Motor control method, servo driver and servo motor control system

Abstract

The invention discloses a motor control method, a servo driver and a servo motor control system, and relates to the technical field of motor control, and the method comprises the steps: obtaining a phase angle identification instruction, inputting amplitude currents of different electrical angles to a stator of a motor based on the phase angle identification instruction, and enabling the amplitude currents of different electrical angles to be obtained; obtaining a magnetic pole angle of a rotor of the motor under the control of the amplitude current; and determining a motor phase angle according to the amplitude current, the magnetic pole angle and preset related identification information, and controlling the motor based on the motor phase angle. According to the invention, when the actual d-axis and the control d-axis have deviation, the accuracy of motor control is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a motor control method, a servo driver and a servo motor control system. BACKGROUND

[0002] With the development of motor control technology, users have higher requirements for motor control. The traditional motor control method directly assumes that the actual d-axis (magnetic pole) coincides with the control d-axis, and then directly determines the motor phase angle to be 0, and controls the motor based on the motor phase angle of 0. This motor control method needs to assume that the actual d-axis (magnetic pole) coincides with the control d-axis, and needs to control the d-axis to deviate from the actual d-axis in the vertical axis application or the horizontal axis with external force interference, and then causes the accuracy of motor control to be low due to the deviation between the actual d-axis and the control d-axis.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a motor control method, a servo driver and a servo motor control system, which aims to solve the technical problem of low accuracy of motor control when the actual d-axis deviates from the control d-axis.

[0005] To achieve the above-mentioned purpose, the present application provides a motor control method, which comprises:

[0006] Obtaining a phase angle identification instruction, inputting an amplitude current of different electric angles to the stator of the motor based on the phase angle identification instruction, and obtaining a magnetic pole angle of the rotor of the motor under the control of the amplitude current;

[0007] Determining a motor phase angle according to the amplitude current, the magnetic pole angle and the preset related identification information, and controlling the motor based on the motor phase angle.

[0008] In an embodiment, the related identification information includes a motor torque constant, a motor torque direction relationship and a maintenance torque value of the motor, and the step of determining the motor phase angle according to the amplitude current, the magnetic pole angle and the preset related identification information comprises:

[0009] Determining the ratio between the maintenance torque value and the motor torque constant as a torque current component;

[0010] Determining a phase included angle based on the torque current component and a first amplitude current in the amplitude current, and determining a first magnetic pole angle in the magnetic pole angle, wherein the first magnetic pole angle is the magnetic pole angle of the rotor of the motor under the control of the first amplitude current.

[0011] determining a phase included angle based on the phase included angle, the motor torque direction relationship and the first magnetic pole angle.

[0012] In an embodiment, the related recognition information comprises a motor torque direction relationship of the motor, and the step of determining a motor phase angle based on the amplitude current, the magnetic pole angle and the related recognition information comprises:

[0013] determining a first amplitude current, a second amplitude current, a first magnetic pole angle of a rotor of the motor controlled by the first amplitude current and a second magnetic pole angle of the rotor of the motor controlled by the second amplitude current, the first amplitude current being different from the second amplitude current;

[0014] determining a size relationship between the first amplitude current and the second amplitude current, and determining an included angle value between the first magnetic pole angle and the second magnetic pole angle based on the size relationship;

[0015] determining a phase included angle based on the included angle value, the first amplitude current and the second amplitude current, and determining a motor phase angle based on the phase included angle, the motor torque direction relationship and the first magnetic pole angle.

[0016] In an embodiment, the motor torque direction relationship comprises a first direction relationship in which an external force direction is opposite to a positive torque direction of the motor, and a second direction relationship in which the external force direction is the same as the positive torque direction of the motor, and the step of determining a motor phase angle based on the phase included angle, the motor torque direction relationship and the first magnetic pole angle comprises:

[0017] if the motor torque direction relationship is the first direction relationship, determining a difference value between the first magnetic pole angle and the phase included angle as a motor phase angle;

[0018] if the motor torque direction relationship is the second direction relationship, determining a sum value between the first magnetic pole angle and the phase included angle as a motor phase angle.

[0019] In an embodiment, the size relationship comprises a first size relationship in which the second amplitude current is smaller than the first amplitude current, and a second size relationship in which the first amplitude current is smaller than the second amplitude current, and the step of determining an included angle value between the first magnetic pole angle and the second magnetic pole angle based on the size relationship comprises:

[0020] if the size relationship is the first size relationship, determining a difference value between the second magnetic pole angle and the first magnetic pole angle as an included angle value;

[0021] If the size relationship is the second size relationship, a difference value between the first magnetic pole angle and the second magnetic pole angle is determined as a included angle value.

[0022] In an embodiment, after the step of determining the phase included angle based on the included angle value, the first amplitude current and the second amplitude current, the method further comprises:

[0023] If the size relationship is the first size relationship, the step of determining the motor phase angle based on the phase included angle, the motor torque direction relationship and the first magnetic pole angle is performed;

[0024] If the size relationship is the second size relationship, a value of the first magnetic pole angle is updated as a value of the second magnetic pole angle, and the step of determining the motor phase angle based on the phase included angle, the motor torque direction relationship and the first magnetic pole angle is performed based on the first magnetic pole angle after the update.

[0025] In an embodiment, after the step of determining the motor phase angle based on the amplitude current, the magnetic pole angle and the preset related recognition information, the method further comprises:

[0026] determining a motor torque direction relationship in preset related recognition information, wherein the motor torque direction relationship comprises a first direction relationship that an external force direction is opposite to a motor positive torque direction and a second direction relationship that the external force direction is same as the motor positive torque direction;

[0027] If the motor torque direction relationship is the first direction relationship, a first difference value between the second magnetic pole angle and the included angle value is determined, and a difference value between the first difference value and the phase included angle is determined as a motor phase angle;

[0028] If the motor torque direction relationship is the second direction relationship, a first sum value between the second magnetic pole angle and the included angle value is determined, and a sum value between the first sum value and the phase included angle is determined as a motor phase angle.

