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CN115296588B - Servo motor dynamic parameter adaptation method - Google Patents

Servo motor dynamic parameter adaptation method Download PDF

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Publication number
CN115296588B
CN115296588B CN202211083226.3A CN202211083226A CN115296588B CN 115296588 B CN115296588 B CN 115296588B CN 202211083226 A CN202211083226 A CN 202211083226A CN 115296588 B CN115296588 B CN 115296588B
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China
Prior art keywords
parameters
servo
motor
parameter
servo driver
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CN115296588A (en
Inventor
罗东玮
李兰云
邹光富
张胜
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Guangdong Ruobo Intelligent Robot Co ltd
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Guangdong Ruobo Intelligent Robot Co ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06Linear motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/02Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a servo motor dynamic parameter adaptation method, which is based on the fact that a self-defined motor expansion system is arranged in a servo driver, and comprises the following steps: s1, starting a servo driver; s2, reading parameters set by the adaptive servo motor from the ep through a custom motor expansion system; s3, entering initialization; s4, checking the validity of each parameter of the adaptive servo motor; s5, calculating parameters according to an algorithm after the inspection is passed; s6, setting a servo driver operation time parameter; s7, the servo driver operates normally. According to the invention, the user-defined motor expansion system is arranged in the servo driver, so that the servo driver is supported to be dynamically configured according to the existing motor parameters, the servo driver can be quickly adapted to various application scenes of the user, the user can use the existing equipment and the servo driver to perform high-performance combination as much as possible, and a quick, effective, efficient and low-cost implementation field scheme is achieved.

