A method, apparatus, system and medium for commutation calibration of an electric motor

Abstract

This invention discloses a motor commutation calibration method, apparatus, system, and medium. The motor commutation calibration method includes: acquiring magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each Hall sensor; determining the calibration line current of each phase coil according to the magnetic pole information corresponding to each phase coil; applying the calibration line current to each phase coil one-to-one to control the motor mover to move along a first direction to a position corresponding to a first limit point; controlling the motor mover to return along a second direction to a position corresponding to a reference point; when the reading information of the grating ruler reading head is the reference information of the reference point, acquiring the horizontal distance between the grating ruler reading head and the first magnetic pole; returning to execute the steps from acquiring magnetic pole information to acquiring horizontal distance until the number of acquired horizontal distances is a preset number; and determining the reference phase angle of the motor mover based on each horizontal distance.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, apparatus, system, and medium for motor commutation calibration. Background Technology

[0002] Linear motors are widely used in precision control systems due to their simple structure, high motion efficiency, and ease of adjustment and control. For long-stroke, high-precision control applications, long-stroke linear motors are typically chosen as the controlled object. During operation, the moving coil of the linear motor requires commutation control to cause it to reciprocate within the magnets.

[0003] Existing commutation control methods are as follows: A Hall sensor is installed in the moving coil of the linear motor. The position of the magnetic field of the moving coil is determined by the detection signal of the Hall sensor, and the driver controls the commutation of the moving coil according to the position information; or, the moving coil of the motor drives the reading head of a high-precision grating ruler to move. The reading head feeds back the position data of the coil in real time, and the controller controls the commutation of the moving coil according to the position data.

[0004] However, the method of determining the position of the motor mover coil magnetic field by detecting the signal of the Hall sensor has problems due to the installation deviation of the Hall sensor and the inability to linearly feedback the magnetic field strength distribution. The feedback of the commutation point position has problems of being ahead or behind, resulting in low control performance. As for the method of real-time feedback of the coil position by the reading head, when the system is initially powered on, the mover coil may be at any position in the entire stroke of the magnet. The grating ruler cannot sense the relative position of the coil and the magnet. The mover needs to move multiple times to find the optimal commutation angle, which increases the system initialization time. Summary of the Invention

[0005] This invention provides a method, apparatus, system, and medium for commutation calibration of motors to improve commutation accuracy.

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

[0007] Acquiring magnetic pole information: The magnetic pole information of each phase coil in the three-phase coil is acquired based on each Hall sensor;

[0008] Obtain the horizontal distance: Based on the magnetic pole information, determine the calibration line current of each phase coil;

[0009] The calibration line current is applied to each phase coil in a one-to-one correspondence to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the position corresponding to the reference point; 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 the previous steps of obtaining magnetic pole information to obtaining horizontal distance, until the number of horizontal distances obtained is a preset number;

[0012] The reference phase angle of the motor mover is determined based on each of the horizontal distances.

[0013] The movement of the mover is controlled by the grating ruler reading head according to the reference phase angle.

[0014] Optionally, based on the magnetic pole information corresponding to each phase coil, the calibration line current of each phase coil is determined, including:

[0015] Based on the corresponding curve of the magnetic pole information and the line voltage, the range of values ​​for each calibration line voltage of the three-phase coil is determined according to the magnetic pole information corresponding to each phase coil.

[0016] The calibration phase angle of the three-phase coil is determined based on the range of values ​​of each calibration line voltage.

[0017] Based on the calibrated phase angle and calibrated starting current, the calibrated line current of each phase coil is determined.

[0018] Optionally, determining the reference phase angle of the motor mover based on each of the horizontal distances includes:

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

[0020] Based on the aforementioned horizontal distances, determine the calibration distance between the grating ruler reading head and the first magnetic pole;

[0021] The reference phase angle of the motor mover is determined based on 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 based on each of the horizontal distances includes:

[0023] Based on the average value calculation formula, the average distance of each horizontal distance is determined according to the respective horizontal distances;

[0024] Based on the standard deviation calculation formula, the distance standard deviation of each horizontal distance is determined according to each horizontal distance and the average distance.

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

[0026] Optionally, the calibration distance formula is:

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

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

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

[0030] Based on the magnetic pole distance and the calibration distance, the reference phase angle of the motor mover is determined using the reference phase angle formula; 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, controlling the movement of the motor actuator via the grating ruler reading head based on the reference phase angle includes:

[0034] Obtain the startup control current;

[0035] Based on the reference phase angle and the starting control current, the initial line current of each phase coil is determined respectively;

[0036] The initial line current is applied to each phase coil in a one-to-one correspondence to control the movement of the motor rotor;

[0037] The real-time movement distance of the motor actuator is obtained based on the grating ruler reading head;

[0038] The real-time line current of each phase coil is determined based on the real-time moving distance, the reference phase angle, and the start-up 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 rotor.