[0029] In an embodiment, before the step of determining the motor phase angle based on the amplitude current, the magnetic pole angle and the preset related recognition information, the method comprises:

[0030] obtaining a phase angle recognition instruction, controlling a rotor of the motor to be at different magnetic pole angles based on the phase angle recognition instruction, and obtaining an amplitude current input by a stator of the motor at the magnetic pole angle.

[0031] In addition, to achieve the above object, the application further provides a servo driver, which comprises a controller and a driver, the driver is connected with the controller, and the controller is used for executing the motor control method.

[0032] In addition, to achieve the above object, the application further provides a servo motor control system, which comprises a servo motor and the above servo driver connected with the servo motor.

[0033] The application provides a motor control method, which comprises the following steps: obtaining a phase angle identification instruction, inputting an amplitude current with different electric angles into a stator of the motor based on the phase angle identification instruction, and obtaining a magnetic pole angle of a rotor of the motor under control of the amplitude current; determining a motor phase angle according to the amplitude current, the magnetic pole angle and preset related identification information, and controlling the motor based on the motor phase angle. By inputting the amplitude current and determining the magnetic pole angle of the rotor of the motor under control of the amplitude current, the motor phase angle can be determined based on the amplitude current, the magnetic pole angle and the related identification information, and then the motor is controlled based on the determined motor phase angle, instead of directly defining the motor phase angle as 0 and directly controlling the motor based on the motor phase angle as 0, so that the accuracy of motor control can be improved when there is a deviation between an actual d-axis and a control d-axis (the motor phase angle is not 0). BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a controller control device structure schematic diagram of a hardware running environment related to an embodiment scheme of the application;

[0035] Figure 2 It is a flowchart of the motor control method of the application;

[0036] Figure 3 It is an identification schematic diagram of the first embodiment of the motor control method of the application;

[0037] Figure 4 It is an identification schematic diagram of the second embodiment of the motor control method of the application;

[0038] Figure 5 It is an identification schematic diagram of the third embodiment of the motor control method of the application;

[0039] Figure 6 It is a frame schematic diagram of the servo motor control system of the application;

[0040] Figure 7 It is a module schematic diagram of a controller in the servo driver of the application.

[0041] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings.

[0042] Explanation of reference signs:

[0043] 100, parameter output module; 200, to-be-driven module; 0001, communication bus; 0002, acquisition interface; 0003, processor; 0004, processing interface; 0005, memory. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0045] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0046] When controlling the motor, the motor phase angle needs to be identified first, and then the motor is controlled based on the determined motor phase angle. The traditional motor phase angle identification method generally directly assumes that the motor is not affected by external force, injects current in the direction, and takes the direction in which the motor does not produce displacement as the real d-axis of the motor, for example, refer to Figure 3 , Figure 3 The identification schematic diagram of the first embodiment of the motor control method of the present application is also assumed that the actual d-axis (magnetic pole) coincides with the control d-axis. However, in the vertical axis application or the horizontal axis exists external force disturbance, such as robot arm, due to the influence of constant load torque, if the motor position is to be kept unchanged, the d-axis needs to be controlled to have a deviation from the actual d-axis to provide torque to maintain the motor position unchanged, thereby causing the above identification method to have errors. To eliminate the error, the common solution generally uses the fine adjustment method to search for the accurate phase angle, that is, as described in Figure 3 , a current amplitude is randomly given, and the corresponding angle at this time is determined, and then the current amplitude after adjustment is determined at a certain adjustment angle. If the current amplitude after adjustment is smaller than the current amplitude before adjustment, the phase angle corresponding to the current amplitude after adjustment-90° is determined as the motor phase angle. The principle is that when the component of the current amplitude on the q-axis is the current amplitude and the component on the d-axis is 0, the determined phase angle is 90°+motor phase angle (that is, the angle value from the control d-axis to the actual q-axis). However, at least the following problems exist at this time. If the adjustment angle is large each time, the motor phase angle determination accuracy is not high. If the adjustment angle is small each time, the motor phase angle determination efficiency is not high.

[0047] Therefore, based on the deficiencies of the above motor control scheme, the motor control method of the present application is proposed, and the main solution of the embodiments of the present application is: by inputting the amplitude current, the magnetic pole angle of the rotor of the motor under the amplitude current control is determined, and then the motor phase angle can be determined based on the amplitude current, the magnetic pole angle and the related identification information, at this time, the motor is controlled based on the determined motor phase angle, rather than directly defining the motor phase angle as 0 and directly controlling the motor based on the motor phase angle as 0, and then the accuracy of motor control can be improved when there is a deviation between the actual d-axis and the control d-axis (the motor phase angle is not 0).

[0048] Referring to Figure 1 , Figure 1 The controller control device structure diagram of the hardware running environment involved in the embodiment scheme of the present application.

[0049] As Figure 1 shown, the controller control device can include a processor 0003, such as a central processing unit (CPU), a communication bus 0001, an acquisition interface 0002, a processing interface 0004, and a memory 0005. The communication bus 0001 is used to realize the connection and communication between the components. The acquisition interface 0002 can include an information acquisition device, an acquisition unit such as a computer, and the optional acquisition interface 0002 can also include a standard wired interface and a wireless interface. The processing interface 0004 can optionally include a standard wired interface and a wireless interface. The memory 0005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 0005 can also be an independent storage device from the aforementioned processor 0003.

[0050] Those skilled in the art can understand Figure 1 that the structure shown in the above description does not constitute a limitation on the controller control device, and can include more or fewer components than the diagram, or combine certain components, or different component arrangements.

[0051] As Figure 1 shown, the memory 0005 as a computer storage medium can include an operating system, an acquisition interface module, a processing interface module, and a computer program.

[0052] In Figure 1The controller controls the device, the communication bus 0001 is mainly used for realizing the connection communication between components; the acquisition interface 0002 is mainly used for connecting the background server and communicating data with the background server; the processing interface 0004 is mainly used for connecting the deployment end (user end) and communicating data with the deployment end; the processor 0003 and the memory 0005 in the controller control device can be arranged in the controller control device, the controller control device calls the computer program stored in the memory 0005 through the processor 0003, and executes the motor control method provided in the embodiment of the application.