Description

Servo motor dynamic parameter adaptation method
Technical Field
The invention relates to the technical field of servo drivers, in particular to a servo motor dynamic parameter adaptation method.
Background
The servo driver is widely applied to automation equipment such as industrial robots, numerical control machining centers and the like, belongs to the most core component of the equipment, and directly restricts the overall performance of the equipment.
Currently, the main servo drives in the market are all adapted to a special motor, and the servo motor exists as a set of system. The user does not need to pay attention to the parameters related to the motor and the configuration of the encoder in the use process, and only needs to pay attention to the applied parameters, so that the whole system is adjusted to an optimal state.
The main problems of the prior art are:
1. most servo drivers hide the internal parameters of the motor and the configuration of the encoder, and are set in the servo drivers or according to the needs of users when leaving the factory;
2. After the performance of the servo driver is insufficient and the opening parameters are caused, the performance of the self-defined motor is obviously reduced, and even the self-defined motor cannot be used well;
3. the motor can only be matched with a home motor fundamentally, and other motors are not supported.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a servo motor dynamic parameter adaptation method, which is mainly used for dynamically increasing a calculation method and parameter adaptation of servo driving parameters aiming at a linear motor.
The technical scheme of the invention is as follows:
A servo motor dynamic parameter adaptation method is based on a self-defined motor expansion system built in a servo driver, and comprises the following steps:
S1, starting a servo driver;
S2, reading parameters set by the adaptive servo motor from the ep through a custom motor expansion system;
S3, entering initialization;
s4, checking the validity of each parameter of the adaptive servo motor;
S5, calculating parameters according to an algorithm after the inspection is passed;
S6, setting a servo driver operation time parameter;
S7, the servo driver operates normally.
In step S4, if the test fails, an error is immediately reported, and the parameters need to be corrected, and the servo driver is restarted.
In step S5, the parameters include an encoder parameter, a current parameter, and a gain parameter.
The current parameter is calculated according to a related parameter setting program algorithm of the adaptive servo motor.
The gain parameter is calculated according to a digital servo control algorithm.
The gain parameters comprise a gain parameter K1, a gain parameter K2 and a gain parameter K3.
The calculation formula of the gain parameter K1 is as follows:
K1=LaΔωreΔi1a/Δνa
The calculation formula of the gain parameter K2 is as follows:
K2=ΦfaΔωre/Δνa
the calculation formula of the gain parameter K3 is as follows:
K3=KiqΔi1a/Δνa
Wherein L a is the phase inductance of the servo motor, Δω re is the quantization resolution of the electrical angular velocity, Δi 1a is the quantization resolution of the three-phase current, Δν a is 1.732 times the quantization resolution of the primary voltage command, Φ fa is the induced voltage constant of the servo motor, and K iq and the shearing angle frequency ω c of the control system satisfy the following relationship:
Wherein R is a resistor.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the user-defined motor expansion system is arranged in the servo driver, and the system supports the user to dynamically configure the servo driver according to the existing motor parameters, so that the servo driver can be quickly adapted to various application scenes of the user, the user can use the existing equipment and the servo driver to combine with high performance as much as possible, and a quick, effective, efficient and low-cost implementation field scheme is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Examples
The embodiment provides a servo motor dynamic parameter adaptation method, which is characterized in that a custom motor expansion system (CME) is arranged in a servo driver, so that a user is supported to dynamically configure the servo driver according to the existing motor parameters, the servo driver can be quickly adapted to various application scenes of the user, and the user can be enabled to combine the servo driver with high performance by utilizing the existing equipment as much as possible. When the servo driver needs to use the function of the CME, it needs to be configured in the CME mode in software, and the servo driver will execute the logic of the CME system in the initialization stage. As shown in fig. 1, after the servo driver is started, firstly, parameters set by the adaptive servo motor are read from the ep through a custom motor expansion system; then, performing CME initialization; then, checking the validity of each parameter of the adaptive servo motor, if the parameters are checked to be failed, immediately reporting errors, correcting the parameters, restarting the servo driver, and after the parameters are checked to be passed, performing three-aspect processing on the parameters, namely setting the parameters of an encoder, setting the current parameters of a program algorithm according to the related parameters of the external adaptive motor, and calculating the gain parameters K1, K2 and K3 of the digital servo control algorithm; finally, setting the running parameters of the servo driver, and enabling the servo driver to normally run.
The calculation formula of the gain parameter K1 is as follows:
K1=LaΔωreΔi1a/Δνa
the calculation formula of the gain parameter K2 is as follows:
K2=ΦfaΔωre/Δνa
the calculation formula of the gain parameter K3 is as follows:
K3=KiqΔi1a/Δνa
Wherein L a is the phase inductance of the servo motor, Δω re is the quantization resolution of the electrical angular velocity, Δi 1a is the quantization resolution of the three-phase current, Δν a is 1.732 times the quantization resolution of the primary voltage command, Φ fa is the induced voltage constant of the servo motor, and K iq and the shearing angle frequency ω c of the control system satisfy the following relationship:
Wherein R is a resistor.
In an attempt to drive a new motor, the CME parameters of that motor must be entered in the drive. In this case, the specification/information of the motor to be driven must be prepared in advance. The CME parameters will be entered based on this information.
The table below lists the required motor information and the corresponding CME parameters.
CME related Long parameters:
CME related parameters:
set example 1:750w equivalent motor with UVW sensor.
Assume that motor information is shown in the following table (left). This information shows the CME parameters in the following table (right). They are entered in the CME parameter settings screen.
Set example 2: linear motor
Motor information is given in the table below (left). The first two parameters (the N-N distance of the motor and the resolution of the encoder) must be converted into the number of pulses per revolution of the encoder.
Let N-N distance (N) =50 mm for the motor, resolution (epsilon) =2.0 μm for the encoder.
Since the number of poles that can be set is 4,6,8, the number of poles of one turn is determined to be 4 (P). The number of pulses per revolution is calculated using the following formula.
The number of pulses of the encoder is 50000[ pulse/rotation ].
The maximum speed of the motor was set at 4[m/s. The resolution of the encoder=2 μm, converted to 4×10 6/2=2×106[ pulse/sec ] =40 [ rev/sec ] =2400 [ rpm ], and 24 is specified.
The maximum pulse speed that the driver can input is 6144 Kpulse/sec. The maximum speed of the drive is 6.144x 10 pulses/second/50000 pulses/rotation x60 seconds = about 7300rpm.
If the maximum speed of the motor (now 2400 rpm) exceeds the maximum speed of the drive, please designate the maximum speed of the drive as 7300rpm (parameter value 73).
As described above, the parameter values set in the CME setting screen are shown in the following table (right side).
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (3)

