be substituted into the calculation formula to determine the reference phase angle of the motor mover.

[0143] Optionally, determining a reference phase angle of the motor mover according to the magnetic pole distance and the calibration distance includes: determining the reference phase angle of the motor mover according to the magnetic pole distance and the calibration distance based on a reference phase angle formula; the reference phase angle formula is: Where L2 is the magnetic pole distance, L1 is the calibration distance, and θ is the reference phase angle. The period of the three-phase coil is T = 2π. Substituting the magnetic pole distance L2 and the calibration distance L1 into the reference phase angle formula, the reference phase angle θ can be determined.

[0144] S309, according to the reference phase angle, the movement of the motor mover is controlled by the grating ruler reading head.

[0145] The technical solution of the embodiment of the present invention obtains the magnetic pole distance between two adjacent magnetic poles of the same polarity, and determines the calibration distance between the grating scale reading head and the first magnetic pole according to each horizontal distance, so that when the grating scale reading head of the subsequent motor mover reaches the reference point, there is no need to measure the horizontal distance between the grating scale reading head and the first magnetic pole again, and the calibration distance can be directly determined as the horizontal distance between the grating scale reading head and the first magnetic pole, and then the reference phase angle of the motor mover is determined according to the magnetic pole distance and the calibration distance. In this way, when the motor mover moves to the reference point where the reading information of the grating scale reading head is the reference information of the reference point, the reference phase angle of the motor mover can be determined according to the magnetic pole distance and the calibration distance, and the calculation is convenient and concise, which is conducive to improving the determination efficiency and accuracy of the reference phase angle.

[0146] Embodiment 5

[0147] Figure 7 A flow chart of a motor commutation calibration method provided in Embodiment 5 of the present invention is shown in FIG. Figure 7 As shown in FIG. 1 , the motor commutation calibration method includes:

[0148] S401, obtaining magnetic pole information: obtaining magnetic pole information of magnetic poles in each phase coil of the three-phase coil based on each Hall sensor.

[0149] S402, obtaining horizontal distance: determining the calibration line current of each phase coil according to the magnetic pole information.

[0150] S403, applying calibration line current to each phase coil one by one to control the motor mover to move along the first direction to a position corresponding to the first limit point, and then controlling the motor mover to return along the second direction to a position corresponding to the reference point.

[0151] The first direction is opposite to the second direction.

[0152] S404. When the reading information of the grating ruler reading head is the reference information of the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained.

[0153] The first magnetic pole is located at one side of the reference point and is closest to the reference point.

[0154] S405 , returning to execute steps S401 to S404 until the number of acquired horizontal distances reaches a preset number.

[0155] S406. Determine a reference phase angle of the motor mover according to each horizontal distance.

[0156] S407: Obtain startup control current.

[0157] Among them, the starting control current is related to parameters such as the motor thrust constant and the system platform friction force, and can be set according to actual needs, and no specific limitation is made here.

[0158] Specifically, the motor stop condition is: K f *i=F, where i is the current applied to the three-phase coil, K f is the motor thrust constant, F is the sum of the system platform friction and external disturbance force, when the control current is started , since the force generated by the three-phase coil of the motor rotor is less than or equal to the sum of the friction force of the system platform and the external disturbance force, the motor rotor stops moving at this time; when the control current is started , since the force generated by the three-phase coil of the motor mover is greater than the sum of the friction force of the system platform and the external disturbance force, the motor mover can move at this time; therefore, in order to make the three-phase coil of the motor mover generate a force greater than the sum of the friction force of the system platform and the external disturbance force, the starting control current I obtained needs to be greater than

[0159] S408. Determine the initial line current of each phase coil according to the reference phase angle and the starting control current.

[0160] Specifically, the initial line current is related to the reference phase angle and the starting control current. Based on the calculation formula of the initial line current, the reference phase angle and the starting control current, the reference phase angle and the starting control current can be substituted into the calculation formula to determine the initial line current of each phase coil. Optionally, the calculation formula of the initial line current is: Where θ is the reference phase angle, I a is the line current of phase A coil, I b is the line current of the B phase coil, I c is the line current of the C phase coil.