[0053] Based on the above hardware structure, the motor control method embodiment of the application is proposed.

[0054] In an embodiment of the application, as shown in the figure, Figure 2 Figure 2 The figure is a flowchart of the motor control method, and the motor control method comprises:

[0055] In step S10, a phase angle identification instruction is acquired, different amplitude currents of different electric angles are input to the stator of the motor based on the phase angle identification instruction, and the magnetic pole angle of the rotor of the motor under the control of the amplitude current is acquired.

[0056] In this embodiment, when the motor is controlled, the motor phase angle needs to be determined first, and then the motor phase angle can be controlled based on the motor phase angle. By acquiring the phase angle identification instruction, different amplitude currents of different electric angles are input to the stator of the motor (which can be a permanent magnet synchronous motor) based on the phase angle identification instruction, and the magnetic pole angle of the rotor of the motor under the control of the amplitude current is acquired. That is, the phase angle identification instruction is the amplitude current of different electric angles input to the stator of the motor. Different amplitude currents of different electric angles refer to currents of different amplitudes. Because the amplitudes of the currents are different, the actual electric angles will be different, and then the magnetic pole angle of the stator of the motor under the control of the amplitude current at this time is acquired, that is, the angle between the stator of the motor and the control d-axis at this time. At this time, the magnetic pole angle under the control of the amplitude current of different electric angles is acquired, and then the amplitude current and the magnetic pole angle under the control of the amplitude current can be stored as a group of identification information in the internal storage of the control or the storage space of the cloud, and then the internal identification information is called through specific tag information when it is needed to be used subsequently, and the motor phase angle is determined, so as to facilitate the subsequent motor control.

[0057] ​In an embodiment, for the identification information, a magnitude current can be input, and then the rotor magnetic pole angle at this time is collected through the position sensor inside the motor; or the rotor magnetic pole angle at this time can be determined, and the current magnitude at this time is collected through the current sensor inside the motor. Then the identification information is stored with the tag information, such as the time when the identification information is obtained, as the tag information, and then when the motor angle needs to be determined subsequently, the identification information of the nearest time tag is randomly selected to determine the motor phase angle, and then the motor is controlled after the motor phase angle is determined. It is worth noting that this embodiment determines the motor phase angle based on the magnitude current and the magnetic pole angle, rather than adjusting the angle once by once to determine the minimum magnitude current, thereby greatly improving the identification efficiency of the motor phase angle, and compared with the scheme of directly taking 0 as the motor phase angle, the accuracy of motor control can be greatly improved.

[0058] Step S20, determining the motor phase angle based on the magnitude current, the magnetic pole angle, and the preset related identification information, and controlling the motor based on the motor phase angle.

[0059] In this embodiment, after the magnitude current and the magnetic pole angle are determined, the motor phase angle is directly determined based on the magnitude current, the magnetic pole angle, and the preset related identification information, rather than adjusting the angle and then determining the current magnitude to determine the motor phase angle, thereby improving the efficiency of motor control. The related identification information refers to the relevant information of the motor, such as the motor torque constant, the motor torque direction relationship, and the maintenance torque value, and then the motor phase angle can be determined directly based on the phase angle identification information and the stored identification information without accessing different currents based on a certain adjustment angle and determining the motor phase angle after multiple controls, thereby improving the efficiency of the motor phase angle. It is worth noting that the motor torque constant, the motor torque direction relationship, and the maintenance torque value can be directly input from the outside or calculated from the motor parameters or set in the motor parameters, which is not limited here.

[0060] In an embodiment, because the identification information can also include multiple sets of magnitude currents and magnetic pole angles, and the motor torque constant, the motor torque direction relationship, and the maintenance torque value in the related identification information determine the motor phase angle for motor control. At this time, the motor phase angle can be determined based on two sets of magnitude currents and magnetic pole angles and the motor torque direction relationship, or based on the motor torque constant, the maintenance torque value, one set of magnitude current and magnetic pole angle, and the motor torque direction relationship. That is, the motor phase angle can be determined based on two sets of magnitude currents and magnetic pole angles or one set of magnitude current and magnetic pole angle and the motor torque constant and the maintenance torque value, and at this time the motor torque direction relationship is used to determine the motor phase angle based on the direction of the external force and the direction of the motor positive torque, such as subtraction calculation when they are the same, and addition calculation when they are opposite.

[0061] In an embodiment, after the motor phase angle is determined, an accurate output torque component is determined based on the motor phase angle, and the motor is accurately controlled based on the accurate output torque component. The motor control efficiency can be improved, and the like. Figure 2 If the motor phase angle (the angle between the control d-axis and the actual d-axis) is not accurately determined, the subsequent control will have errors, and in severe cases, the direct control will be out of control, thereby affecting the actual use. The control of the entire motor can also control multiple motors. By separately storing the identification information of each motor, the motor phase angle of each motor is determined based on the identification information, and the motor phase angle of each motor is finally stored separately. When the motor is controlled, the motor phase angle in the memory is obtained based on the identification information of each motor, and the motor is accurately controlled based on the motor phase angle of each motor.

[0062] In the embodiment, a motor control method is provided. A phase angle identification instruction is obtained, different amplitude currents of different electric angles are input to the stator of the motor based on the phase angle identification instruction, and the magnetic pole angle of the rotor of the motor under the control of the amplitude currents is obtained. The motor phase angle is determined according to the amplitude currents, the magnetic pole angle, and the preset related identification information, and the motor is controlled based on the motor phase angle. By inputting the amplitude currents and determining the magnetic pole angle of the rotor of the motor under the control of the amplitude currents, the motor phase angle can be determined based on the amplitude currents, the magnetic pole angle, and the related identification information. At this time, the motor is controlled based on the determined motor phase angle, rather than directly defining the motor phase angle as 0 and controlling the motor based on the motor phase angle of 0. Therefore, when there is a deviation between the actual d-axis and the control d-axis (the motor phase angle is not 0), the accuracy of motor control can be improved.

