CN108111084A - AC servo motor control system and control method - Google Patents
AC servo motor control system and control method Download PDFInfo
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- CN108111084A CN108111084A CN201611045731.3A CN201611045731A CN108111084A CN 108111084 A CN108111084 A CN 108111084A CN 201611045731 A CN201611045731 A CN 201611045731A CN 108111084 A CN108111084 A CN 108111084A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 60
- 238000013507 mapping Methods 0.000 claims abstract description 14
- 230000005389 magnetism Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 210000001367 artery Anatomy 0.000 description 3
- 210000003462 vein Anatomy 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- GYTROFMCUJZKNA-UHFFFAOYSA-N triethyl triethoxysilyl silicate Chemical compound CCO[Si](OCC)(OCC)O[Si](OCC)(OCC)OCC GYTROFMCUJZKNA-UHFFFAOYSA-N 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The present invention provides a kind of AC servo motor control system and control method.AC servo motor control system provided by the invention, including：Host computer, AC servo motor and rotor-position positioner；Rotor-position positioner includes magnet, magnetic rotational position sensor chip and rotor-position detection plate, the motor axis connection of magnet and AC servo motor, magnetic rotational position sensor chip is arranged in rotor-position detection plate, and set against magnet, magnetic rotational position sensor chip is also connected with host computer；For the magnetic direction according to magnet, the first pulse signal is exported to host computer for magnetic rotational position sensor chip；Host computer for the duty cycle and the mapping relations of rotor-position according to the first pulse signal and pulse signal, determines the position of the rotor of AC servo motor.AC servo motor control system and control method provided by the invention can accurately be determined the position of rotor, and then motor made to be started with torque capacity.
Description
Technical field
The present invention relates to electric machines control technology more particularly to a kind of AC servo motor control systems and control method.
Background technology
At present, AC servo motor has been widely used in the fields such as numerically-controlled machine tool.In AC Servo Motor Control
In system, the operating of motor is generally efficiently controlled by vector control method.In vector controlled, in electric motor starting, when
During 90 ° of voltage vector Advancing Rotor initial position being applied on motor, it is ensured that motor is started with torque capacity.Therefore, it is
Motor is made to start with torque capacity, before electric motor starting, need to determine the initial position of rotor, and then according to the initial bit of rotor
It puts, determines to be applied to the voltage on motor.
In existing AC servo motor control system, in system electrification, before motor does not rotate, control module passes through acquisition
U, V, W pulse signal of incremental optical-electricity encoder output on motor, so according to the assembled state of U, V, W pulse signal come
Determine the fuzzy value of the initial position of rotor, after the fuzzy value of initial position of rotor is determined, control module
First drive signal is determined according to the fuzzy value of above-mentioned initial position, and motor is controlled to start according to above-mentioned first drive signal,
After electric motor starting, control module is according to the anti-initial bit for releasing rotor of A, B phase information and Z phase informations of encoder feedback
Then the exact value put determines the second drive signal according to the exact value of above-mentioned initial position, and control motor according to above-mentioned
Two driving signal starts, and to adjust the output torque of motor, the output torque of motor is made to meet load characteristic.Above-mentioned AC servo
In electric machine control system, when determining the initial position of rotor, exist in the assembled state according to U, V, W signal to motor
Rotor initial position fix it is inaccurate the problem of, in this way, when according to the first drive signal start motor when so that motor is not
It can be started with maximum torque, and the initial position of the rotor due to being determined when electric motor starting is inaccurate, because
This, after electric motor starting, it is also necessary to release the first of rotor according to A, B phase information of encoder feedback and Z phase informations are counter
Beginning position, so so that the control of motor becomes complicated.
The content of the invention
The present invention provides a kind of AC servo motor control system and control method, to solve existing AC servo motor
Control system can not accurately determine the initial position of rotor before electric motor starting, and then motor can not be made to start with torque capacity,
And the problem of control of motor is made to become complexity.