[0040] Secondly, the present invention provides a motor commutation calibration device, integrated into a motor commutation calibration system. The motor commutation calibration system includes at least 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 sequentially, with any two adjacent magnetic poles having different polarities and a gap between any two adjacent magnetic poles. The motor mover includes a three-phase coil. The grating ruler is fixed relative to the stator. The grating ruler includes a first limiting point, a second limiting point, and a reference point located between the first limiting point and the second limiting 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 disposed on the motor mover. The Hall sensor group includes three Hall sensors corresponding to the three-phase coils.

[0041] The motor commutation calibration device includes:

[0042] The magnetic pole information acquisition module is used to acquire the magnetic pole information of the magnetic poles in each phase coil of the three-phase coil based on each of the Hall sensors.

[0043] The line current determination module is used to determine the calibration line current of each phase coil based on the magnetic pole information corresponding to each phase coil.

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

[0045] A horizontal distance acquisition module 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;

[0046] The return execution module is used to return to the execution of each step from obtaining magnetic pole information to obtaining horizontal distance, until the number of horizontal distances obtained is a preset number;

[0047] A reference phase angle determination module is used to determine the reference phase angle of the motor mover based on each of the horizontal distances.

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

[0049] Thirdly, the present invention provides a motor commutation calibration system, which includes 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 includes a plurality of magnetic poles arranged in sequence, wherein 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.

[0051] The grating ruler is fixed relative to the stator; the grating ruler includes a first limiting point, a second limiting point, and a reference point located between the first limiting point and the second limiting 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 disposed on the motor mover;

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

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

[0054] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the motor commutation calibration method described in the first aspect.

[0055] The technical solution provided by this invention uses the magnetic pole information acquired in real time by a 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. Each time it returns to the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is acquired. Based on multiple horizontal distances, the reference phase angle of the motor mover when the grating ruler reading head is at the reference point is determined, thereby improving the accuracy of the reference phase angle. This improves the commutation accuracy when the three-phase coil of the motor mover is controlled by the grating ruler reading head based on the reference phase angle. Attached Figure Description

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

[0057] Figure 2 This is a flowchart of a motor commutation calibration method provided in Embodiment 2 of the present invention;

[0058] Figure 3 This is a flowchart of a motor commutation calibration method provided in Embodiment 3 of the present invention;

[0059] Figure 4 This is a schematic diagram of the correspondence between magnetic pole information and line voltage provided in Embodiment 3 of the present invention;

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

[0061] Figure 6 This is a flowchart of a motor commutation calibration method provided in Embodiment 4 of the present invention;

[0062] Figure 7 This is a flowchart of a motor commutation calibration method provided in Embodiment 5 of the present invention;

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

[0064] Figure 9 This is a schematic diagram of another motor commutation calibration system provided in Embodiment 1 of the present invention. Detailed Implementation

[0065] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0066] Example 1

[0067] Figure 1 This is a schematic diagram of a motor commutation calibration system provided in Embodiment 1 of the present invention, as shown below. Figure 1 As shown, the motor commutation calibration system includes at least a motor mover 10, a stator 20, a grating ruler 30, a grating ruler reading head 11, a Hall sensor group 12, and a controller 40.

[0068] The stator 20 includes multiple magnetic poles arranged sequentially, with the poles having N and S polarities. Any two adjacent magnetic poles have different polarities, and there is a gap between any two adjacent magnetic poles. The grating ruler 30 is fixed relative to the stator 20, allowing the grating ruler reading head 11 to determine the position of the motor mover 10 relative to the stator 20 by reading the scale on the grating ruler 30. The grating ruler 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. 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 no specific limitation is made here. For example, the first limit point 31 is on the leftmost side of the grating ruler 30, the second limit point 32 is on the rightmost side of the grating ruler 30, and the reference point 33 is in the middle of the grating ruler 30, and the reference point 33 corresponds to the gap between two adjacent magnetic poles. The grating ruler reading head 11 is composed of a light source, a converging lens, an indicating grating, a photoelectric element, and an adjustment mechanism. The grating ruler reading head 11 includes silicon photovoltaic cell reading heads, mirror reading heads, beam splitter reading heads, and metal grating reflection reading heads, etc. The grating ruler reading head 11 and the Hall sensor group 12 are both mounted on the motor mover 10. The motor mover 10 includes a three-phase coil. The positional relationship between the grating ruler reading head 11, the Hall sensor group 12, and the three-phase coil can be set according to actual needs, and no specific limitation is made here. For example, the grating ruler 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. The controller 40 is communicatively connected to the grating ruler reading head 11 and the Hall sensor group 12, and the controller 40 is electrically connected to the control terminal of the three-phase coil.

