Method and system for automatically detecting return difference angle of motor by limiting torque

Abstract

The invention provides a method and system for automatically detecting the return difference angle of a motor through torque limitation, and the method comprises the following steps: employing a detection torque to drive the motor to rotate in a first direction until the motor meets resistance during rotation, and the detection torque is smaller than a load holding torque; the detection torque is adopted to drive the motor to rotate in the second direction until the motor rotates to meet resistance, and a return difference angle value is obtained; judging whether the return difference angle value is within a preset return difference angle value range or not; if it is judged that the return difference angle value is within the preset return difference angle value range, self-learning of the return difference angle value succeeds, and the return difference angle value is stored as a return difference compensation angle value. Deviation caused by fixed return difference value compensation can be eliminated, and the actual return difference compensation angle value is confirmed through self-learning after each product is assembled.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted actuators, and in particular to a method and a system for automatically detecting a hysteresis angle by limiting torque. Background Art

[0002] When the drive motor product is installed on the bearing (load), there will be a gap caused by assembly. These assembly gaps will cause a certain degree of transmission gap when the motor moves in the reverse direction, which will cause problems such as reduced accuracy and transmission delay. The gap value that occurs during reverse drive is called the hysteresis angle.

[0003] like Figure 1 As shown, for example: when the motor is controlled to move a and then move in the opposite direction to a, the gap will cause a deviation h between the distance a moved by the motor and the actual distance b moved by the load. This h is the hysteresis angle.

[0004] In order to improve accuracy, a fixed value is generally used as the hysteresis angle compensation value, which is compensated when the motor is reverse driven to make up for the transmission error caused by the gap. Factors such as installation position, assembly deviation, and different products will result in the failure to achieve the purpose of ensuring accuracy even after using the same hysteresis angle value for compensation, resulting in under-compensation or over-compensation.

[0005] Therefore, it is necessary to provide a new technical solution. Summary of the invention

[0006] In order to solve the technical problems existing in the prior art, the present invention discloses a method and system for automatically detecting the motor hysteresis angle by limiting the torque, which can eliminate the deviation caused by the fixed hysteresis value compensation. After each product is assembled, the actual hysteresis compensation angle value is confirmed by self-learning. The specific technical solution is as follows:

[0007] In one aspect, the present invention provides a method for automatically detecting a motor hysteresis angle by limiting torque, comprising the following steps:

[0008] Using the detection torque to drive the motor to rotate along the first direction until the motor encounters resistance, wherein the detection torque is less than the load holding torque; the first direction is clockwise or counterclockwise;

[0009] Using the detected torque to drive the motor to rotate in a second direction until the motor encounters resistance, and obtaining a hysteresis angle value, wherein the second direction is opposite to the first direction;

[0010] Determine whether the hysteresis angle value is within the preset hysteresis angle value range;

[0011] If the hysteresis angle value is determined to be within the preset hysteresis angle value range, the self-learning of the hysteresis angle value is successful;

[0012] The learned hysteresis angle value is saved as the hysteresis compensation angle value.

[0013] Further, if it is determined that the hysteresis angle value is not within the preset hysteresis angle value range, the self-learning of the hysteresis angle value fails, the self-learning is exited and the failure result is fed back.

[0014] Further, the detection torque is used to drive the motor to rotate in the first direction until the motor encounters resistance, wherein the detection torque is less than the load holding torque, specifically including:

[0015] The motor is driven to rotate in a first direction by detecting torque, and the motor shaft rotates from an initial position to a first position. At the first position, the motor shaft fits the load, and the load connected to the motor shaft prevents the motor shaft from rotating.

[0016] Further, the detection torque is used to drive the motor to rotate in the second direction until the motor encounters resistance, and the hysteresis angle value is obtained, which specifically includes:

[0017] The motor is driven to rotate in the second direction by detecting the torque. The motor rotates from the first position to the initial position and then continues to rotate in the second direction to the second position. At the second position, the motor shaft fits the load, and the load connected to the motor shaft prevents the motor shaft from rotating, thereby obtaining a hysteresis angle value, wherein the hysteresis angle value is the angle rotated by the motor when it rotates from the first position to the second position.

[0018] Furthermore, the load holding torque is the torque required for the motor to drive the load to start rotating.

[0019] The first position is a position where the motor can overcome the load resistance and drive the load to start running.

[0020] Furthermore, the step of using the detection torque to drive the motor to rotate in the first direction until the motor encounters resistance in rotation also includes setting the detection torque.