First aspect present invention provides a kind of AC servo motor control system, including：Host computer, AC servo motor and
Rotor-position positioner；The rotor-position positioner includes magnet, magnetic rotational position sensor chip and rotor position
Detection plate, the motor axis connection of the magnet and the AC servo motor are put, the magnetism rotational position sensor chip is set
It puts in the rotor-position detection plate, and is set against the one end of the magnet away from the motor shaft, the magnetic rotation
Position sensor chip is also connected with the host computer；
The magnetism rotational position sensor chip, it is defeated to the host computer for the magnetic direction according to the magnet
Go out the first pulse signal；
The host computer, for according to first pulse signal and the duty cycle of pulse signal and reflecting for rotor-position
Relation is penetrated, determines the position of the rotor of the AC servo motor, and it is electric to the AC servo according to the position of the rotor
Machine output starts voltage, so that the AC servo motor is run with torque capacity.
Further, the rotor-position positioner further includes magnet mounting base；The magnet mounting base includes motor
Axis mounting portion and magnet mounting portion, the motor shaft mounting portion offer the first cylindrical hole, and the magnet mounting portion offers
Two cylindrical holes；
The rear end of the motor shaft is fixed in first cylindrical hole, and the magnet is fixed on second cylindrical hole
In.
Further, the motor shaft mounting portion is the column structure for offering first cylindrical hole.
Further, the magnet mounting portion is the cylindrical-shaped structure for offering second cylindrical hole.
Further, the system also includes grating encoder, the grating encoder is set in the outer of the magnet mounting portion
On surface.
Further, the system also includes encoder chip, the encoder chip is arranged on the rotor-position inspection
It on drafting board, and is connected with the host computer, the encoder chip forms the encoder of the system with the grating encoder.
Further, the rotor-position positioner further includes：Rotor-position detection plate mounting base, the rotor-position
Detection plate mounting base is mounted on the rear end cap of the AC servo motor, and the rotor-position detection plate is mounted on the rotor
In position detection plate mounting base.
Further, the rotor-position detection plate mounting base includes being interconnected and is the first of cylindrical-shaped structure
Fixed part and the second fixed part, first fixed part offer first through hole, the basal diameter of second fixed part and institute
The diameter for stating first through hole is identical；
First fixed part is connected with the rear end cap of the AC servo motor, and the rotor-position detection plate lid is located at
On second fixed part.
Second aspect of the present invention provides a kind of AC Servo Motor Control method, applied to AC Servo Motor Control system
System, the system comprises：Host computer, AC servo motor and rotor-position positioner；The rotor-position positioner bag
Include magnet, magnetic rotational position sensor chip and rotor-position detection plate, the electricity of the magnet and the AC servo motor
Arbor connects, and the magnetism rotational position sensor chip is arranged in the rotor-position detection plate, and against the magnet
One end away from the motor shaft is set, and the magnetism rotational position sensor chip is also connected with the host computer；The side
Method includes：
Host computer receives the first pulse signal that the magnetic rotational position sensor chip reports；Wherein, described first
Pulse signal obtains for the magnetic rotational position sensor chip according to the magnetic direction of the magnet；
The host computer is closed according to the mapping of the duty cycle and rotor-position of first pulse signal and pulse signal
System determines the position of the rotor of the AC servo motor；
The host computer is exported according to the position of the rotor to the AC servo motor starts voltage, so that the friendship
Flow servo motor is run with torque capacity.
AC servo motor control system and control method provided by the invention, by setting host computer, AC servo electricity
Machine and rotor-position positioner, and above-mentioned rotor-position positioner include magnet, magnetic rotational position sensor chip and
Rotor-position detection plate, the motor axis connection of above-mentioned magnet and above-mentioned AC servo motor, above-mentioned magnetism rotational position sensor
Chip is arranged in above-mentioned rotor-position detection plate, and is set against the one end of above-mentioned magnet away from the motor shaft, above-mentioned magnetic
Property rotational position sensor chip is also connected with above-mentioned host computer, and magnetic rotational position sensor chip can be according to the magnetic field of magnet
Direction exports the first pulse signal to above-mentioned host computer, and then can make host computer according to above-mentioned first pulse signal and pulse
The duty cycle of signal and the mapping relations of rotor-position determine the position of the rotor of above-mentioned AC servo motor, and according to above-mentioned
The position of rotor is exported to above-mentioned AC servo motor starts voltage, so that above-mentioned alternating current generator motor is run with torque capacity.
