Calibration Method and Device for a Position Sensor Applied to a Motor

Abstract

The present invention relates to the technical field of position calibration, and specifically to a calibration method and apparatus for a position sensor applied to a motor. The absolute position information of the motor is obtained by the feedback of a PWM signal, an orthogonal signal of the motor is supplied, the electrical angle of the motor is set in a first direction, a first relative angle fed back by the orthogonal signal is recorded, and according to the mapping relationship between the first relative angle and the electrical angle, a first calibration mapping table in which the first relative angle is mapped to the electrical angle is obtained. The first calibration mapping table is set as the mapping table after calibration of the position sensor, and calibration is performed. Thereby, the present invention solves the problems of conventional sensors such as the position calibration being easily interfered with and the position information being inaccurate, and uses the delayed absolute angle fed back by the PWM information to calibrate a relatively good relative angle in real time, thereby avoiding out-of-step.

Description

Technical Field

[0001] <Cross - reference to Related Applications> This application claims the priority of a Chinese patent application with the application number 202210724099.4 and the invention title "Calibration Method and Device for a Position Sensor Applied to a Motor", which was filed with the Chinese Patent Office on June 24, 2022, and the entire content of the said application is incorporated herein by reference. The present invention relates to the technical field of position calibration, and particularly to a calibration method and device for a position sensor applied to a motor.

Background Art

[0002] When using a high - precision magnetic encoder as a position sensor to provide position information to a motor, there are usually three methods for communication between the controller and the position sensor. One is SPI, and its main problem is that when the distance between the position sensor and the motor controller is long, the position information is easily interfered with. The second is PWM through , the communication distance is long, but as the position resolution improves, the communication delay increases. The third is the orthogonal signal through However, it cannot feedback absolute position information.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Therefore, when starting a direct - drive motor with an orthogonal signal, it is difficult to start smoothly and at the same time there is a possibility of detuning due to the orthogonal signal.

Means for Solving the Problems

[0004] To solve the above problems, the present invention A method and apparatus for calibrating a position sensor are provided , solves the problems of conventional sensors such as the position calibration being easily interfered with and the position information being inaccurate, and PWM signalBy using the delayed absolute angle fed back, calibrating a relatively good real-time relative angle, and applying it to a motor that avoids detuning to .

[0005] The above object can be achieved by the following technical solutions. A calibration method for a position sensor applied to a motor, comprising: supplying a PWM signal of the motor; obtaining absolute position information of the motor by feedback of the PWM signal; supplying a quadrature signal of the motor; setting an electrical angle of the motor in a first direction, and recording a first relative angle fed back by the quadrature signal; obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to a mapping relationship between the first relative angle and the electrical angle; setting the first calibration mapping table as a mapping table after calibration of the position sensor, and performing calibration.

[0006] Details of one or more embodiments of the present invention are shown in the following drawings and description. Other features, objects, and advantages of the present invention will become apparent from the specification, drawings, and claims.

Effects of the Invention

[0007] In the present invention According to the calibration method of the position sensor applied to the motor, positionSolve the problems of conventional sensors such as the position calibration being susceptible to interference and the position information being inaccurate. Obtain the absolute position information of the motor through the feedback of the PWM signal, supply the orthogonal signal of the motor, set the electrical angle of the motor in the first direction, record the first relative angle fed back by the orthogonal signal, and according to the mapping relationship between the first relative angle and the electrical angle, obtain a first calibration mapping table in which the first relative angle is mapped to the electrical angle. Set the first calibration mapping table as the mapping table after the calibration of the position sensor, and perform calibration.

[0008] In the present invention According to the calibration device of the position sensor applied to the motor, conventional problems such as the calibration of the position sensor applied to the conventional motor being susceptible to interference and the position being inaccurate are solved. Specifically, a first signal module for supplying the PWM signal of the motor, an absolute position acquisition module for obtaining the absolute position information of the motor through the feedback of the PWM signal, a second signal module for supplying the orthogonal signal of the motor, a first angle acquisition module for setting the electrical angle of the motor in the first direction and recording the first relative angle fed back by the orthogonal signal, a first mapping acquisition module for obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle, and a mapping table output module for setting the first calibration mapping table as the mapping table after the calibration of the position sensor and performing calibration are provided. By using the delayed absolute angle fed back by PWM signal to calibrate a relatively good relative angle in terms of real-time performance, detuning is avoided.