[0063] Further, based on the first embodiment of the present application, a second embodiment of the motor control method of the present application is proposed. In the embodiment, the related identification information includes the motor torque constant, the motor torque direction relationship, and the maintenance torque value of the motor. The step of determining the motor phase angle according to the amplitude currents, the magnetic pole angle, and the preset related identification information includes:

[0064] Step S201: determining the ratio between the maintenance torque value and the motor torque constant as a torque current component;

[0065] Step S202: determining a phase included angle based on the torque current component and a first amplitude current in the amplitude currents, and determining a first magnetic pole angle in the magnetic pole angle, wherein the first magnetic pole angle is the magnetic pole angle of the rotor of the motor under the control of the first amplitude current;

[0066] Step S203, determining the motor phase angle according to the phase angle, the motor torque direction relationship and the first magnetic pole angle.

[0067] In the embodiment, when the relevant identification information includes the motor torque constant, the motor torque direction relationship and the maintaining torque value, the motor phase angle is determined based on the motor torque constant, the maintaining torque value and the amplitude current and the magnetic pole angle, wherein the motor torque constant refers to a defined motor parameter, such as 1 N / mA, the maintaining torque value refers to a defined torque value, such as 1 N, and the ratio between the maintaining torque value and the motor torque constant can be used as the torque current component, that is, the torque current component is 1 mA. Referring to Figure 4 , Figure 4 The identification schematic diagram of the second embodiment of the motor control method of the application is shown in FIG. 2. When the first amplitude current (the amplitude current input to the stator of the motor) is A1, the first magnetic pole angle (the magnetic pole angle of the rotor of the motor under the control of the first amplitude current) of the rotor of the motor is θ1, and the torque current component determined at this time is the component length of the first amplitude current A1 on the actual q axis (that is, the perpendicular distance from the first amplitude current A1 to the actual q axis, that is, the length of op in the figure). That is, the length of op and the first amplitude current A1 (the length from o to A1) are determined at this time, and the phase angle is determined based on the torque current component and the first amplitude current, that is, the angle θ3 in the figure is determined, and finally the motor phase angle is determined based on the phase angle, the motor torque direction relationship and the first magnetic pole angle, wherein the motor phase angle corresponds to θ in the figure. The motor phase angle can be directly determined based on the motor torque constant, the maintaining torque value and the first amplitude current and the first magnetic pole angle, without changing the current amplitude multiple times, and the motor control efficiency can be greatly improved. At the same time, by avoiding directly determining the motor phase angle as 0, the deficiency of subsequent motor control is avoided, and the accuracy of motor control is improved.

[0068] In an embodiment, the memory connected with the controller (which can be arranged in one instrument) or the cloud memory can pre-store the motor torque constant, the motor torque direction relationship and the maintaining torque value, and the controller also controls the stored identification information after step S10 is performed. Alternatively, the obtained identification information is directly used, for example, when there are multiple identification information, one set of identification information is randomly selected, for example, the identification information closest to the time in the label, and the first amplitude current and the first magnetic pole angle (which are distinguished from the amplitude current and the magnetic pole angle, and are explained as the first amplitude current and the first magnetic pole angle here) under the storage are called, and the step of determining the motor phase angle according to the amplitude current, the magnetic pole angle and the preset relevant identification information is performed by calling the first amplitude current and the first magnetic pole angle and the stored motor torque constant, the motor torque direction relationship and the maintaining torque value.

[0069] In an embodiment, the phase angle can be determined by directly solving the angle pA1o based on the length of the op and the first amplitude current A1, and since pA1 is parallel to the actual d-axis, the angle pA1o is the angle of θ3. The phase angle can also be determined by other methods, mainly based on the fact that pA1 is parallel to the actual d-axis, and the triangle pA1o is a right triangle, and then solving the angle of θ3 based on the above conditions.

[0070] In an embodiment, a rotating machine is used for vertical axis application, the mover gravity is opposite to the positive direction of the machine torque (i.e. the machine torque direction relationship includes a first direction relationship in which the external force direction is opposite to the positive direction of the machine torque), the torque value is maintained at 1 Nm, the machine torque constant is 1 Nm / A, i.e. 1 A of torque current component (i.e. torque current component) needs to be generated in the real q-axis to maintain the machine position from falling, and the machine real magnetic pole position corresponds to a commutation angle of 45° (the actual value is unknown, i.e. the machine phase angle needs to be solved). If there is a first amplitude current A1 = 3A, to maintain the mover from falling, the current component in the real q-axis is 1A (i.e. torque current component), and the corresponding d-axis current component is root 8, the control d-axis phase angle corresponding to the first current amplitude should be 64.47° (i.e. the first magnetic pole angle θ1), and then the phase angle is determined as sin -1 (1 / 3) = 19.47°, because the machine torque direction relationship includes a first direction relationship in which the external force direction is opposite to the positive direction of the machine torque, the machine angle is 64.47°-19.47° = 45°, and then the machine angle is directly solved, and the machine can be accurately controlled.

[0071] Further, based on the first embodiment and / or the second embodiment of the application described above, a third embodiment of the motor control method of the application is proposed. In this embodiment, the relevant identification information includes the machine torque direction relationship of the motor, and the step of determining the motor phase angle according to the amplitude current, the magnetic pole angle and the preset relevant identification information comprises:

[0072] Step S211, determining a first amplitude current and a second amplitude current in the amplitude current, a first magnetic pole angle of a rotor of the motor controlled by the first amplitude current, and a second magnetic pole angle of the rotor of the motor controlled by the second amplitude current, the first amplitude current being different from the second amplitude current;

[0073] Step S212, determining the size relationship between the first amplitude current and the second amplitude current, and determining the angle value between the first magnetic pole angle and the second magnetic pole angle based on the size relationship;

[0074] Step S213, determining a phase angle based on the included angle value, the first amplitude current and the second amplitude current, and determining a motor phase angle based on the phase angle, the motor torque direction relationship and the first magnetic pole angle.