In this way, before AC servo motor startup, it, can by magnet and the magnetic rotational position sensor chip set against magnet
The position of the rotor of AC servo motor is accurately determined, and then can AC servo motor effectively be controlled according to the position of rotor
Start, not only may be such that AC servo motor is started with torque capacity, it can be with simplify control process.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram for the AC servo motor control system that the embodiment of the present invention one provides；
Fig. 2 is the structure diagram of AC servo motor control system provided by Embodiment 2 of the present invention；
Fig. 3 is the explosive view of AC servo motor control system provided by Embodiment 2 of the present invention；
Fig. 4 is the structural representation of the magnet mounting base in AC servo motor control system provided by Embodiment 2 of the present invention
Figure；
Fig. 5 is the structural representation of the grating encoder in AC servo motor control system provided by Embodiment 2 of the present invention
Figure；
Fig. 6 is the encoder chip and position detection in AC servo motor control system provided by Embodiment 2 of the present invention
The structure diagram of plate cooperation；
Fig. 7 is grating encoder and encoder chip in AC servo motor control system provided by Embodiment 2 of the present invention
The structure diagram of cooperation；
Fig. 8 is the rotor-position detection plate mounting base in AC servo motor control system provided by Embodiment 2 of the present invention
Structure diagram；
Fig. 9 is the flow chart of AC Servo Motor Control embodiment of the method one of the present invention.
Reference sign：
1：Host computer；
2：AC servo motor；
21：The motor shaft of AC servo motor；
211：The rear end of motor shaft；
22：The rear end cap of AC servo motor；
23：The rear cover of AC servo motor；
3：Rotor-position positioner；
31：Magnet；
32：Magnetic rotational position sensor chip；
33：Rotor-position detection plate；
34：Magnet mounting base；
341：Motor shaft mounting portion；
341-1：First cylindrical hole；
342：Magnet mounting portion；
342-1：Second cylindrical hole；
35：Rotor-position detection plate mounting base；
351：First fixed part；
351-1：First through hole；
352：Second fixed part；
4：Grating encoder；
41：Hollow cylindrical shape mounting portion
5：Encoder chip；
51：Groove；
6：Difference channel chip.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts belong to the scope of protection of the invention.
The present invention provides a kind of AC servo motor control system and control method, to solve existing AC servo motor
Control system can not accurately determine the initial position of rotor before electric motor starting, and then motor can not be made to start with torque capacity,
And the problem of control of motor is made to become complexity.
AC servo motor control system and control method provided by the invention, can be applied to digit ctrol machine tool field.For example,
It can be applied in horizontal loom.
Technical scheme is described in detail with specific embodiment below.These are specific real below
Applying example can be combined with each other, and may be repeated no more for the same or similar concept in some embodiments.
Fig. 1 is the structure diagram for the AC servo motor control system that the embodiment of the present invention one provides.It refer to Fig. 1,
AC servo motor control system provided in this embodiment, including：Host computer 1, AC servo motor 2 and rotor-position positioning dress
Put 3；Rotor-position positioner 3 includes magnet 31, magnetic rotational position sensor chip 32 and rotor-position detection plate 33, magnetic
Iron 31 is connected with the motor shaft 21 of AC servo motor 2, and magnetic rotational position sensor chip 32 is arranged on rotor-position detection
It on plate 33, and is set against the one end of magnet 31 away from motor shaft 21, magnetic rotational position sensor chip also connects with host computer 1
It connects；
For the magnetic direction according to magnet 31, the first arteries and veins is exported to host computer 1 for magnetic rotational position sensor chip 32
Rush signal；
Host computer 1, for according to above-mentioned first pulse signal and the duty cycle of pulse signal and the mapping of rotor-position
Relation determines the position of the rotor of AC servo motor 2, and is opened according to the position of above-mentioned rotor to the output of AC servo motor 2
Dynamic voltage, so that AC servo motor 2 is run with torque capacity.