Brief Description of the Drawings

[0009] To better describe and explain the embodiments and / or examples of the invention disclosed in this specification, one or more drawings can be referred to. Additional details or examples for explaining the drawings should not be construed as limiting the scope of any of the disclosed invention, the currently described embodiments and / or examples, and the currently understood best mode of these inventions. In the figure:

FIG. 1

FIG. 2

FIG. 3

FIG. 4

FIG. 5

FIG. 6

FIG. 7

Embodiments for Carrying out the Invention

[0010] To facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to more thoroughly and comprehensively understand the disclosure content of the present invention.

[0011] Unless otherwise defined, all technical and scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the description of the present invention are for the purpose of explaining specific embodiments and are not intended to limit the present invention.

[0012] The PWM signal belongs to pulse width modulation and modulates the bias of the base of the transistor or the gate of the MOS transistor according to the corresponding load change, and changes the conduction time of the transistor or the MOS transistor, so as to change the output of the power supply. It is an analog control method. The PWM signal is It uses the digital signal of the microprocessor to control the analog circuit.

[0013] Embodiment 1 As shown in FIG. 1, this embodiment includes: supplying a PWM signal to the motor; acquiring the absolute position information of the motor by the feedback of the PWM signal; supplying a motor orthogonal signal; setting the electrical angle of the motor in the first direction and recording the first relative angle fed back by the orthogonal signal; obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle; setting the first calibration mapping table as the mapping table after calibration of the position sensor and performing calibration. A calibration method for a position sensor applied to a motor is provided.

[0014] In this embodiment, when supplying the motor orthogonal signal, the orthogonal signal is preferably an orthogonal differential signal, and the first direction is the forward rotation of the motor direction or reverse rotation directionIt may be any of them. Further, a first calibration mapping table is generated based on the PWM pulse width signal, the orthogonal signal, and the electrical angle of the motor, and the motor can be calibrated by using the first calibration mapping table for the position sensor.

[0015] Embodiment 2 As shown in FIGS. 2 to 3, in this embodiment, a step of supplying a PWM signal of the motor; a step of obtaining the absolute position information of the motor by the feedback of the PWM signal; a step of supplying a motor orthogonal signal; a step of setting the electrical angle of the motor in the first direction and recording the first relative angle fed back by the orthogonal signal; a step of obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle; a step of setting the first calibration mapping table as the mapping table after calibration of the position sensor and performing calibration, including After supplying the motor orthogonal signal and before outputting the angle calibration mapping table, a step of setting the electrical angle of the motor in the second direction which is the opposite direction to the first direction and recording the second relative angle fed back by the orthogonal signal; a step of obtaining a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to the mapping relationship between the second relative angle and the electrical angle, further including The step of setting the first calibration mapping table as the mapping table after calibration of the position sensor is a step of obtaining an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle based on the first calibration mapping table and the second calibration mapping table; A method for calibrating a position sensor applied to a motor is provided, including the step of setting an average calibration mapping table as a mapping table after calibration of the position sensor.

[0016] In this embodiment, different from the above Embodiment 1, in this embodiment, in the first direction and the second direction the first relative angle and the second relative an angle is obtained, and an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle is through, a first calibration mapping table, a second calibration mapping table obtained by taking an average value using the angles in the first relative angle and the second relative the two tables. used as the mapping table after calibration of the position sensor By doing so, the object of reducing a predetermined angular error caused by cogging torque is achieved. Compared with Embodiment 1, a more accurate calibration angle can be obtained.

[0017] Embodiment 3 In this embodiment, the step of supplying a PWM signal to the motor, the step of obtaining the absolute position information of the motor by feedback of the PWM signal, the step of supplying a motor orthogonal signal, the step of setting the electrical angle of the motor in the first direction and recording the first relative angle fed back by the orthogonal signal, the step of obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle, the step of setting the first calibration mapping table as a mapping table after calibration of the position sensor and performing calibration, including after supplying the motor orthogonal signal and before outputting the angle calibration mapping table, the step of setting the motor electrical angle in the second direction which is the reverse direction of the first direction and recording the second relative angle fed back by the orthogonal signal, According to the mapping relationship between the second relative angle and the electrical angle, further including the step of obtaining a second calibration mapping table in which the second relative angle is mapped to the electrical angle, The step of setting the first calibration mapping table as the mapping table after calibration of the position sensor includes the step of obtaining an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle based on the first calibration mapping table and the second calibration mapping table, including the step of setting the average calibration mapping table as the mapping table after calibration of the position sensor, The step of obtaining an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle is including the step of calculating, by JPEG2025520710000013.jpg8170, the third relative angle corresponding to the electrical angle in the average calibration mapping table, where x1...x n ... is the third relative angle, b1...b n ... is the first relative angle, c1...c n ... is the second relative angle, and provides a calibration method for the position sensor applied to the motor. In this embodiment, the third relative angle corresponding to the electrical angle in the average calibration mapping table is calculated by the formula, and by taking the average calibration mapping table, the purpose of reducing a predetermined angle error caused by cogging torque is achieved.