[0021] Furthermore, it also includes: repeatedly automatically detecting the motor hysteresis angle for multiple times to obtain multiple hysteresis compensation angle values, and taking an average value of the multiple hysteresis compensation angle values ​​as the actual hysteresis compensation angle value.

[0022] On the other hand, the present invention also provides a system for automatically detecting the motor hysteresis angle by limiting the torque, the system comprising an electric actuator controller, the electric actuator controller comprising a receiving module, a driving module, a determining module, a learning module and a saving module.

[0023] The receiving module is used to receive the detection torque signal;

[0024] The driving module is used to drive the motor to rotate along a first direction by using a detection torque until the motor encounters resistance, wherein the detection torque is less than the load holding torque, and the first direction is a clockwise direction or a counterclockwise direction; the driving module is also used to drive the motor to rotate along a second direction by using a detection torque until the motor encounters resistance, and obtain a hysteresis angle value, wherein the second direction is opposite to the first direction;

[0025] The determination module is used to determine whether the hysteresis angle value is within a preset hysteresis angle value range;

[0026] The learning module is used to determine that the hysteresis angle value is within a preset hysteresis angle value range, and then the self-learning of the hysteresis angle value is successful;

[0027] The storage module is used to save the learned hysteresis angle value as a hysteresis compensation angle value.

[0028] Furthermore, it also includes a setting module, and the setting module is used to set the detection torque.

[0029] The present invention has the following beneficial effects:

[0030] (1) The present invention provides a method for automatically detecting the motor hysteresis angle by limiting the torque, which can more accurately confirm the actual hysteresis angle of each part under assembly state, and more accurately perform angle compensation based on the learned actual gap value, and is suitable for water valves or AGS type electric actuator products.

[0031] (2) The present invention provides a method for automatically detecting the motor hysteresis angle by limiting the torque. The method can re-self-learn the current actual gap value at any time according to the vehicle usage to prevent angle deviation caused by wear or displacement during use. It can re-self-learn and improve the angle accuracy without the need for additional sensors and detection equipment.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of the hysteresis angle when the motor is reversely driven in the prior art;

[0035] Figure 2A schematic flow chart of a method for automatically detecting the motor hysteresis angle by limiting the torque of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the present invention using the detection torque to drive the motor clockwise;

[0037] Figure 4 This is a schematic diagram of the structure of the present invention using the detection torque to drive the motor counterclockwise. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0039] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, fixed connection, detachable connection, or integrated; mechanical connection, or electrical connection; direct connection, or indirect connection through an intermediate medium, or internal connection between two elements or interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] See also Figures 1 to 4 , Figure 1 It is a schematic diagram of the hysteresis angle when the motor is reversely driven in the prior art; Figure 2 A schematic flow chart of a method for automatically detecting the motor hysteresis angle by limiting the torque of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention using the detection torque to drive the motor clockwise; Figure 4 This is a schematic diagram of the structure of the present invention using the detection torque to drive the motor counterclockwise.

[0042] like Figure 1 As shown, the present invention provides a method for automatically detecting the motor hysteresis angle by limiting the torque, which comprises the following steps:

[0043] In this embodiment, the first direction is clockwise and the second direction is counterclockwise. In other embodiments, the first direction is counterclockwise and the second direction is clockwise. In the present invention, the first direction is opposite to the second direction.

[0044] S1. Use the detection torque to drive the motor clockwise until the motor encounters resistance, where the detection torque is less than the load holding torque, that is, the motor output torque is less than the load holding torque. The load holding torque is the torque required for the motor to drive the load to rotate, that is, the load holding torque refers to the mechanical torque given to the motor by the load end when the motor has no output torque, such as the mechanical load on the bearing end of a water valve when the valve body is filled with liquid. In other words, if the torque output by the motor is less than the load holding torque, the load will not move.

[0045] S2, using the detection torque to drive the motor to rotate counterclockwise until the motor encounters resistance, and obtain the hysteresis angle value;

[0046] S3, determining whether the hysteresis angle value is within a preset hysteresis angle value range;

[0047] S4. If it is determined that the hysteresis angle value is within the preset hysteresis angle value range, the self-learning of the hysteresis angle value is successful.

[0048] S5. Save the learned hysteresis angle value as the hysteresis compensation angle value.

[0049] Step S4 also includes, if it is determined that the hysteresis angle value is not within the preset hysteresis angle value range, then the self-learning of the hysteresis angle value fails, the self-learning is exited and the failure result is fed back. This process can be used to screen out products with large hysteresis angles, such as products with too large mechanical clearance and beyond the mechanical precision range.