Specifically, magnet 31 is cylindrical shape, and the magnet 31 is radial magnetizing magnet.It should be noted that magnet 31
It is fixedly connected by un-conducted magnetic material with the rear end 211 of the motor shaft 21 of AC servo motor 2.It for example, can be by copper by magnetic
Iron 31 is welded on the motor shaft 21 of AC servo motor 2.In this way, when motor shaft 21 turns with the rotor of AC servo motor 2
When dynamic, magnet 31 can be rotated synchronously with rotor, and during magnet 31 rotates, the magnetic direction that magnet 31 generates changes therewith
Become.In this way, the magnetic direction of any position and magnet 31 residing for the rotor of AC servo motor 2 is one-to-one, therefore,
The position of rotor can be accurately determined by magnetic position sensor chip 32.
Optionally, magnetic rotational position sensor chip 32 can select the model of Austrian Microtronic A/S's production
The magnetic rotational position sensor chip of AS560.In addition, concrete structure and work on magnetic rotational position sensor chip 32
Description of the prior art is may refer to as principle, details are not described herein again.
Further, Fig. 1 is refer to, rotor-position detection plate 33 is a platy structure, is mainly used to support magnetic rotation
Sensor chip is put in indexing (magnetic rotational position sensor chip 32 is welded in rotor-position detection plate 33).In addition, rotor
Position detection plate 33 can be fixed on the rear end cap 22 or rear cover 23 of AC servo motor 2 by supporting rod or directly be passed through
The mode of welding is fixed on the rear cover 23 of AC servo motor, in the present embodiment, not to the specific of rotor-position detection plate 33
Installation position is defined, as long as after ensureing that rotor-position detection plate 33 installs, the magnetic rotation in rotor-position detection plate 33
Indexing is put sensor chip 32 and is set against the one end of magnet 31 away from motor shaft 21.Preferably, rotor-position detection plate
After 33 install, the center line of the magnetic rotational position sensor chip 32 in rotor-position detection plate 33 and the center of magnet 31
Line is on same straight line.
It should be noted that the duty cycle of pulse signal and the mapping relations of rotor-position are that host computer predefines ground.
Specifically, host computer determines the duty cycle of pulse signal and the mapping relations of rotor-position as follows.For the first time will
After being fixed the present embodiment provides AC servo motor control system according to said structure, to system electrification (at this point, AC servo
Motor does not rotate), and the rotor of AC servo motor is fixed on zero-bit, at this point, host computer obtains magnetic rps
The pulse signal of device chip output, and determine the duty cycle of the pulse signal, in this way, host computer can determine that rotor is in 0 °
When, the correspondence of the duty cycle of rotor-position and pulse signal, further, due to the arteries and veins of rotational position sensor chip output
The duty cycle of signal is rushed with the proportional increase in position of rotor, in this way, host computer can determine different rotor-positions from it is different
Duty cycle between correspondence.For example, when rotor is in 0 °, the pulse letter of magnetic rotational position sensor chip output
Number duty cycle be 3%, it is assumed that the scope of the exportable pulse signal of magnetism rotational position sensor chip be 3% to
93%, it follows that when rotor-position is in 360 °, output duty cycle is 93% by magnetic rotational position sensor chip
Pulse signal.In this way, can determine the correspondence between different rotor-positions and the duty cycle of different pulse signals, this
In embodiment, it is assumed that duty cycle is denoted as y, the position of rotor is denoted as x, wherein, x is more than or equal to 0 and is less than or equal to 360, can be true
Determine the duty cycle of pulse signal and the mapping relations of rotor-position are：Y=0.25%x+3%.For example, work as magnetic position sensor
The duty cycle of first pulse signal of chip output at this point, according to above-mentioned mapping relations, can determine the position of rotor for 5.5%
It is set to 10 °.
After describing AC servo motor control system provided in this embodiment again, this implementation following is a brief introduction of
The control principle and control method for the AC servo motor control system that example provides.Specifically, control method can include as follows
Step：
Step 1：Host computer receives the first pulse signal that magnetic rotational position sensor chip reports；Wherein, above-mentioned
One pulse signal obtains for above-mentioned magnetic rotational position sensor chip according to the magnetic direction of above-mentioned magnet.