[0075] In the embodiment, the relevant identification information can only include the motor torque direction relationship, and the motor phase angle is determined based on the two sets of amplitude currents and magnetic pole angles stored in step S10. In this case, the first amplitude current, the second amplitude current, the first magnetic pole angle of the rotor of the motor under the control of the first amplitude current, and the second magnetic pole angle of the rotor of the motor under the control of the second amplitude current are required, that is, two identification information are randomly found in the memory, and the amplitude currents in the two identification information are not equal. Then, the size relationship between the second amplitude current and the first amplitude current is determined, and then the included angle value between the second magnetic pole angle and the first magnetic pole angle is determined based on the size relationship, that is, Figure 4 The angle difference between θ2 and θ1 is determined in step S213. The advantage of determining the size relationship is that it is convenient for subsequent calculation of the included angle value and the motor phase angle. Then, the phase angle θ3 can be determined based on the included angle value, the first amplitude current and the second amplitude current. Then, the motor phase angle θ corresponding to the figure can be determined based on the phase angle θ3, the motor torque direction relationship and the first magnetic pole angle. Then, the motor phase angle can be directly determined based on the two sets of amplitude currents and magnetic pole angles and the motor torque direction relationship, without changing the current amplitude multiple times, thereby greatly improving the motor control efficiency.

[0076] In an embodiment, the phase angle θ3 is calculated based on the first amplitude current A1, the first magnetic pole angle θ1 in the first set of identification information in step S201, and the second amplitude current A2, the second magnetic pole angle θ2 in the second set of identification information in step S202. Figure 4

[0077]

[0078] Wherein θ2-θ1 is the included angle value, and then the phase angle θ3 can be solved based on the above method, or other methods can be used for solving, and the solving conditions are the right triangle poA1 and poA2, the included angle value θ2-θ1, and then the phase angle θ3 is solved.

[0079] ​In an embodiment, the memory pre-stores the motor torque direction relationship, and then the controller controls the obtained identification information after step S10. Alternatively, the obtained identification information is directly used, for example, when there are multiple identification information, two sets of identification information are randomly selected, for example, the identification information closest to the time in the label, and then the first amplitude current and the first magnetic pole angle, the second amplitude current and the second magnetic pole angle (to distinguish from the amplitude current and the magnetic pole angle, the first amplitude current and the first magnetic pole angle, the second amplitude current and the second magnetic pole angle are used for illustration) are called from the memory, and then the step of determining the motor phase angle according to the amplitude current, the magnetic pole angle and the preset related identification information is performed by calling the two sets of amplitude current and magnetic pole angle and the stored motor torque direction relationship.

[0080] In an embodiment, the memory pre-stores the motor torque constant, the motor torque direction relationship and the maintaining torque value, and then when the motor phase angle needs to be determined, the steps of determining the motor phase angle according to one set of identification information and / or two sets of identification information are performed by controlling the calling of the identification information, the motor torque constant, the motor torque direction relationship and the maintaining torque value, and then the error processing such as the average value is performed based on the twice determined motor phase angles to improve the accuracy of the motor phase angle, and then the accuracy of the subsequent control can be improved.

[0081] In an embodiment, it is assumed that the first amplitude current A1=3A, in order to maintain the mover from falling, the real q-axis current component is 1A (i.e. the torque current component), and the corresponding d-axis current component is root 8, and the control d-axis phase angle corresponding to the first current amplitude should be 64.47° (i.e. the first magnetic pole angle θ1). The second amplitude current A2=2A, in order to maintain the mover from falling, the real q-axis current component is 1A (i.e. the torque current component), and the corresponding d-axis current component is root 3, and the control d-axis phase angle corresponding to the first current amplitude should be 75° (i.e. the second magnetic pole angle θ1). Then the phase angle is determined as:

[0082]

[0083] Because the motor torque direction relationship includes the first direction relationship that the direction of the external force is opposite to the direction of the positive torque of the motor, the motor angle is 64.47°-19.47°=45°, and then the motor angle is directly solved.

[0084] Further, before the step of determining the motor phase angle according to the amplitude current, the magnetic pole angle and the preset related identification information, the following steps are included:

[0085] Step S101, obtaining a phase angle identification instruction, controlling the rotor of the motor to be at different magnetic pole angles based on the phase angle identification instruction, and obtaining the amplitude current input by the stator of the motor at the magnetic pole angle.

[0086] In the embodiment, the determination manner of the pole angle and the amplitude current in the identification information can be that the stator inputs different amplitude currents under the control of a preset amplitude instruction, and the phase angle of the rotor of the current motor is acquired as the pole angle, wherein the amplitude instruction comprises a control instruction of inputting different amplitude currents, or the rotor is at different pole angles under the control of a preset angle instruction, and the amplitude current input by the stator of the current motor is acquired, wherein the angle instruction comprises a control instruction of controlling the rotor to be at a certain angle or a random angle, that is, the pole angle at this time is acquired under the control of the amplitude instruction, or the amplitude current at this time is acquired under the control of the angle instruction. It is worth noting that the angle to be controlled in the angle instruction is the angle between the d-axis and the pole, that is, the pole angle, and the motor phase angle refers to the angle between the d-axis and the actual d-axis. For example, the pole angle θ1 at this time is acquired under the control of the preset amplitude instruction that the amplitude current is A1, and the amplitude value A1 at this time is acquired as the amplitude current under the condition that the preset angle instruction is the pole angle θ1. The device for acquiring the amplitude current can be a current sensor, and the device for acquiring the pole angle can be a position sensor.

[0087] In an embodiment, if multiple sets of amplitude currents and pole angles need to be acquired, two different manners can be used respectively, or two same manners can be used simultaneously, and the current amplitude and the phase angle between the multiple sets do not have a certain size relationship, for example, the manner of determining the corresponding pole angle by using the amplitude current is used at the last time, and the manner of determining the corresponding amplitude current by using the pole angle is used at the current time.