[0050] Further, S1, using the detection torque to drive the motor to rotate in a clockwise direction until the motor encounters resistance, wherein the detection torque is less than the load holding torque, specifically includes:

[0051] The motor is driven to rotate in the clockwise direction by detecting the torque, and the motor main shaft rotates from the initial position to the first position. At the first position, the rotation of the motor main shaft is blocked, and the motor main shaft fits the load, that is, the load connected to the motor main shaft prevents the motor main shaft from rotating, and the motor clockwise rotation gap angle is obtained. In this step, the motor has a main shaft, and the main shaft is connected to the rotor of the motor. The external equipment connected to the motor main shaft is a load. The load can be a bearing connected to the motor main shaft, a device product connected to the bearing (i.e., a device product that affects the bearing load), such as a bearing connected to the motor main shaft, and an external device such as a water valve is connected through the bearing. Specifically, the water valve body connected to the bearing, the liquid in the water valve body and other factors will affect the load. When there is a gap between the bearing and the motor main shaft and / or there is a gap between the equipment product and the bearing. These gaps include assembly gaps, wear gaps and other gaps that affect the transmission accuracy of the motor. The following describes this step by taking the installation gap between the bearing and the motor main shaft as an example. Generally, the bearing is connected to the motor spindle by a spline insertion method. When the bearing (load) is connected to the motor spindle, the spline insertion method causes the bearing to be connected to the spindle and is not completely tight-fitting, so that there is redundancy and clearance between the bearing and the spindle. In this step, when the detection torque is used to drive the motor spindle to rotate clockwise, due to the gap between the motor spindle and the bearing, the spindle first rotates through the gap angle between the motor spindle and the bearing, and the motor spindle is unloaded at this time. Then, when the motor spindle continues to rotate, it fits with the bearing. At this time, the motor spindle rotates to the first position, because the detection torque is less than the load holding torque, that is, the detection torque cannot reach the ability to drive the bearing to move, so the motor spindle encounters bearing resistance when it rotates to the first position, and the angle of the motor rotation is the motor clockwise rotation gap angle. It should be noted that the first position is also the position where the motor can overcome the load resistance and drive the load to start running. It should be noted that the clockwise rotation of the motor is to make the motor fit the load. The gap angle of the motor when it rotates clockwise is only the gap angle of the clockwise movement, not the total gap angle, and is not recorded. The total gap angle is the angle that the motor rotates in the opposite direction after fitting the load to fit the load again. It should be noted that due to factors such as material elasticity, multiple detection torques within the effective range are used for testing according to the actual product, and then the optimal detection torque value is selected.

[0052] Further, S2, using the detection torque to drive the motor to rotate counterclockwise until the motor encounters resistance, and obtaining the hysteresis angle value; specifically including:

[0053] The detection torque is used to drive the motor to rotate counterclockwise, and the motor spindle rotates from the first position to the initial position. The motor spindle and the bearing rotate from the fitting state of the first position to the non-fitting state of the initial position, and then the motor spindle continues to rotate counterclockwise from the initial position to the second position. At the second position, the motor spindle and the load fit again, and the motor spindle encounters resistance, that is, the bearing load connected to the motor spindle prevents the motor spindle from rotating. The entire rotation of the motor spindle from the first position to the initial position and then to the second position is recorded as the gap between the spindle and the bearing, and the gap angle recorded is the hysteresis angle value. Among them, the hysteresis angle value is the angle rotated by the motor from the first position to the second position.

[0054] In order to improve the transmission accuracy of the motor, a fixed value is generally used as the hysteresis angle compensation value, and compensation is performed when the motor is reversely driven to make up for the transmission error caused by the gap. Due to factors such as installation position, assembly deviation, and different products, the purpose of ensuring accuracy cannot be achieved after compensation with the same hysteresis angle value, and insufficient compensation or over-compensation may occur. The present invention can use different detection torques according to different load holding torques. The detection torque will be defined in the diagnostic command of the hysteresis angle self-learning. When the hysteresis angle detected by a certain detection torque is within the preset hysteresis angle value range, when the hysteresis angle value is saved as the hysteresis compensation angle value, when the hysteresis angle value is self-learned, the detection torque is also defined or saved.

[0055] It should be noted that when there is a gap between the motor main shaft and the bearing, and there is a gap between the bearing and the external equipment product, or when there is no gap between the motor main shaft and the bearing, and there is a gap between the bearing and the external equipment product, the same detection method is used.