[0069] It is understood that the connection method of the three-phase coil can be Y-type connection or Δ-type connection, which can be set according to actual needs. No specific limitation is made here. For ease of description, the following embodiment only uses the Y-type connected three-phase coil as an example for illustration.

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

[0071] In an optional embodiment, Figure 9 This is a schematic diagram of another motor commutation calibration system provided in Embodiment 1 of the present invention, as shown below. Figure 9 As shown, the controller 40 includes a host 41, a control board 42, an I / O interface board 43, and a driver 44. After the system is powered on, the controller 40 sends a zero-return command to the control board 42. Zero-return means that the motor mover 10 moves to the reference point of the grating ruler. The control board 42 obtains the Hall signal from the Hall sensor group 12 according to the I / O interface board 43, determines the current sent to each phase coil of the motor mover 10 according to the Hall signal truth table, etc., and transmits the sent current signal to the driver 44 through the I / O interface board 43. The driver 44 directly sends the corresponding drive current to each phase coil 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 I / O 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 to control the precise phase commutation of the motor mover 10. In this way, the reference point can be found at any position of the motor mover 10 in the initial stage through the Hall sensor group 12. After the motor mover 10 finds or reaches the reference point, the phase can be precisely changed by reading the grating ruler reading head, thus 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. 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 sensors 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, and the distance between the C-phase Hall sensor and the C-phase coil is l3. The distance between two adjacent magnetic poles of the same polarity is L1.

[0073] It is understood that limiters can be set at the first limit point 31 and the second limit point 32 respectively, so that when the motor mover 10 moves to the first limit point 31 or the second limit point 32, the control current input to the three-phase coil of the motor mover 10 is adjusted so that the motor mover 10 moves away from the first limit point 31 or the second limit point 32. The limiters include limit switches, etc., which can be set according to actual needs, and no specific limitation is made here.

[0074] The technical solution of this invention improves the commutation accuracy of the three-phase coils by setting a grating ruler reading head and a Hall sensor group on the motor mover and controlling the three-phase coils of the motor mover to commutate based on the magnetic pole information obtained by the Hall sensor group and / or the reading of the grating ruler reading head.

[0075] Example 2

[0076] Figure 2 This is a flowchart of a motor commutation calibration method provided in Embodiment 2 of the present invention. This method is applicable to situations involving controlled motor commutation. The method can be executed by the motor commutation calibration device provided in this embodiment of the invention. This motor commutation calibration device can be implemented in hardware and / or software, and can be integrated into a motor commutation calibration system. Figure 2 As shown, the motor commutation calibration method includes the following steps:

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

[0078] Among them, the Hall sensor is a magnetic field sensor made based on Hall signals. 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 mover moves for one cycle T, the magnetic pole information output by the three Hall sensors shows a regular change and has six magnetic pole information states. High level is marked as 1 and low level is marked as 0. The six magnetic pole information states are 101, 100, 110, 010, 011 and 001 respectively.

[0080] S102. Obtain the horizontal distance: Based on the magnetic pole information, determine the calibration line current of each phase coil.

[0081] Specifically, the range of values ​​for the calibration line voltage of each phase coil can be determined based on the corresponding curves of the magnetic pole information and the calibration line voltage of each phase coil. Then, the phase angle of each phase coil can be determined based on the phase relationship of the three-phase line voltages. Finally, the amplitude of the calibration line current and the phase angle of each phase coil can be substituted into the calculation formula of the three-phase line current to determine the calibration line current of each phase coil.

[0082] It is understood that the above is only an example illustrating one principle of determining the calibration line current of each phase coil based on the magnetic pole information corresponding to each phase coil. Other principles can also be used to determine the calibration line current of each phase coil based on the magnetic pole information corresponding to each phase coil, and can be set according to actual needs. No specific limitations are made here.