[0018] Embodiment 4 As shown in FIGS. 4 to 5, in this embodiment, including the step of supplying a PWM signal to the motor, including the step of obtaining the absolute position information of the motor by feedback of the PWM signal, including the step of supplying a motor orthogonal signal, Setting the electrical angle of the motor in the first direction and recording the first relative angle feedback by the orthogonal signal; Obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle; Setting the first calibration mapping table as the mapping table after calibration of the position sensor and performing calibration, including: After supplying the motor orthogonal signal and before outputting the angle calibration mapping table, Setting the electrical angle of the motor in the second direction which is the opposite direction of the first direction and recording the second relative angle feedback by the orthogonal signal; Further including obtaining a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to the mapping relationship between the second relative angle and the electrical angle; The step of setting the first calibration mapping table as the mapping table after calibration of the position sensor includes: When the relative angle requiring calibration is in the first direction, setting the first calibration mapping table as the mapping table after calibration of the position sensor; When the relative angle requiring calibration is in the second direction, setting the second calibration mapping table as the mapping table after calibration of the position sensor. In any of the above embodiments, the method further includes: The mapping relationship between the electrical angle and the relative angle (including the first relative angle and the second relative angle) is obtained by the following means, that is Calculating the electrical angle corresponding between the relative angle x adjacent by JPEG2025520710000014.jpg12170 n and x n+1 where the X variable is the relative angle, the Y variable is the electrical angle, y n and y n+1 are respectively x n and x n+1Provided is a calibration method for a position sensor applied to a motor, which is the electrical angle corresponding thereto.

[0019] In any of the above embodiments, of a predetermined motor The larger the electrical angle, the more accurate the mapping table can be obtained. However, considering that if the calibration time in the actual production process is too long, it will not be beneficial for mass production, preferably, the electrical angle is 360 degrees, thereby ensuring that the calibration time is appropriate, and at the same time ensuring the accuracy of the mapping table and the error within the allowable range.

[0020] In the above embodiment, of a predetermined motor The electrical angle is at the same interval the angular value of the electrical angle that the motor continuously reaches from 0 to In this way, a series of first relative angles are obtained.

[0021] As shown in FIG. 6, a calibration device for a position sensor applied to a motor includes a first signal module for supplying a PWM signal of the motor, an absolute position acquisition module for acquiring the absolute position information of the motor by the feedback of the PWM signal, a second signal module for supplying a motor orthogonal signal, a first angle acquisition module for setting the electrical angle of the motor in the first direction and recording the first relative angle fed back by the orthogonal signal, a first mapping acquisition module for acquiring a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle, a mapping table output module for setting the first calibration mapping table as the mapping table after calibration of the position sensor and performing calibration.

[0022] As shown in FIG. 7, in another embodiment, a calibration device for a position sensor applied to a motor is A first signal module for supplying a PWM signal of a motor; An absolute position acquisition module for acquiring absolute position information of the motor by feedback of the PWM signal; A second signal module for supplying a motor orthogonal signal; A first angle acquisition module for setting an electrical angle of the motor in a first direction and recording a first relative angle fed back by the orthogonal signal; A first mapping acquisition module for acquiring a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to a mapping relationship between the first relative angle and the electrical angle; Including a mapping table output module for setting the first calibration mapping table as a mapping table after calibration of the position sensor and performing calibration; A second angle acquisition module for setting an electrical angle of the motor in a second direction opposite to the first direction and recording a second relative angle fed back by the orthogonal signal; Further including a second mapping acquisition module for acquiring a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to a mapping relationship between the second relative angle and the electrical angle; The mapping table output module A first mapping output module for setting the first calibration mapping table as a mapping table after calibration of the position sensor when the relative angle requiring calibration is in the first direction; Including a second mapping output module for setting the second calibration mapping table as a mapping table after calibration of the position sensor when the relative angle requiring calibration is in the second direction; The electrical angle is at the same interval the angle value of the electrical angle that the motor continuously reaches from 0. In this way, a series of first relative angles are obtained.

[0023] In any of the above embodiments, of a predetermined motor The larger the electrical angle, the more accurate the mapping table can be obtained. However, considering that if the calibration time in the actual production process is too long, it will not be beneficial for mass production, preferably, the electrical angle is 360 degrees, thereby ensuring that the calibration time is appropriate, and at the same time ensuring the accuracy of the mapping table and the error within the allowable range.

[0024] In the above embodiment, the electrical angle is at the same interval the angular value of the electrical angle that the motor continuously reaches from 0 to In this way, a series of first relative angles are obtained.