Specifically, after to system electrification (at this point, AC servo motor does not rotate), magnetic rotational position sensor chip
According to the magnetic direction of magnet, the first pulse signal is exported to host computer.For example, the first pulse that output duty cycle is 8% is believed
Number, at this point, host computer receives above-mentioned first pulse signal.
Step 2: above-mentioned host computer is according to the duty cycle and rotor-position of above-mentioned first pulse signal and pulse signal
Mapping relations determine the position of the rotor of above-mentioned AC servo motor.
In this step, with reference to above example, it is assumed that the duty cycle of pulse signal and the mapping relations of rotor-position are：y
=0.25%x+3%, wherein, y represents the duty cycle of pulse signal, and x represents the position of rotor, and x is less than or equal to more than or equal to 0
360.At this moment, host computer is according to the duty cycle of the first pulse signal (duty cycle be 8% the first pulse signal) and pulse signal
With the mapping relations (y=0.25%x+3%) of rotor-position, it may be determined that the position of rotor is 20 °.
Step 3: above-mentioned host computer is exported according to the position of above-mentioned rotor to above-mentioned AC servo motor starts voltage, with
Above-mentioned AC servo motor is made to be run with torque capacity.
In this step, after host computer determines the position of rotor, host computer is electronic to AC servo motor output startup,
90 ° of the phase Advancing Rotor Position of the startup voltage, in this way, AC servo motor under the action of the voltage, is just turned with maximum
Square starts.It should be noted that after AC servo motor is started with torque capacity, subsequent control principle and prior art class
Seemingly, details are not described herein again.
In the present embodiment, by the magnetic rotational position sensor for setting magnet and being set against magnet, and then pass through magnetic
Property rotational position sensor chip detects the position of rotor, in this way, not only can accurately determine the initial position of rotor, and then
Electric motor starting is effectively controlled according to the initial position of rotor, so that motor is started with torque capacity, meets the requirement of load；Also
It can avoid in the prior art because can not accurately determine the initial position of rotor before AC servo startup, and then need to watch in exchange
It accurately determines to control the problem of complicated caused by the position of rotor after taking electric motor starting, control process is simple.
AC servo motor control system and control method provided in this embodiment, by setting host computer, AC servo
Motor and rotor-position positioner, and above-mentioned rotor-position positioner includes magnet, magnetic rotational position sensor chip
With rotor-position detection plate, the motor axis connection of above-mentioned magnet and above-mentioned AC servo motor, above-mentioned magnetism rps
Device chip is arranged in above-mentioned rotor-position detection plate, and is set against the one end of above-mentioned magnet away from the motor shaft, above-mentioned
Magnetic rotational position sensor chip is also connected with above-mentioned host computer, and magnetic rotational position sensor chip can be according to the magnetic of magnet
Field direction exports the first pulse signal to above-mentioned host computer, and then can make host computer according to above-mentioned first pulse signal and arteries and veins
The duty cycle of signal and the mapping relations of rotor-position are rushed, determines the position of the rotor of above-mentioned AC servo motor, and according to upper
The position for stating rotor exports startup voltage to above-mentioned AC servo motor, so that above-mentioned alternating current generator motor is transported with torque capacity
Row.In this way, before AC servo motor startup, pass through magnet and the magnetic rotational position sensor core set against magnet
Piece can be accurately determined the position of the rotor of AC servo motor, and then effectively exchange can be controlled to watch according to the position of rotor
Electric motor starting is taken, not only may be such that AC servo motor is started with torque capacity, it can be with simplify control process.
Fig. 2 is the structure diagram of AC servo motor control system provided by Embodiment 2 of the present invention.Fig. 3 is the present invention
The explosive view for the AC servo motor control system that embodiment two provides.Fig. 4 is AC servo provided by Embodiment 2 of the present invention
The structure diagram of magnet mounting base in electric machine control system.Fig. 2 to Fig. 4 is refer to, on the basis of above-described embodiment, this
The AC servo motor control system that embodiment provides, rotor-position positioner 3 further include magnet mounting base 34；Magnet is installed
Seat 34 includes motor shaft mounting portion 341 and magnet mounting portion 342, and motor shaft mounting portion 341 offers the first cylindrical hole 341-1,
Magnet mounting portion 342 offers the second cylindrical hole 342-1；
The rear end 211 of motor shaft 21 is fixed in the first cylindrical hole 341-1, and magnet 31 is fixed on the second cylindrical hole 342-1
In.