[0088] Further, based on the first embodiment, the second embodiment and / or the third embodiment of the application, a fourth embodiment of the motor control method of the application is proposed. In the embodiment, the motor torque direction relationship comprises a first direction relationship that the direction of the external force is opposite to the direction of the positive torque of the motor, and a second direction relationship that the direction of the external force is the same as the direction of the positive torque of the motor, and the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first pole angle comprises:

[0089] In step S231, if the motor torque direction relationship is the first direction relationship, the difference between the first pole angle and the phase included angle is determined as the motor phase angle.

[0090] In step S232, if the motor torque direction relationship is the second direction relationship, the sum of the first pole angle and the phase included angle is determined as the motor phase angle.

[0091] In the embodiment, after the phase included angle is determined, the motor phase angle is determined based on the phase included angle, the first magnetic pole angle and the motor torque direction relationship. The motor torque direction relationship includes a first direction relationship in which the external force direction is opposite to the positive torque direction of the motor and a second direction relationship in which the external force direction is the same as the positive torque direction of the motor. The motor torque direction relationship can be determined in advance by parameters or based on the test of the motor, and the determination manner is not limited herein. Figure 4 At this time, the motor torque direction relationship is the first direction relationship, and the difference between the first magnetic pole angle θ1 and the phase included angle θ3 (corresponding to θ in the figure) is taken as the motor phase angle. Conversely, refer to Figure 5 , Figure 5 The identification diagram of the third embodiment of the motor control method of the application is shown in the figure. At this time, the motor torque direction relationship is the second direction relationship, and the sum of the first magnetic pole angle θ1 and the phase included angle θ3 (corresponding to θ in the figure) is taken as the motor phase angle.

[0092] In an embodiment, the memory connected with the controller or the cloud memory can pre-store the motor torque direction relationship. Then, after the step S202 or S212 is executed, the phase included angle is also stored in association with the first magnetic pole angle and / or the second magnetic pole angle. The controller executes the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first magnetic pole angle by calling the first magnetic pole angle and / or the second magnetic pole angle and the motor torque direction relationship stored in association in the memory.

[0093] Further, based on the first embodiment, the second embodiment, the third embodiment and / or the fourth embodiment of the application, the fifth embodiment of the motor control method of the application is proposed. In the embodiment, the size relationship includes a first size relationship in which the second amplitude current is smaller than the first amplitude current and a second size relationship in which the first amplitude current is smaller than the second amplitude current. The method includes the following steps.

[0094] Step a, if the size relationship is the first size relationship, the difference between the second magnetic pole angle and the first magnetic pole angle is determined as the included angle value.

[0095] Step b, if the size relationship is the second size relationship, the difference between the first magnetic pole angle and the second magnetic pole angle is determined as the included angle value.

[0096] In the embodiment, when the included angle value is determined, the determined included angle value needs to be a positive angle to ensure subsequent calculation, and then the subsequent calculation of the trigonometric function can be facilitated. That is, when the size relationship is the first size relationship, that is, the second amplitude current is less than the first amplitude current, the difference between the second magnetic pole angle and the first magnetic pole angle is taken as the included angle value. Conversely, when the size relationship is the second size relationship, that is, the first amplitude current is less than the second amplitude current, the difference between the first magnetic pole angle and the second magnetic pole angle is taken as the included angle value. It is worth noting that the absolute value of the difference between the first magnetic pole angle and the second magnetic pole angle can also be directly determined as the included angle value. However, it is worth noting that the size relationship is also reflected in the subsequent calculation of the motor phase angle. After the relationship between the phase angle of different sizes and the phase included angle is determined, the calculation method of the motor phase angle can be determined.

[0097] In an embodiment, the memory or cloud memory connected with the controller can store the second amplitude current and the first amplitude current, and then when the included angle value needs to be determined, the controller obtains the second amplitude current and the first amplitude current through a specific storage tag, and then determines the size of the second amplitude current and the first amplitude current to determine the included angle value between them, and then ensures that the included angle value is positive, facilitating subsequent calculation.

[0098] Further, after the step of determining the phase included angle based on the included angle value, the first amplitude current and the second amplitude current, the method further comprises:

[0099] Step c, if the size relationship is the first size relationship, the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first magnetic pole angle is performed;

[0100] Step d, if the size relationship is the second size relationship, the value of the first magnetic pole angle is updated to the value of the second magnetic pole angle, and the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first magnetic pole angle is performed based on the updated first magnetic pole angle.

[0101] In the embodiment, after the size relationship is determined, the motor phase angle is determined based on the size relationship. For details, please refer to the description of the first aspect of the application. Figure 4In the step of determining the phase angle, the motor phase angle can be determined based on the first magnetic pole angle or the second magnetic pole angle. When the size relationship is the first size relationship, the motor phase angle is determined according to the phase angle, the motor torque direction relationship and the first magnetic pole angle. When the size relationship is the second size relationship, the value of the first magnetic pole angle is updated to the value of the second magnetic pole angle, i.e. the first magnetic pole angle is θ2, and the motor phase angle is determined according to the phase angle, the motor torque direction relationship and the first magnetic pole angle θ2.

[0102] In an embodiment, the magnetic pole angles are stored in the memory, and the motor phase angle is determined by selecting the smaller magnetic pole angle and using the smaller magnetic pole angle to determine the motor phase angle.

[0103] Further, after the step of determining whether the size relationship is the first size relationship, the method further comprises:

[0104] In the step e, the motor torque direction relationship in the preset relevant recognition information is determined, wherein the motor torque direction relationship includes a first direction relationship in which the external force direction is opposite to the positive torque direction of the motor and a second direction relationship in which the external force direction is the same as the positive torque direction of the motor.

[0105] In the step f, when the motor torque direction relationship is the first direction relationship, a first difference value between the second magnetic pole angle and the phase angle value is determined, and a difference value between the first difference value and the phase angle is determined as the motor phase angle.

[0106] In the step g, when the motor torque direction relationship is the second direction relationship, a first sum value between the second magnetic pole angle and the phase angle value is determined, and a sum value between the first sum value and the phase angle is determined as the motor phase angle.