[0056] The following uses the example of an actuator driving a water valve to illustrate the test process of the hysteresis angle value. The motor main shaft of the actuator is connected to a bearing, and the water valve is connected to the bearing. Figure 2 and Figure 3 The bearing and the motor shaft have installation clearance, and the bearing and the water valve are the bearing end loads. Figure 2 and 3 , taking the bearing end as the load and the driving force less than 0.5Nm as the detection torque, the bearing end always has a load holding torque greater than 0.5Nm. Figure 2 As shown, the motor 1 is driven clockwise with a torque less than 0.5Nm, and the motor shaft moves clockwise to fit the bearing 2. The motor is blocked because the set detection torque is less than the load holding torque, that is, the motor output torque is less than the load holding torque. During the clockwise rotation, the bearing will not move, that is, the load remains stationary. Figure 3 As shown, drive counterclockwise with a torque less than 0.5Nm Figure 2The motor in the embodiment of the present invention, the motor main shaft moves counterclockwise to fit the bearing 2, the motor encounters resistance, and the angle of counterclockwise movement of the motor is the hysteresis angle value. Therefore, it can be seen that the key to the present invention is to drive the motor with a driving force less than the load holding torque, let the motor rotate until it encounters resistance, and then move in the reverse direction to confirm the hysteresis angle value that needs to be compensated after encountering resistance.

[0057] In one embodiment, steps S1 to S5 are repeated to automatically detect the motor hysteresis angle multiple times to obtain multiple hysteresis compensation angle values, and the average value of the hysteresis compensation angle values ​​is taken as the actual hysteresis compensation angle value. When the motor is reversely driven, the actual hysteresis compensation angle value is used for angle compensation to make up for the transmission error. Generally, products with greater elasticity will affect the detection accuracy. The detection can be repeated multiple times, and the average value of the hysteresis compensation angle values ​​is taken as the actual hysteresis compensation angle value. If the product is reassembled, it is necessary to re-detect and self-learn. In addition, different gap values ​​are re-detected and self-learned according to different variants connected to the motor and different installation positions.

[0058] The present invention confirms the actual hysteresis angle of each different product by driving the motor with a limited torque. The motor is driven in two opposite directions by giving the motor a detection torque that is less than the load holding torque, and the hysteresis angle value is confirmed as the hysteresis compensation angle value by the angle of the motor movement when driven in the direction opposite to the first driving direction. When the motor is driven in reverse, the hysteresis angle compensation is performed to compensate for the transmission error. The method of the present invention for automatically detecting the motor hysteresis angle by limiting the torque can also be to detect and re-self-learn the current hysteresis compensation angle value at any time during the normal driving of the motor. The present invention can select different hysteresis compensation angle values ​​according to factors such as installation position, assembly deviation, and different products, and can eliminate the deviation caused by the fixed hysteresis compensation angle value. After each product is assembled, the actual hysteresis compensation angle value is confirmed by self-learning, thereby accurately compensating for the transmission error without under-compensation or over-compensation.

[0059] The present invention also provides a system for automatically detecting the motor hysteresis angle by limiting the torque, the system comprising an electric actuator controller, the electric actuator controller comprising a receiving module, a setting module, a driving module, a determining module, a learning module and a saving module.

[0060] The setting module is used to set a detection torque, wherein the detection torque is smaller than a load holding torque.

[0061] The receiving module is used to receive a set detection torque signal.

[0062] The driving module is used to drive the motor to rotate along a first direction using the received detection torque until the motor encounters resistance, wherein the detection torque is smaller than the load holding torque, and the first direction is clockwise or counterclockwise.

[0063] The driving module is also used to drive the motor to rotate along a second direction by using the detection torque until the motor encounters resistance, and obtain the hysteresis angle value, wherein the second direction is opposite to the first direction.

[0064] The determination module is used to determine whether the hysteresis angle value is within a preset hysteresis angle value range.

[0065] The learning module is used to determine that the hysteresis angle value is within a preset hysteresis angle value range, and then the self-learning of the hysteresis angle value is successful.

[0066] The storage module is used to save the learned hysteresis angle value as a hysteresis compensation angle value.

[0067] When the motor is driven in reverse, the system of the present invention can perform hysteresis angle compensation according to the hysteresis compensation angle value through the compensation module of the controller.

[0068] The present invention is applicable to vehicle-mounted motor products, such as active grille actuators, flow valve actuators, water valve actuators, AGS actuators, etc. The actuator mainly refers to a gear train transmission device based on motor control, which decelerates through a micro-motor transmission gear train, and then drives the output gear train to rotate, outputting a certain speed and torque as required to adjust the rotation of the air conditioner damper or the opening and closing of the cooling water valve.