[0083] S103. Apply calibration line current to each phase coil in a one-to-one correspondence to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the 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 along the first direction. When the limit switch or other detection device at the first limit point receives the signal that the motor mover has moved to the first limit point, the Hall sensor group acquires the magnetic pole information corresponding to the magnetic poles of each phase coil in the three-phase coil. Based on the magnetic pole information, the phase angle of each phase coil when it moves along the second direction is determined, and the calibration line current applied to each phase coil is determined based on the current phase angle of each coil and the calibration line current to control the motor mover to move along the second direction. During the process of the motor mover moving from the first limit point to the reference point, the Hall sensor group acquires the magnetic pole information corresponding to the magnetic poles of each phase coil in the three-phase coil in real time. Based on the magnetic pole information, the calibration line current of each phase coil is determined in real time, and the corresponding calibration line current is applied to each phase coil in real time to drive the motor mover to move along the second direction until the reading information of the grating ruler reading head becomes 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, obtain the horizontal distance between the grating ruler reading head and the first magnetic pole.

[0087] The first magnetic pole is located to one side of the reference point and is closest to the reference point. The first magnetic pole can be either N or S, and can be set according to actual needs; no specific limitation is made here. For example, the first magnetic pole is N. The reference information for the reference point can be the scale lines of a grating ruler, etc.

[0088] Specifically, the grating ruler reading head may include devices such as photoelectric sensors. When the grating ruler reading head reaches the reference point, it can acquire reference information about the reference point through the photoelectric sensors. At this time, based on the reading of the grating ruler reading head and the distance between the reference point and the first magnetic pole, the horizontal distance between the grating ruler reading head and the first magnetic pole can be determined. The distance between the reference point and the first magnetic pole is a fixed value after the motor is manufactured. For example, the distance between the reference point and the first magnetic pole is 'a', the reading of the grating ruler reading head is 'a', and the horizontal distance between the grating ruler reading head and the first magnetic pole is a1 = a + |a'|. The reading of the grating ruler reading head can be positive or negative.

[0089] It is understandable that the numerical value of the grating reading head is related to the direction of movement; for example, refer to... Figure 1 When the motor mover 10 moves along the first direction X, the value of the grating ruler reading head increases; 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 reading head and the direction of movement can also be other, and is not specifically limited here.

[0090] S105. Return to the execution of steps S101 to S104 until the number of horizontal distances obtained is the preset number.

[0091] Understandably, since the grating ruler reading head has the characteristic of numerical accumulation, if the horizontal distance between the grating ruler reading head and the first magnetic pole is obtained through the grating ruler reading head, the reading of the grating ruler reading head needs to be cleared to zero after the horizontal distance is obtained, to prevent the current reading from affecting the accuracy of the subsequent horizontal distance acquisition and to improve the accuracy of motor commutation calibration.

[0092] S106. Determine the reference phase angle of the motor mover based on each horizontal distance.

[0093] Specifically, the reference phase angle of the motor mover at the reference point is related to each horizontal distance. The reference phase angle of the motor mover can be determined by substituting each horizontal distance into the calculation formula based on the calculation formula of the reference phase angle and each horizontal distance.

[0094] S107. Based on 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 mover can be determined according to the starting current set by the system, and the initial line current is applied to each phase coil to make the motor mover move. During the movement of the motor mover, the moving distance of the motor mover is obtained in real time through the reading head of the grating ruler, and the real-time line current of each phase coil in the motor mover 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 mover in real time to improve the commutation accuracy of the motor mover.

[0096] In this embodiment of the invention, the calibration line current applied to each phase coil is adjusted in real time by using the magnetic pole information acquired in real time by the Hall sensor, so that the motor mover returns to the reference point along a preset route. Each time it returns to the reference point, the horizontal distance between the grating ruler reading head and the first magnetic pole is acquired. Based on multiple horizontal distances, the reference phase angle of the motor mover when the grating ruler reading head is at the reference point is determined, thereby improving the accuracy of the reference phase angle. This improves the commutation accuracy when the three-phase coil of the motor mover is controlled by the grating ruler reading head based on the reference phase angle.

[0097] Example 3

[0098] Based on the above embodiments, this embodiment of the invention describes the determination of the calibration line current of each phase coil according to the magnetic pole information. Figure 3 This is a flowchart of a motor commutation calibration method provided in Embodiment 3 of the present invention, as follows: Figure 3 As shown, the motor commutation calibration method includes:

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

[0100] S202. Based on the corresponding curves of magnetic pole information and line voltage, determine the range of values ​​for each calibration line voltage of the three-phase coil according to the magnetic pole information corresponding to each phase coil.

[0101] The curves corresponding to magnetic pole information and line voltage are related to conditions such as the spacing of the stator magnetic poles, and can be set according to actual needs. No specific limitations are made here.