It should be noted that magnet mounting base 34 selects un-conducted magnetic material to be made.It is made for example, metallic copper may be employed.
In addition, the first cylindrical hole 341-1 and the second cylindrical hole 342-1 are not connected, in this way, can avoid the magnetic field of rotor influences magnet 31
Magnetic field, to improve the accuracy of positioning.
Specifically, motor shaft mounting portion 341 can be the column structure for offering the first cylindrical hole 341-1.For example, can be with
For cube structure, rectangular parallelepiped structure or cylindrical structure, and the aperture of the first cylindrical hole 341-1 is equal to the rear end of motor shaft 21
211 diameter.Further, magnet mounting portion 342 is the cylindrical-shaped structure for offering the second cylindrical hole 342-1, and second justifies
The diameter of post holes 342-1 is equal with the diameter of magnet 31.Furthermore, it is possible to motor shaft 21 and magnet 31 are divided by welding
It is not fixed in the first cylindrical hole 341-1 and the second cylindrical hole 342-1.
Further, Fig. 2 and Fig. 3 are continued referring to, on the basis of above-described embodiment, exchange provided in this embodiment is watched
It takes electric machine control system and further includes grating encoder 4, grating encoder 4 is set in the outer surface of magnet mounting portion 342.
Specifically, Fig. 5 is the knot of the grating encoder in AC servo motor control system provided by Embodiment 2 of the present invention
Structure schematic diagram.Fig. 5 is refer to, grating encoder 4 has hollow cylindrical shape mounting portion 41, and grating encoder 4 passes through hollow circle
Bar shape mounting portion 41 is set on the outer surface of magnet mounting portion 342.
Further, Fig. 2 and Fig. 3 are continued referring to, on the basis of above-described embodiment, exchange provided in this embodiment is watched
Electric machine control system is taken, the system also includes encoder core 5, encoder chip 5 is arranged in rotor-position detection plate 33, and
It is connected with host computer 1, encoder chip 5 forms the encoder of the system with grating encoder 4.
Specifically, Fig. 6 be AC servo motor control system provided by Embodiment 2 of the present invention in encoder chip with
The structure diagram of position detection plate cooperation；Fig. 7 is in AC servo motor control system provided by Embodiment 2 of the present invention
Grating encoder and the structure diagram of encoder chip cooperation.Fig. 6 and Fig. 7 are refer to, encoder chip 5 is C-shaped, grating encoder
4 transmissive slit is located in the groove 51 of C-shaped encoder chip, and grating encoder 4 and encoder chip 5 form encoder.It needs
Illustrate, encoder chip 5 can select the encoder chip of model HEDS, on encoder chip concrete structure and
Operation principle may refer to description of the prior art, and details are not described herein again.
AC servo motor control system provided in this embodiment, by setting code-disc and encoder chip, code-disc and volume
Code device chip composition encoder, in this way, working as the position that rotor is determined, and controls AC servo motor to start with torque capacity
Afterwards, during the subsequent work of AC servo motor, A, B that host computer can be exported by the encoder chip 35 got
Phase pulse signal and operation instruction (for example, motor turns over 50 ° of instruction to operation instruction in order to control) judge AC servo motor
Operating whether meet operation instruction.
Further, Fig. 6 is continued referring to, AC servo motor control system provided in this embodiment further includes difference
Circuit chip 6, difference channel chip 6 are mounted in rotor-position detection plate 33, the input terminal of difference channel chip 6 respectively with magnetic
The output terminal of property rotational position sensor chip 32 is connected with the output terminal of encoder chip 35, the output of difference channel chip 6
End is connected with host computer 1, difference channel chip 6, for the electromagnetic interference in filtering environmental.