[0025] The above embodiments represent some embodiments of the present invention, and the description is relatively specific and detailed, but it should not be understood that this limits the patent scope of the present invention. For those skilled in the art, without departing from the concept of the present invention, some modifications and improvements are possible, and all of these belong to the protection scope of the present invention. Therefore, the patent protection scope of the present invention should conform to the appended patent claims.

Claims

1. A method for calibrating a position sensor applied to a motor, comprising: supplying a PWM signal to the motor; acquiring absolute position information of the motor by feedback of the PWM signal; supplying a quadrature signal of the motor; setting an electrical angle of the motor in a first direction and recording a first relative angle fed back by the quadrature signal; acquiring a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to a mapping relationship between the first relative angle and the electrical angle; setting the first calibration mapping table as a mapping table after calibration of the position sensor and performing calibration. [[ / ]]A method for calibrating a position sensor applied to a motor, characterized by the above.

2. After supplying the quadrature signal of the motor and before outputting the calibration mapping table of the angle, setting the electrical angle of the motor in a second direction which is opposite to the first direction and recording a second relative angle fed back by the quadrature signal; further comprising acquiring a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to a mapping relationship between the second relative angle and the electrical angle, The step of setting the first calibration mapping table as the mapping table after calibration of the position sensor includes: acquiring an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle based on the first calibration mapping table and the second calibration mapping table; setting the average calibration mapping table as the mapping table after calibration of the position sensor. [[ / ]]The method for calibrating a position sensor applied to a motor according to claim 1, characterized by the above.

3. The step of acquiring an average calibration mapping table in which the first relative angle and the second relative angle are mapped to the electrical angle includes: including a step of calculating a third relative angle corresponding to the electrical angle in the average calibration mapping table by, where x １ ... x ｎ ... is the third relative angle, b １ ... b ｎ ... is the first relative angle, c １ ... c ｎ ... is the second relative angle, and a calibration method for a position sensor applied to the motor according to claim 2, characterized in that

4. After supplying the orthogonal signal of the motor, before outputting the angle calibration mapping table, setting the electrical angle of the motor in a second direction that is opposite to the first direction, and recording the second relative angle fed back by the orthogonal signal; obtaining a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to the mapping relationship between the second relative angle and the electrical angle; further comprising The step of setting the first calibration mapping table as the mapping table after calibration of the position sensor When the relative angle requiring calibration is in the first direction, setting the first calibration mapping table as the mapping table after calibration of the position sensor; When the relative angle requiring calibration is in the second direction, setting the second calibration mapping table as the mapping table after calibration of the position sensor; including a calibration method for a position sensor applied to the motor according to claim 1, characterized in that

5. The electrical angle is 360 degrees, and a position sensor calibration method according to claim 1, characterized in that The relative angle x adjacent according to claim 6 ｎ and x ｎ＋１ further includes a step of calculating the electrical angle corresponding to between them, where the X variable is the relative angle, the Y variable is the electrical angle, y ｎ and y ｎ＋１ are respectively the electrical angles corresponding to x ｎ and x ｎ＋１ A method for calibrating a position sensor applied to the motor according to any one of claims 1 to 5, characterized in that it is so.

7. A calibration device for a position sensor applied to a motor, a first signal module for supplying a PWM signal of the motor; an absolute position acquisition module for acquiring absolute position information of the motor by feedback of the PWM signal; a second signal module for supplying an orthogonal signal of the motor; a first angle acquisition module for setting the electrical angle of the motor in a first direction and recording the first relative angle fed back by the orthogonal signal; a first mapping acquisition module for obtaining a first calibration mapping table in which the first relative angle is mapped to the electrical angle according to the mapping relationship between the first relative angle and the electrical angle; Set the first calibration mapping table as the mapping table after calibration of the position sensor, and include a mapping table output module for performing calibration. A calibration device for a position sensor applied to a motor, characterized in that it includes this.

8. A second angle acquisition module for setting the motor electrical angle in a second direction opposite to the first direction and recording the second relative angle feedback by the orthogonal signal. Further include a second mapping acquisition module for acquiring a second calibration mapping table in which the second relative angle is mapped to the electrical angle according to the mapping relationship between the second relative angle and the electrical angle. The mapping table output module When the relative angle requiring calibration is in the first direction, a first mapping output module for setting the first calibration mapping table as the mapping table after calibration of the position sensor. When the relative angle requiring calibration is in the second direction, a second mapping output module for setting the second calibration mapping table as the mapping table after calibration of the position sensor. A calibration device for a position sensor applied to a motor according to claim 7, characterized in that it includes this.

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