[0102] Specifically, Figure 4 This is a schematic diagram of the correspondence between magnetic pole information and line voltage provided in Embodiment 3 of the present invention, for reference. Figure 4To ensure smooth motor rotor movement and avoid issues like stalling or jamming, the range of values ​​for each calibration line voltage of the three-phase coils can be determined based on the acquired magnetic pole information of each phase coil. This allows for the subsequent determination of the calibration line current for each phase coil, improving the smoothness of motor commutation. For example, if the acquired magnetic pole information for each phase coil is 0, 0, and 1, then the range of values ​​for each calibration line voltage of the three-phase coils is determined as U based on the curve corresponding to the magnetic pole information and line voltage. bc ≥0, U ca ≤0, U ab ≤0.

[0103] S203. Determine the calibration phase angle of the three-phase coils based on the range of values ​​of each calibration line voltage.

[0104] Specifically, based on the range of values ​​for each calibration line voltage and the calculation formula for the calibration phase angle of the three-phase coil, the range of values ​​for each calibration line voltage can be substituted into the calculation formula to determine the calibration phase angle of the three-phase coil.

[0105] Optionally, the calibration phase angle of the three-phase coil is determined based on the range of values ​​for each calibration line voltage, including: determining the calibration phase angle of the three-phase coil based on the first calculation formula according to the range of values ​​for each line voltage; the first calculation formula is:

[0106]

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

[0108] Specifically, substituting the range of values ​​for each line voltage into the first calculation formula, we get:

[0109]

[0110] Calculations yield the following results. Can Any value between θ a For example, take As the calibration line voltage U abThe phase angle, then For calibrating line voltage U bc phase angle, For calibrating line voltage U ca The calibrated phase angle.

[0111] S204. Determine the calibration line current of each phase coil based on the calibration phase angle and calibration 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. By substituting the calibration phase angle and the calibration starting current into the calculation formula of the calibration line current, the calibration line current of each phase coil can be determined.

[0113] Optionally, the calibration line current of each phase coil is determined according to the calibration phase angle and calibration starting current, including: determining the calibration line current of each phase coil based on the calculation formula of the three-phase line current, according to the calibration phase angle and calibration starting current; 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, and I a I is the calibration line current of phase A coil. b I is the calibration line current of phase B coil. c This is the calibration line current for the C-phase coil.

[0116] Specifically, Figure 5 This is a schematic diagram of the phase relationship of three-phase line currents provided in Embodiment 3 of the present invention, as shown below. Figure 5 As shown, the phase angle of the calibrated starting current I is 0°, and the calibrated line current I of phase A coil is... a The angle between the current and the rated starting current I is the rated phase angle θ1, and the rated line current I of phase A coil is... a The calibration line current I of phase B coil b The included angle between them is 120°, and the rated line current I of phase C coil is... c The calibration line current I of phase B coil b The included angle between them is 120°, and the rated line current I of phase A coil is... a The calibration line current I of phase C coil c The included angle between them is 120°. Based on the above relationship, the calculation formula for the three-phase line current can be determined. Then, by substituting the calibrated phase angle and calibrated starting current into the calculation formula for the calibrated line current, the calibrated line current of each phase coil can be determined.

[0117] S205. Apply calibration line current to each phase coil in a one-to-one correspondence to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the 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 on one side of the reference point and is closest to the reference point.

[0121] S207. Return to the execution of steps S201 to S206 until the number of horizontal distances obtained is the preset number.

[0122] S208. Determine the reference phase angle of the motor mover based on each horizontal distance.

[0123] S209. Based on the reference phase angle, control the movement of the motor mover through the grating ruler reading head.

[0124] The technical solution provided by this invention determines the range of values ​​for each calibration line voltage of the three-phase coils based on the correspondence curve between magnetic pole information and line voltage, according to the magnetic pole information corresponding to each phase coil. Based on the range of values ​​for each calibration line voltage, the calibration phase angle of the three-phase coils is determined. Based on the calculation formula of calibration line current, the calibration line current of each phase coil is determined according to the calibration phase angle and the calibration starting current. Thus, after inputting the calibration line current of each phase coil, the motor mover moves under the corresponding magnetic pole. During the movement of the motor mover, the magnetic pole information corresponding to the three-phase coils is acquired in real time, and the calibration line current of each phase coil is determined in real time based on the magnetic pole information, so as to achieve high-precision commutation of the three-phase coils of the motor mover.

[0125] Example 4

[0126] Based on the above embodiments, this embodiment of the invention describes the determination of the reference phase angle of the motor mover according to each horizontal distance. Figure 6 This is a flowchart of a motor commutation calibration method provided in Embodiment 4 of the present invention, as follows: Figure 6 As shown, the motor commutation calibration method includes:

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

[0128] S302. Obtain the horizontal distance: Determine the calibration line current of each phase coil based on the magnetic pole information.