AC servo motor control system provided in this embodiment, by setting difference channel chip, in this way, can filter out
Electromagnetic interference in environment can improve the accuracy of magnetic rotational position sensor chip and the signal of encoder chip output,
Further improve the accuracy of positioning.
Further, Fig. 2 and Fig. 3, AC servo motor control system provided in this embodiment, above-mentioned are continued referring to
On the basis of embodiment, rotor fixed position device 3 further includes：Rotor-position detection plate mounting base 35, the installation of rotor-position detection plate
Seat 35 is mounted on the rear end cap 22 of AC servo motor, and rotor-position detection plate 33 is mounted on rotor-position detection plate mounting base
On 35.
Specifically, rotor-position detection plate mounting base 35 can be the cylindrical-shaped structure with through hole.In addition, rotor-position
Detection plate mounting base 35 or supporting rod.
Fig. 8 shows a kind of concrete structure of rotor-position detection plate mounting base, refer to Fig. 8, in the present embodiment, rotor
Position detection plate mounting base 35 includes being interconnected and is the first fixed part 351 and the second fixed part of cylindrical-shaped structure
352, the first fixed part 351 offers first through hole 351-1, and the basal diameter of the second fixed part 352 is with first through hole 351-1's
Diameter is identical, and the first fixed part 351 is connected with the rear end cap 22 of AC servo motor 2, and the lid of rotor-position detection plate 33 is located at the
On two fixed parts 352.
Specifically, after rotor-position detection plate mounting base 35 can be fixed on AC servo motor 2 by welding
It, can be in addition, rotor-position detection plate 33 and rotor-position detection plate mounting base 35 can be bolted on end cap 22
It connects by welding.It should be noted that after rotor-position detection plate mounting base 35 installs, magnet mounting base
34th, magnet 32 and code-disc 4 are respectively positioned on inside rotor-position detection plate mounting base 35.
Fig. 9 is the flow chart of AC Servo Motor Control embodiment of the method one of the present invention.Exchange provided in this embodiment is watched
Motor control method is taken, applied to AC servo motor control system shown in FIG. 1, refer to Fig. 1, above system includes：On
Position machine 1, AC servo motor 2 and rotor-position positioner 3；Rotor-position positioner 3 includes magnet 31, magnetic rotation position
Sensor chip 32 and rotor-position detection plate 33 are put, magnet 31 is connected with the motor shaft 21 of AC servo motor 2, magnetism rotation
Position sensor chip 32 is arranged in rotor-position detection plate 33, and is set against the one end of magnet away from motor shaft, magnetic
Rotational position sensor chip is also connected with host computer 1.AC Servo Motor Control method provided in this embodiment, can include
Following steps：
S101, host computer receive the first pulse signal that magnetic rotational position sensor chip reports；Wherein, above-mentioned first
Pulse signal obtains for above-mentioned magnetic rotational position sensor chip according to the magnetic direction of magnet.
S102, above-mentioned host computer are according to above-mentioned first pulse signal and the duty cycle of pulse signal and reflecting for rotor-position
Relation is penetrated, determines the position of the rotor of AC servo motor；
S103, above-mentioned host computer are exported according to the position of above-mentioned rotor to above-mentioned AC servo motor starts voltage, so that
Above-mentioned AC servo motor is run with torque capacity.
Specifically, the specific implementation process of above-mentioned steps and realization principle are specifically introduced in device embodiment, this
Place repeats no more.
Further, AC Servo Motor Control method provided in this embodiment, when AC servo motor is with torque capacity
After startup, it can also include the following steps：
Host computer sends operation instruction to AC servo motor, so that AC servo motor is transported according to above-mentioned operation instruction
Turn, above-mentioned operation instruction turns over the control instruction of predetermined angle for instruction AC servo motor；
Host computer obtains A, B phase pulse signal of encoder chip output, and judges to hand over according to above-mentioned A, B phase pulse signal
Whether the operating of flow servo motor meets above-mentioned operation instruction.