[0161] S409, applying initial line current to each phase coil one by one to control the movement of the motor rotor.

[0162] Specifically, the calculated initial line currents of the coils of each phase are applied to the coils of each phase one by one. Under the action of the magnetic field generated by the magnetic poles, the coils of each phase generate Lorentz forces, which can drive the motor rotor to move smoothly.

[0163] S410, based on the grating ruler reading head, obtain the real-time moving distance of the motor mover.

[0164] Specifically, during the movement of the motor mover, a moving distance is generated, and the scale on the grating ruler can be acquired in real time by the grating ruler reading head, so as to determine the real-time moving distance of the motor mover according to the acquired scale.

[0165] S411. Determine the real-time line current of each phase coil according to the real-time moving distance, the reference phase angle and the starting control current.

[0166] Specifically, when the reading information of the motor rotor grating scale reading head is the reference information of the reference point, the phase angle of the three-phase coil is the reference phase angle. When the motor rotor moves a certain distance, the phase angle of the three-phase coil changes during the movement, and the phase angle of the three-phase coil is no longer the reference phase angle. Therefore, the real-time phase angle of the three-phase coil is determined by the real-time moving distance and the reference phase angle. After the real-time phase angle is determined according to the calculation relationship between the real-time phase angle, the real-time moving distance and the reference phase angle, the real-time phase angle and the starting control current are substituted into the calculation formula based on the real-time line current calculation formula to determine the real-time line current of each phase coil.

[0167] Optionally, the real-time line current of each phase coil is determined according to the real-time moving distance, the reference phase angle and the starting control current, including: determining the real-time line current of each phase coil based on the three-phase changing current calculation formula according to the real-time moving distance, the reference phase angle and the starting control current; the three-phase changing current calculation formula is:

[0168]

[0169] Where L3 is the moving distance, I is the starting current, θ is the reference phase angle, L2 is the magnetic pole distance, I a is the line current of phase A coil, I b is the line current of the B phase coil, I c is the line current of the C phase coil.

[0170] Specifically, since the grating reading head has a high reading accuracy and can read micrometer or nanometer scales, the reading accuracy of the moving distance L3 can be improved, thereby improving the calculation accuracy of the real-time line current of each phase coil, so as to achieve high-precision commutation of the three-phase coil of the motor rotor.

[0171] S412, applying real-time line current to each phase coil one by one to control the movement of the motor rotor.

[0172] Specifically, the calculated real-time line current of each phase coil is applied to each phase coil one by one. Under the action of the magnetic field generated by the magnetic pole, each phase coil generates a Lorentz force, which can drive the motor rotor to move smoothly.

[0173] The technical solution of the embodiment of the present invention is to obtain the starting control current, determine the initial line current of each phase coil according to the reference phase angle and the starting control current, and apply the initial line current to each phase coil one by one to control the movement of the motor mover. In the process of the movement of the motor mover, based on the grating ruler reading head, the real-time movement distance of the motor mover is obtained, and the real-time line current of each phase coil is determined according to the real-time movement distance, the reference phase angle and the starting control current, and then the real-time line current is applied to each phase coil one by one to control the movement of the motor mover. In this way, the movement distance of the motor mover is obtained in real time through the grating ruler reading head. Since the grating ruler reading head has a high reading accuracy and can read micron or nanometer scales, the reading accuracy of the moving distance can be improved, and then the calculation accuracy of the real-time line current of each phase coil can be improved, so as to realize high-precision phase switching of the three-phase coil of the motor mover.