[0129] S303. Apply calibration line current to each phase coil in a one-to-one correspondence to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the 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, obtain the horizontal distance between the grating ruler reading head and the first magnetic pole.

[0132] S305. Return to the execution of steps S301 to S304 until the number of horizontal distances obtained is the preset number.

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

[0134] For details, please refer to Figure 1 The magnetic pole distance between two adjacent magnetic poles of the same polarity is L2. It can be the distance between two adjacent magnetic poles N or two adjacent magnetic poles S. After the stator design is completed, this magnetic pole distance is a fixed value, which can be obtained through the relevant markings 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 based on each horizontal distance.

[0136] Specifically, by acquiring multiple horizontal distances, when the grating ruler reading head reaches the reference point, it is not necessary to acquire the horizontal distance between the grating ruler reading head and the first magnetic pole. The average value of each horizontal distance can be used as the calibration distance, which improves the accuracy of the calibration distance. This allows for subsequent commutation control based on the calibration distance, thereby improving commutation accuracy.

[0137] It is understood that the above is only an example of using the average of each horizontal distance as the calibration distance. The principle of determining the calibration distance based on each horizontal distance can also be other, which are not specifically limited here.

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

[0139] The formula for calculating the average value is: The formula for calculating the standard deviation 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 L is the horizontal distance obtained each time. mean For the average distance, L std The calibration distance formula, which represents the standard deviation, can be determined based on 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 For the average distance, L std This represents the standard deviation of the distance.

[0140] Specifically, the mean distance is the average of all horizontal distances, representing the central value of each horizontal distance and reflecting the degree of concentration among them. The standard deviation of the distance describes the dispersion or variability of each horizontal distance. It measures the average difference between each horizontal distance and the mean distance. The larger the standard deviation, the higher the volatility of each horizontal distance; the smaller the standard deviation, the lower the volatility. When a sufficient number of horizontal distances are obtained, they follow a normal distribution. According to the three-standard-deviation principle, if the difference between a data point's value and the mean exceeds three standard deviations, it can be considered an outlier. Therefore, the sum of the mean and three standard deviations can be used as the calibration distance to improve its reliability.

[0141] S308. Determine the reference phase angle of the motor mover based on the magnetic pole distance and 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 can be substituted into the calculation formula to determine the reference phase angle of the motor mover.

[0143] Optionally, the reference phase angle of the motor mover is determined based on the magnetic pole distance and the calibration distance, including: determining the reference phase angle of the motor mover based on the reference phase angle formula, using the magnetic pole distance and the calibration distance; 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. Based on the reference phase angle, the movement of the motor mover is controlled by the grating ruler reading head.

[0145] The technical solution of this invention obtains the magnetic pole distance between two adjacent magnetic poles of the same polarity and determines the calibration distance between the grating ruler reading head and the first magnetic pole based on each horizontal distance. This allows the grating ruler reading head of the subsequent motor mover to reach the reference point without needing to measure the horizontal distance between the grating ruler reading head and the first magnetic pole again. The calibration distance can be directly determined as the horizontal distance between the grating ruler reading head and the first magnetic pole. Then, the reference phase angle of the motor mover is determined based on the magnetic pole distance and the calibration distance. Thus, when the motor mover moves to a point where the reading information of the grating ruler reading head is the reference information of the reference point, the reference phase angle of the motor mover can be determined based on the magnetic pole distance and the calibration distance. The calculation is convenient and simple, which helps to improve the efficiency and accuracy of the determination of the reference phase angle.

[0146] Example 5

[0147] Figure 7 The flowchart of a motor commutation calibration method provided in Embodiment 5 of the present invention is as follows: Figure 7 As shown, the motor commutation calibration method includes:

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

[0149] S402. Obtain the horizontal distance: Based on the magnetic pole information, determine the calibration line current of each phase coil.

[0150] S403. Apply calibration line current to each phase coil in a one-to-one correspondence to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the 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, obtain the horizontal distance between the grating ruler reading head and the first magnetic pole.

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

[0154] S405. Return to the execution of steps S401 to S404 until the number of horizontal distances obtained is the preset number.

[0155] S406. Determine the reference phase angle of the motor mover based on each horizontal distance.

[0156] S407, Obtain the startup control current.

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

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

[0159] S408. Determine the initial line current of each phase coil based on 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 formulas for the initial line current, reference phase angle, and starting control current, by substituting the reference phase angle and starting control current into the formulas, the initial line current of each phase coil can be determined separately. Optionally, the calculation formula for the initial line current is as follows: Where θ is the reference phase angle, I a I is the line current of phase A coil. b I is the line current of phase B coil. c This is the line current of the C-phase coil.