[0107] In the embodiment, when there are two sets of amplitude currents and magnetic pole angles, the larger magnetic pole angle can be used to determine the motor phase angle in addition to the smaller magnetic pole angle. In this case, the motor torque direction relationship in the relevant recognition information needs to be determined, and the motor phase angle is determined after the motor torque direction relationship is determined. For details, refer to the description of the step e and the steps f and g. Figure 4 When the motor torque direction relationship is the first direction relationship, a first difference value between the second magnetic pole angle and the phase angle value is determined, and a difference value between the first difference value and the phase angle is determined as the motor phase angle. For details, refer to the step f. Figure 5When the motor torque direction relationship is the second direction relationship, the first sum value between the second magnetic pole angle and the included angle value is determined, and then the sum value between the first sum value and the phase included angle is taken as the motor phase angle, thereby realizing the mode of determining the motor phase angle in different phase angles, and improving the functionality of motor phase angle determination.

[0108] In an embodiment, by storing the magnetic pole angle in the memory, and then determining the larger magnetic pole angle that can be selected for calculation, and then obtaining the smaller magnetic pole angle of the two magnetic pole angles to perform the step of determining the motor phase angle. The larger and smaller magnetic pole angles can also be used to determine the motor phase angle at the same time.

[0109] In addition, based on the above-mentioned embodiments, the application also provides a servo driver, a servo driver controller and a driver, the driver is connected with the controller, and the controller is used to execute the above-mentioned motor control method.

[0110] Based on the above-mentioned embodiments, the application also provides a servo motor control system, which comprises the above-mentioned servo driver.

[0111] As shown in Figure 6 , the servo motor control system of the embodiment of the application can comprise a servo motor 100 and a servo driver 200.

[0112] The input side of the servo driver 100 is connected with an input power supply, and the output side of the servo motor 200 is connected with a load, and then through the servo motor control method inside the servo driver 100, the input amplitude current is realized, the magnetic pole angle of the rotor of the servo motor under the control of the amplitude current is determined, and then the motor phase angle can be determined based on the amplitude current, the magnetic pole angle and the related identification information, at this time, the servo motor is controlled based on the determined motor phase angle, rather than directly defining the motor phase angle as 0 and directly controlling the servo motor with the motor phase angle as 0, thereby improving the accuracy of motor control when there is a deviation between the actual d-axis and the control d-axis (the motor phase angle is not 0).

[0113] The application also provides a controller, referring to Figure 7 , Figure 7 which is a module schematic diagram of the controller in the servo driver of the application, the controller comprises:

[0114] A parameter acquisition module A01 is used to acquire a phase angle identification instruction, input amplitude currents of different electric angles to the stator of the motor based on the phase angle identification instruction, and acquire the magnetic pole angle of the rotor of the motor under the control of the amplitude current;

[0115] A motor control module A02 is configured to determine a motor phase angle according to the amplitude current, the magnetic pole angle, and preset relevant identification information, and control the motor based on the motor phase angle.

[0116] Optionally, the motor control module A02 is further configured to:

[0117] determine a ratio between the maintenance torque value and the motor torque constant as a torque current component;

[0118] determine a phase included angle based on the torque current component and a first amplitude current of the amplitude currents, and determine a first magnetic pole angle of the magnetic pole angles, wherein the first magnetic pole angle is a magnetic pole angle of a rotor of the motor under control of the first amplitude current;

[0119] determine a motor phase angle according to the phase included angle, the motor torque direction relationship, and the first magnetic pole angle.

[0120] Optionally, the motor control module A02 is further configured to:

[0121] determine a first amplitude current, a second amplitude current, a first magnetic pole angle of a rotor of the motor under control of the first amplitude current, and a second magnetic pole angle of the rotor of the motor under control of the second amplitude current, the first amplitude current being different from the second amplitude current;

[0122] determine a size relationship between the first amplitude current and the second amplitude current, and determine an included angle value between the first magnetic pole angle and the second magnetic pole angle based on the size relationship;

[0123] determine a phase included angle based on the included angle value, the first amplitude current, and the second amplitude current, and determine a motor phase angle according to the phase included angle, the motor torque direction relationship, and the first magnetic pole angle.

[0124] Optionally, the motor control module A02 is further configured to:

[0125] if the motor torque direction relationship is the first direction relationship, determine a difference value between the first magnetic pole angle and the phase included angle as a motor phase angle;

[0126] if the motor torque direction relationship is the second direction relationship, determine a sum value of the first magnetic pole angle and the phase included angle as a motor phase angle.

[0127] Optionally, the motor control module A02 is further configured to:

[0128] If the size relationship is the first size relationship, a difference between the second magnetic pole angle and the first magnetic pole angle is determined as a included angle value;

[0129] If the size relationship is the second size relationship, a difference between the first magnetic pole angle and the second magnetic pole angle is determined as a included angle value.

[0130] Optionally, the motor control module A02 is further configured to:

[0131] If the size relationship is the first size relationship, the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first magnetic pole angle is executed;

[0132] If the size relationship is the second size relationship, a value of the first magnetic pole angle is updated to a value of the second magnetic pole angle, and the step of determining the motor phase angle according to the phase included angle, the motor torque direction relationship and the first magnetic pole angle is executed based on the updated first magnetic pole angle.

[0133] Optionally, the motor control module A02 is further configured to:

[0134] The motor torque direction relationship in the preset relevant identification information is determined, wherein the motor torque direction relationship includes a first direction relationship that an external force direction is opposite to a motor positive torque direction and a second direction relationship that the external force direction is same as the motor positive torque direction;

[0135] If the motor torque direction relationship is the first direction relationship, a first difference between the second magnetic pole angle and the included angle value is determined, and a difference between the first difference and the phase included angle is determined as a motor phase angle;

[0136] If the motor torque direction relationship is the second direction relationship, a first sum between the second magnetic pole angle and the included angle value is determined, and a sum between the first sum and the phase included angle is determined as a motor phase angle.