Specifically, the specific implementation process of above-mentioned steps and realization principle may refer to the description of the prior art, herein not
It repeats again.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
1. a kind of AC servo motor control system, which is characterized in that including：Host computer, AC servo motor and rotor-position
Positioner；The rotor-position positioner includes magnet, magnetic rotational position sensor chip and rotor-position detection plate,
The motor axis connection of the magnet and the AC servo motor, the magnetism rotational position sensor chip are arranged on described turn
It on sub- position detection plate, and is set against the one end of the magnet away from the motor shaft, the magnetism rotational position sensor
Chip is also connected with the host computer；
The magnetism rotational position sensor chip, for the magnetic direction according to the magnet, to host computer output the
One pulse signal；
The host computer closes for the mapping of the duty cycle according to first pulse signal and pulse signal and rotor-position
System determines the position of the rotor of the AC servo motor, and defeated to the AC servo motor according to the position of the rotor
Go out to start voltage, so that the AC servo motor is run with torque capacity.
2. system according to claim 1, which is characterized in that the rotor-position positioner further includes magnet installation
Seat；The magnet mounting base includes motor shaft mounting portion and magnet mounting portion, and the motor shaft mounting portion offers the first cylinder
Hole, the magnet mounting portion offer the second cylindrical hole；
The rear end of the motor shaft is fixed in first cylindrical hole, and the magnet is fixed in second cylindrical hole.
3. system according to claim 2, which is characterized in that the motor shaft mounting portion is to offer first cylinder
The column structure in hole.
4. system according to claim 3, which is characterized in that the magnet mounting portion is to offer second cylindrical hole
Cylindrical-shaped structure.
5. system according to claim 4, which is characterized in that the system also includes grating encoder, the grating encoder
It is set on the outer surface of the magnet mounting portion.
6. system according to claim 5, which is characterized in that the system also includes encoder chip, the encoder
Chip is arranged in the rotor-position detection plate, and is connected with the host computer, the encoder chip and the grating code
Disk forms the encoder of the system.
7. system according to claim 6, which is characterized in that the rotor-position positioner further includes：Rotor-position
Detection plate mounting base, the rotor-position detection plate mounting base are mounted on the rear end cap of the AC servo motor, described turn
Sub- position detection plate is mounted in the rotor-position detection plate mounting base.
8. system according to claim 7, which is characterized in that the rotor-position detection plate mounting base includes mutually interconnecting
Logical and be the first fixed part and the second fixed part of cylindrical-shaped structure, first fixed part offers first through hole, described
The basal diameter of second fixed part is identical with the diameter of the first through hole；
First fixed part is connected with the rear end cap of the AC servo motor, and the rotor-position detection plate lid is located at described
On second fixed part.
A kind of 9. AC Servo Motor Control method, which is characterized in that applied to AC servo motor control system, the system
Including：Host computer, AC servo motor and rotor-position positioner；The rotor-position positioner includes magnet, magnetism
Rotational position sensor chip and rotor-position detection plate, the motor axis connection of the magnet and the AC servo motor, institute
Magnetic rotational position sensor chip is stated to be arranged in the rotor-position detection plate, and against the magnet away from the motor
One end of axis is set, and the magnetism rotational position sensor chip is also connected with the host computer；The described method includes：
Host computer receives the first pulse signal that the magnetic rotational position sensor chip reports；Wherein, first pulse
Signal obtains for the magnetic rotational position sensor chip according to the magnetic direction of the magnet；
The host computer is according to first pulse signal and the duty cycle of pulse signal and the mapping relations of rotor-position, really
The position of the rotor of the fixed AC servo motor；
The host computer is exported according to the position of the rotor to the AC servo motor starts voltage, so that the exchange is watched
Motor is taken to run with torque capacity.
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| CN201611045731.3A CN108111084B (en) | 2016-11-24 | 2016-11-24 | AC servo motor control system and control method |
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| CN111071164A (en) * | 2018-10-19 | 2020-04-28 | 浙江舜宇智能光学技术有限公司 | Hidden shaft type rotating device and manufacturing method thereof |
| CN113300649A (en) * | 2021-06-11 | 2021-08-24 | 华北电力大学（保定） | Increment reverse-thrust control-based permanent magnet synchronous motor control method for mechanical elastic energy storage |
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| CN108111084B (en) | 2024-07-16 |
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