[0161] S409. Apply initial line current to each phase coil in a one-to-one correspondence to control the movement of the motor mover.

[0162] Specifically, the calculated initial 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 Lorentz force, which can drive the motor mover to move smoothly.

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

[0164] Specifically, during the movement of the motor mover, a movement distance will be generated. The scale on the grating ruler can be obtained in real time through the grating ruler reading head, so as to determine the real-time movement distance of the motor mover based on the obtained scale.

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

[0166] Specifically, when the reading information from the motor mover grating ruler 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 mover 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 determining the real-time phase angle based on 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 based on the real-time moving distance, reference phase angle, and starting control current, including: determining the real-time line current of each phase coil based on the three-phase changing current calculation formula, using the real-time moving distance, reference phase angle, and 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, and I... a I is the line current of phase A coil. b I is the line current of phase B coil. c This is the line current of the C-phase coil.

[0170] Specifically, because the grating reading head has high reading accuracy, capable of reading micrometer- or nanometer-level scales, it can improve the reading accuracy of the moving distance L3, thereby improving the calculation accuracy of the real-time line current of each phase coil, thus achieving high-precision commutation of the three-phase coils of the motor mover.

[0171] S412. Apply real-time line current to each phase coil in a one-to-one correspondence to control the movement of the motor mover.

[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 Lorentz force, which can drive the motor mover to move smoothly.

[0173] The technical solution of this invention obtains the starting control current, determines the initial line current of each phase coil based on the reference phase angle and the starting control current, and applies the initial line current to each phase coil one-to-one to control the movement of the motor mover. During the movement of the motor mover, the real-time movement distance of the motor mover is obtained based on the grating ruler reading head. Based on the real-time movement distance, the reference phase angle, and the starting control current, the real-time line current of each phase coil is determined, and then the real-time line current is applied to each phase coil one-to-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 high reading accuracy and can read micron-level or nanometer-level scales, the reading accuracy of the movement distance 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 coils of the motor mover.

[0174] Example 6

[0175] Figure 8 This is a schematic diagram of a motor commutation calibration device provided in Embodiment Six of the present invention. This motor commutation calibration device can be implemented in 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 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 calibration line current of each phase coil based on the magnetic pole information corresponding to each phase coil.

[0178] The position movement module 47 is used to apply line current to each phase coil in a one-to-one correspondence, so as to control the motor mover to move along the first direction to the position corresponding to the first limit point, and then control the motor mover to return along the second direction to the position corresponding to the reference point; the first direction and the second direction are opposite.

[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 execution module 49, which is used to return to the execution of each step from obtaining magnetic pole information to obtaining horizontal distance, until the number of horizontal distances obtained is the preset number;

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

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

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

[0184] Example 7

[0185] Based on the same inventive concept, embodiments of the present invention provide a computer-readable storage medium storing computer instructions. The computer instructions are used to cause a processor to execute the motor commutation calibration method provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects of the execution method, which will not be elaborated here.

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

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

Claims

1. A method for motor commutation calibration, performed by a motor commutation calibration system, the method comprising: determining a motor commutation calibration value based on a motor commutation calibration algorithm; and applying the motor commutation calibration value to a motor commutation calibration system. The motor commutation calibration system comprises a motor rotor, a motor stator, a grating ruler, a grating ruler reading head and a Hall sensor group; the motor stator comprises a plurality of magnetic poles arranged in sequence, any two adjacent magnetic poles have different polarities, and any two adjacent magnetic poles have a gap therebetween; the grating ruler is fixed opposite the motor stator; the grating ruler comprises a first limit point, a second limit point and a reference point between the first limit point and the second limit point; the reference point corresponds to the gap between any two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor rotor; The motor commutation calibration method comprises the following steps: Obtaining magnetic pole information: obtaining magnetic pole information of each phase coil in the three-phase coil based on each Hall sensor; Obtaining horizontal distances: determining calibration line currents of each phase coil based on the magnetic pole information; Applying calibration line currents to each phase coil one by one to control the motor rotor to move to a position corresponding to the first limit point in a first direction and then return to a position corresponding to the reference point in a second direction; the first direction is opposite to the second direction; When the reading information of the grating ruler reading head is reference information of the reference point, obtaining a horizontal distance between the grating ruler reading head and a first magnetic pole; the first magnetic pole is located on one side of the reference point and is closest to the reference point; Returning to execute each step of 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 rotor based on each horizontal distance; Controlling the motor rotor to move through the grating ruler reading head based on the reference phase angle.