[0137] Optionally, the parameter acquisition module A01 is further configured to:

[0138] A phase angle identification instruction is acquired, the rotor of the motor is controlled to be at different magnetic pole angles based on the phase angle identification instruction, and an amplitude current input by a stator of the motor at the magnetic pole angle is acquired.

[0139] The method executed by each program module can refer to each embodiment of the method for optimizing the connection in the application, and will not be repeated here.

[0140] The application further provides a storage medium.

[0141] The motor control program stored on the storage medium of the present application is executed by a processor to implement the steps of the motor control method as described above.

[0142] The method implemented by the motor control program running on the processor can refer to each embodiment of the motor control method of the present application, which will not be described here.

[0143] It should be noted that in this document, the terms "comprise", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0144] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0145] The above-mentioned is only optional embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or directly / indirectly applied in other related technical fields under the concept of the present application is included in the patent protection scope of the present application.

Claims

1. A motor control method, characterized in that, The motor control method includes: Obtain a phase angle identification command, input amplitude currents with different electrical angles to the stator of the motor based on the phase angle identification command, and obtain the magnetic pole angle of the rotor of the motor under the control of the amplitude current. The motor phase angle is determined based on the amplitude current, the magnetic pole angle, and preset relevant identification information, and the motor is controlled based on the motor phase angle.

2. The motor control method as described in claim 1, characterized in that, The relevant identification information includes the motor torque constant, motor torque direction relationship, and holding torque value. The step of determining the motor phase angle based on the amplitude current, the magnetic pole angle, and the preset relevant identification information includes: The ratio between the holding torque value and the motor torque constant is determined as the torque current component; The phase angle is determined based on the torque current component and the first amplitude current in the amplitude current, and the first magnetic pole angle in the magnetic pole angle is determined, wherein the first magnetic pole angle is the magnetic pole angle of the rotor of the motor under the control of the first amplitude current. The motor phase angle is determined based on the phase angle, the relationship between the motor torque direction and the first magnetic pole angle.

3. The motor control method as described in claim 1, characterized in that, The relevant identification information includes the motor torque direction relationship of the motor, and the step of determining the motor phase angle based on the amplitude current, the magnetic pole angle, and the preset relevant identification information includes: The first amplitude current, the second amplitude current, the first magnetic pole angle of the motor rotor under the control of the first amplitude current, and the second magnetic pole angle of the motor rotor under the control of the second amplitude current are determined in the amplitude current, wherein the first amplitude current is not equal to the second amplitude current; Determine the magnitude relationship between the first amplitude current and the second amplitude current, and determine the angle between the first magnetic pole angle and the second magnetic pole angle based on the magnitude relationship; The phase angle is determined based on the included angle value, the first amplitude current and the second amplitude current, and the motor phase angle is determined based on the phase angle, the relationship between the motor torque direction and the first magnetic pole angle.

4. The motor control method as described in claim 2 or 3, characterized in that, The motor torque direction relationship includes a first direction relationship where the direction of the external force is opposite to the direction of the positive motor torque, and a second direction relationship where the direction of the external force is the same as the direction of the positive motor torque. The step of determining the motor phase angle based on the phase angle, the motor torque direction relationship, and the first magnetic pole angle includes: If the direction relationship of the motor torque is the first direction relationship, then the difference between the first magnetic pole angle and the phase angle is determined as the motor phase angle; If the motor torque direction relationship is the second direction relationship, then the sum of the first magnetic pole angle and the phase angle is determined as the motor phase angle.

5. The motor control method as described in claim 3, characterized in that, The magnitude relationship includes a first magnitude relationship where the second amplitude current is less than the first amplitude current and a second magnitude relationship where the first amplitude current is less than the second amplitude current. The step of determining the angle between the first magnetic pole angle and the second magnetic pole angle based on the magnitude relationship includes: If the size relationship is the first size relationship, then the difference between the second magnetic pole angle and the first magnetic pole angle is determined as the included angle value; If the size relationship is the second size relationship, then the difference between the first magnetic pole angle and the second magnetic pole angle is determined as the included angle value.

6. The motor control method as described in claim 5, characterized in that, After the step of determining the phase angle based on the included angle value, the first amplitude current, and the second amplitude current, the method further includes: If the magnitude relationship is the first magnitude relationship, then the step of determining the motor phase angle based on the phase angle, the motor torque direction relationship, and the first magnetic pole angle is executed; If the magnitude relationship is the second magnitude relationship, then the value of the first magnetic pole angle is updated to the value of the second magnetic pole angle, and the step of determining the motor phase angle based on the phase angle, the motor torque direction relationship and the first magnetic pole angle is performed based on the updated first magnetic pole angle.

7. The motor control method as described in claim 6, characterized in that, After the step of determining if the size relationship is the first size relationship, the method further includes: Determine the motor torque direction relationship in the preset relevant identification information, wherein the motor torque direction relationship includes a first direction relationship in which the direction of the external force is opposite to the direction of the positive torque of the motor and a second direction relationship in which the direction of the external force is the same as the direction of the positive torque of the motor; If the motor torque direction relationship is the first direction relationship, then the first difference between the second magnetic pole angle and the included angle value is determined, and the difference between the first difference and the included phase angle is determined as the motor phase angle; If the motor torque direction relationship is the second direction relationship, then the first sum between the second magnetic pole angle and the included angle value is determined, and the sum between the first sum and the included phase angle is determined as the motor phase angle.

8. The motor control method as described in claim 1, characterized in that, Before the step of determining the motor phase angle based on the amplitude current, the magnetic pole angle, and preset relevant identification information, the following steps are included: Obtain a phase angle identification command, control the rotor of the motor to be at different magnetic pole angles based on the phase angle identification command, and obtain the amplitude current of the stator input of the motor at the magnetic pole angle.

9. A servo driver, characterized in that, The servo driver includes a controller and a driver, and the driver is connected to the controller; The controller is used to perform the motor control method as described in any one of claims 1 to 8.

10. A servo motor control system, characterized in that, The servo motor control system includes a servo motor and a servo driver as described in claim 9 connected to the servo motor.

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