[0174] Embodiment 6

[0175] Figure 8 This is a schematic diagram of the structure of a motor commutation calibration device provided in Embodiment 6 of the present invention. The motor commutation calibration device can be implemented in the form of hardware and / or software and integrated into a motor commutation calibration system. Figure 8 As shown, the motor commutation calibration device includes:

[0176] The magnetic pole information acquisition module 45 is used to respectively acquire the magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each Hall sensor;

[0177] The line current determination module 46 is used to determine the calibrated line current of each phase coil according to the magnetic pole information corresponding to each phase coil;

[0178] The position moving module 47 is used to apply line current to each phase coil one by one to control the motor mover to move to a position corresponding to the first limit point along a first direction, and then control the motor mover to return to a position corresponding to the reference point along a second direction; the first direction is opposite to the second direction;

[0179] The horizontal distance acquisition module 48 is used to acquire the horizontal distance between the grating ruler reading head and the first magnetic pole when the reading information of the grating ruler reading head is the reference information of the reference point; the first magnetic pole is located on one side of the reference point and is closest to the reference point;

[0180] Return to the execution module 49, used to return to the steps of obtaining the magnetic pole information to obtaining the horizontal distance, until the number of the obtained horizontal distances reaches a preset number;

[0181] The reference phase angle determination module 50 is used to determine the reference phase angle of the motor mover according to each horizontal distance.

[0182] The mover moving module 51 is used to control the movement of the motor mover through the grating ruler reading head according to the reference phase angle.

[0183] The motor commutation calibration device provided in the embodiment of the present invention can execute the motor commutation calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The similarities can be referred to the above description.

[0184] Embodiment 7

[0185] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions. The computer instructions are used to enable a processor to implement the motor commutation calibration method provided by any embodiment of the present invention when executed. The method has corresponding functional modules and beneficial effects, which will not be repeated here.

[0186] Computer readable storage medium can be a tangible medium that can contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. Computer readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. Alternatively, computer readable storage medium can be a machine readable signal medium. More specific examples of machine readable storage medium can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0187] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A motor commutation calibration method, performed by a motor commutation calibration system, characterized in that: The following steps are involved: Obtaining magnetic pole information: obtaining magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each Hall sensor; Obtaining horizontal distance: determining the calibration line current of each phase coil respectively according to the magnetic pole information; Applying calibration line current to each phase coil one by one to control the motor mover to move to a position corresponding to a first limit point along a first direction, and then controlling the motor mover to return to a position corresponding to a reference point along a second direction; the first direction is opposite to the second direction; When the reading information of the grating ruler reading head is the reference information of the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained; the first magnetic pole is located on one side of the reference point and is closest to the reference point; Return to execute the steps from obtaining magnetic pole information to obtaining horizontal distances until the number of obtained horizontal distances reaches a preset number; Determining a reference phase angle of the motor mover according to each of the horizontal distances; According to the reference phase angle, the movement of the motor mover is controlled by the grating ruler reading head.

2. The motor commutation calibration method according to claim 1, characterized in that: Determining the calibration line current of each phase coil according to the magnetic pole information respectively includes: Based on the corresponding curve between the magnetic pole information and the line voltage, and according to the magnetic pole information corresponding to each phase coil, the value range of each calibrated line voltage of the three-phase coil is determined; Determining the calibrated phase angle of the three-phase coil according to the value range of each calibrated line voltage; According to the calibrated phase angle and the calibrated starting current, the calibrated line current of each phase coil is determined respectively.

3. The motor commutation calibration method according to claim 1, characterized in that: Determining a reference phase angle of the motor mover according to each of the horizontal distances includes: Obtaining a magnetic pole distance between two adjacent magnetic poles of the same polarity; Determine the calibration distance between the grating ruler reading head and the first magnetic pole according to each of the horizontal distances; A reference phase angle of the motor mover is determined according to the magnetic pole distance and the calibration distance.

4. The motor commutation calibration method according to claim 3, characterized in that: Determining the calibration distance between the grating ruler reading head and the first magnetic pole according to each of the horizontal distances includes: Based on the average value calculation formula, according to the horizontal distances, determine the average distance of the horizontal distances; Based on a standard deviation calculation formula, according to each of the horizontal distances and the average distance, determine the distance standard deviation of each of the horizontal distances; Based on the calibration distance formula, the calibration distance between the grating scale reading head and the first magnetic pole is determined according to the average distance and the distance standard deviation.