2. The motor commutation calibration method of claim 1, wherein, Determining calibration line currents of each phase coil based on the magnetic pole information, comprising: Determining a value range of each calibration line voltage of the three-phase coil based on the magnetic pole information and a corresponding curve of line voltage according to the magnetic pole information corresponding to each phase coil; Determining a calibration phase angle of the three-phase coil based on the value range of each calibration line voltage; Determining calibration line currents of each phase coil based on the calibration phase angle and a calibration start current.

3. The motor commutation calibration method of claim 1, wherein, Determining a reference phase angle of the motor rotor based on each horizontal distance, comprising: Obtaining a magnetic pole distance between two adjacent magnetic poles with the same polarity; Determining a calibration distance between the grating ruler reading head and the first magnetic pole based on each horizontal distance; Determining the reference phase angle of the motor rotor based on the magnetic pole distance and the calibration distance.

4. The motor commutation calibration method of claim 3, wherein, Determining a calibration distance between the grating ruler reading head and the first magnetic pole based on each horizontal distance, comprising: Determining an average distance of each horizontal distance based on the average value calculation formula according to each horizontal distance; Determining a distance standard deviation of each horizontal distance based on each horizontal distance and the average distance based on the standard deviation calculation formula; Determining the calibration distance between the grating ruler reading head and the first magnetic pole based on the average distance and the distance standard deviation based on the calibration distance formula.

5. The motor commutation calibration method of claim 4, wherein, The calibration distance formula is: ， wherein, is the calibrated distance, is the average distance, is the distance standard deviation.

6. The motor commutation calibration method of claim 3, wherein, According to the pole distance and the calibration distance, a reference phase angle of the motor mover is determined, including: According to the pole distance and the calibration distance, a reference phase angle of the motor mover is determined based on a reference phase angle formula; the reference phase angle formula is: ， wherein is the pole distance, is the calibration distance, is the reference phase angle.

7. The motor commutation calibration method of claim 1, wherein, According to the reference phase angle, the motor mover is controlled to move through the grating ruler reading head, including: An initial control current is obtained; According to the reference phase angle and the initial control current, initial line currents of the phase coils are respectively determined; The initial line currents are applied to the phase coils one by one to control the motor mover to move; Based on the grating ruler reading head, a real-time moving distance of the motor mover is obtained; According to the real-time moving distance, the reference phase angle and the initial control current, real-time line currents of the phase coils are determined; The real-time line currents are applied to the phase coils one by one to control the motor mover to move.

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 poles arranged in sequence, any two adjacent poles have different polarities, and any two adjacent poles have a gap therebetween; the motor mover includes three-phase coils; the grating ruler is fixed opposite to the stator; the grating ruler includes a first limit point, a second limit point and a reference point between the first limit point and the second limit point; the reference point corresponds to the gap between the adjacent two 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 motor commutation calibration device includes: A pole information acquisition module is configured to acquire pole information of poles in each phase coil of the three-phase coils based on each Hall sensor; A line current determination module is configured to determine calibration line currents of the phase coils based on the pole information; A position moving module is configured to apply the line currents to the phase coils one by one to control the motor mover to move to a position corresponding to the first limit point in a first direction and then control the motor mover to return to a position corresponding to the reference point in a second direction; the first direction is opposite to the second direction; A horizontal distance acquisition module is configured to acquire a horizontal distance between the grating ruler reading head and a first pole when reading information of the grating ruler reading head is reference information of the reference point; the first pole is located on one side of the reference point and is closest to the reference point; A return execution module is configured to return to execute each step from acquiring the pole information to acquiring the horizontal distance until a number of the acquired horizontal distances reaches a preset number; A reference phase angle determination module is configured to determine a reference phase angle of the motor mover based on each horizontal distance; A mover moving module is configured to control the motor mover to move based on the reference phase angle through the grating ruler reading head.

9. A motor commutation calibration system, characterized by, 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, any two adjacent magnetic poles have different polarities, and any two adjacent magnetic poles have a gap therebetween; the motor rotor comprises three-phase coils; The grating ruler is fixed opposite to the stator; the grating ruler comprises a first limit point, a second limit point and a reference point between the first limit point and the second limit point; the reference point corresponds to the gap between any two adjacent magnetic poles; the grating ruler reading head and the Hall sensor group are both arranged on the motor rotor; The Hall sensor group comprises three Hall sensors corresponding to the three-phase coils; The controller is in communication connection with the grating ruler reading head and the Hall sensor group, the controller is electrically connected with the control ends of the three-phase coils respectively, and the controller is used for executing the motor commutation calibration method 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 make the processor execute the motor commutation calibration method in any one of claims 1-7.

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