[0069] The present invention can more accurately confirm the actual hysteresis angle of each part under assembly, and perform angle compensation more accurately based on the learned actual gap angle value. For example, for a water valve actuator, factors such as the size of each part and the deviation of the installation position will cause the gap angle value of each product to be slightly different. If a fixed gap angle value is used for angle compensation, the compensation may be too large or too small, causing the valve to be loosely closed or unable to accurately control the valve to open to the required position, affecting efficiency, etc. In addition, the present invention can re-self-learn the current actual gap value at any time according to the vehicle usage, to prevent angle deviation caused by wear or displacement during use, and can re-self-learn and improve angle accuracy without the need for additional sensors and detection equipment.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0071] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify and vary the above embodiments within the scope of the present invention.

Claims

1. A method for automatically detecting the motor hysteresis angle by limiting the torque, characterized in that: It includes the following steps: Using the detection torque to drive the motor to rotate along the first direction until the motor encounters resistance, wherein the detection torque is less than the load holding torque; the first direction is clockwise or counterclockwise; Using the detected torque to drive the motor to rotate in a second direction until the motor encounters resistance, and obtaining a hysteresis angle value, wherein the second direction is opposite to the first direction; Determine whether the hysteresis angle value is within the preset hysteresis angle value range; If the hysteresis angle value is determined to be within the preset hysteresis angle value range, the self-learning of the hysteresis angle value is successful; The learned hysteresis angle value is saved as the hysteresis compensation angle value.

2. The method for automatically detecting the motor hysteresis angle according to claim 1, characterized in that: If it is determined that the hysteresis angle value is not within the preset hysteresis angle value range, the self-learning of the hysteresis angle value fails, the self-learning is exited and the failure result is fed back.

3. The method for automatically detecting the motor hysteresis angle according to claim 2, characterized in that: The detection torque is used to drive the motor to rotate in a first direction until the motor encounters resistance, wherein the detection torque is less than the load holding torque, specifically including: The motor is driven to rotate in a first direction by detecting torque, and the motor shaft rotates from an initial position to a first position. At the first position, the motor shaft fits the load, and the load connected to the motor shaft prevents the motor shaft from rotating.

4. The method for automatically detecting the motor hysteresis angle according to claim 3, characterized in that: The detection torque is used to drive the motor to rotate in the second direction until the motor encounters resistance, and the hysteresis angle value is obtained, which specifically includes: The motor is driven to rotate in the second direction by detecting the torque. The motor rotates from the first position to the initial position and then continues to rotate in the second direction to the second position. At the second position, the motor shaft fits the load, and the load connected to the motor shaft prevents the motor shaft from rotating, thereby obtaining a hysteresis angle value, wherein the hysteresis angle value is the angle rotated by the motor when it rotates from the first position to the second position.

5. The method for automatically detecting the motor hysteresis angle according to claim 4, characterized in that: The load holding torque is the torque required for the motor to drive the load to start rotating. The first position is a position where the motor can overcome the load resistance and drive the load to start running.

6. The method for automatically detecting the motor hysteresis angle according to claim 1, characterized in that: The step of using the detection torque to drive the motor to rotate in the first direction until the motor encounters resistance in rotation also includes setting the detection torque.

7. The method for automatically detecting the motor hysteresis angle according to claim 1, characterized in that: Also includes: The motor hysteresis angle is detected repeatedly and automatically for multiple times to obtain multiple hysteresis compensation angle values, and the average value of the multiple hysteresis compensation angle values ​​is taken as the actual hysteresis compensation angle value.

8. A system for automatically detecting the motor hysteresis angle by limiting the torque, characterized in that: The system includes an electric actuator controller, which includes a receiving module, a driving module, a determining module, a learning module and a saving module. The receiving module is used to receive the detection torque signal; The driving module is used to drive the motor to rotate along a first direction by using a detection torque until the motor encounters resistance, wherein the detection torque is less than the load holding torque, and the first direction is a clockwise direction or a counterclockwise direction; the driving module is also used to drive the motor to rotate along a second direction by using a detection torque until the motor encounters resistance, and obtain a hysteresis angle value, wherein the second direction is opposite to the first direction; The determination module is used to determine whether the hysteresis angle value is within a preset hysteresis angle value range; The learning module is used to determine that the hysteresis angle value is within a preset hysteresis angle value range, and then the self-learning of the hysteresis angle value is successful; The storage module is used to save the learned hysteresis angle value as a hysteresis compensation angle value.

9. The system according to claim 8, characterized in that It also includes a setting module, which is used to set the detection torque.

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