5. The motor commutation calibration method according to claim 4, characterized in that: The calibration distance formula is: L1=L mean +3*L std , Wherein, L1 is the calibration distance, L mean is the average distance, L std is the standard deviation of the distance.

6. The motor commutation calibration method according to claim 3, characterized in that: Determining a reference phase angle of the motor mover according to the magnetic pole distance and the calibration distance includes: According to the magnetic pole distance and the calibration distance, based on the reference phase angle formula, the reference phase angle of the motor mover is determined; the reference phase angle formula is: Wherein, L2 is the magnetic pole distance, L1 is the calibration distance, and θ is the reference phase angle.

7. The motor commutation calibration method according to claim 1, characterized in that: According to the reference phase angle, the motor mover is controlled to move by the grating ruler reading head, including: Get the startup control current; Determining the initial line current of each phase coil respectively according to the reference phase angle and the starting control current; Applying the initial line current to each phase coil one by one to control the movement of the motor mover; Based on the grating ruler reading head, the real-time moving distance of the motor mover is obtained; Determine the real-time line current of each phase coil according to the real-time moving distance, the reference phase angle and the starting control current; The real-time line current is applied to each phase coil in a one-to-one correspondence to control the movement of the motor mover.

8. A motor commutation calibration device, integrated in a motor commutation calibration system, characterized in that: The motor commutation calibration system at least includes a motor mover, a stator, a grating ruler, a grating ruler reading head and a Hall sensor group; the stator includes a plurality of magnetic poles arranged in sequence, any two adjacent magnetic poles have different polarities, and there is a gap between any two adjacent magnetic poles; the motor mover includes a three-phase coil; the grating ruler is relatively fixed to the stator; the grating ruler includes a first limit point, a second limit point and a reference point located between the first limit point and the second limit point; the reference point corresponds to the gap between two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor mover; the Hall sensor group includes three Hall sensors corresponding to the three-phase coil; The motor commutation calibration device comprises: A magnetic pole information acquisition module, used for respectively acquiring magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each of the Hall sensors; A line current determination module, used to determine the calibrated line current of each phase coil according to the magnetic pole information; a position movement module, used for applying the line current to each phase coil one by one, so as to control the motor mover to move along a first direction to a position corresponding to the first limit point, and then control the motor mover to return along a second direction to a position corresponding to the reference point; the first direction is opposite to the second direction; A horizontal distance acquisition module, used for acquiring the horizontal distance between the grating ruler reading head and the first magnetic pole when the reading information of the grating ruler reading head is the reference information of the reference point; the first magnetic pole is located on one side of the reference point and is closest to the reference point; A return execution module is used to return to execute each step from obtaining magnetic pole information to obtaining horizontal distance, until the number of the obtained horizontal distances reaches a preset number; A reference phase angle determination module, used to determine the reference phase angle of the motor mover according to each of the horizontal distances; The mover moving module is used to control the movement of the motor mover through the grating ruler reading head according to the reference phase angle.

9. A motor commutation calibration system, characterized in that: The motor commutation calibration system at least includes a motor mover, a stator, a grating ruler, a grating ruler reading head, a Hall sensor group and a controller; The stator comprises a plurality of magnetic poles arranged in sequence, the polarities of any two adjacent magnetic poles are different, and there is a gap between any two adjacent magnetic poles; the motor mover comprises a three-phase coil; The grating ruler is relatively fixed to the stator; the grating ruler comprises a first limit point, a second limit point and a reference point located between the first limit point and the second limit point; the reference point corresponds to the gap between two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor mover; The Hall sensor group includes three Hall sensors corresponding to the three-phase coils; The controller is communicatively connected with the grating scale reading head and the Hall sensor group, and the controller is electrically connected with the control ends of the three-phase coils respectively. The controller is used to execute the motor commutation calibration method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the motor commutation calibration method according to any one of claims 1 to 7 when executed.

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