1. The servo motor dynamic parameter adaptation method is characterized by comprising the following steps of:
S1, starting a servo driver;
S2, reading parameters set by the adaptive servo motor from the ep through a custom motor expansion system;
S3, entering initialization;
s4, checking the validity of each parameter of the adaptive servo motor;
S5, calculating parameters according to an algorithm after the inspection is passed, wherein the parameters comprise encoder parameters, current parameters and gain parameters, the gain parameters are obtained by calculation according to a digital servo control algorithm, and the gain parameters comprise gain parameters K1, gain parameters K2 and gain parameters K3;
the calculation formula of the gain parameter K1 is as follows:
K1=LaΔωreΔi1a/Δνa
The calculation formula of the gain parameter K2 is as follows:
K2=ΦfaΔωre/Δνa
the calculation formula of the gain parameter K3 is as follows:
K3=KiqΔi1a/Δνa
Wherein L a is the phase inductance of the servo motor, Δω re is the quantization resolution of the electrical angular velocity, Δi 1a is the quantization resolution of the three-phase current, Δν a is 1.732 times the quantization resolution of the primary voltage command, Φ fa is the induced voltage constant of the servo motor, and K iq and the shearing angle frequency ω c of the control system satisfy the following relationship:
Wherein R is a resistor;
S6, setting a servo driver operation time parameter;
S7, the servo driver operates normally.
2. The method according to claim 1, wherein in step S4, if the test is failed, the error is immediately reported, the parameters need to be corrected, and the servo driver is restarted.
3. The method for adapting dynamic parameters of a servo motor according to claim 1, wherein the current parameter is calculated according to a related parameter setting program algorithm adapted to the servo motor.
CN202211083226.3A 2022-09-06 2022-09-06 Servo motor dynamic parameter adaptation method Active CN115296588B (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101621274A (en) * 2009-06-29 2010-01-06 中国兵器工业第五八研究所 Method for automatically recognizing AC servo motor in AC servo system
CN101820246A (en) * 2009-11-13 2010-09-01 卧龙电气集团股份有限公司 Servo parameter tuning method and system
CN101978594A (en) * 2008-03-28 2011-02-16 Thk株式会社 Servo motor position control device
CN103346720A (en) * 2013-07-27 2013-10-09 武汉迈信电气技术有限公司 Self-diagnosis method and device for detecting wiring of servo controller
CN111585475A (en) * 2020-07-09 2020-08-25 湖南科技大学 Brushless direct current motor servo system disturbance suppression and high-precision tracking control method
CN113885416A (en) * 2021-10-20 2022-01-04 上海新纪元机器人有限公司 Method and system for automatically detecting servo motor parameters
CN114079411A (en) * 2021-11-06 2022-02-22 敏力智能科技(浙江)有限公司 Online automatic identification method for servo motor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105978428B (en) * 2015-03-13 2019-07-26 光宝科技股份有限公司 servo motor system and control method thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101978594A (en) * 2008-03-28 2011-02-16 Thk株式会社 Servo motor position control device
CN101621274A (en) * 2009-06-29 2010-01-06 中国兵器工业第五八研究所 Method for automatically recognizing AC servo motor in AC servo system
CN101820246A (en) * 2009-11-13 2010-09-01 卧龙电气集团股份有限公司 Servo parameter tuning method and system
CN103346720A (en) * 2013-07-27 2013-10-09 武汉迈信电气技术有限公司 Self-diagnosis method and device for detecting wiring of servo controller
CN111585475A (en) * 2020-07-09 2020-08-25 湖南科技大学 Brushless direct current motor servo system disturbance suppression and high-precision tracking control method
CN113885416A (en) * 2021-10-20 2022-01-04 上海新纪元机器人有限公司 Method and system for automatically detecting servo motor parameters
CN114079411A (en) * 2021-11-06 2022-02-22 敏力智能科技(浙江)有限公司 Online automatic identification method for servo motor

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模糊自适应PID控制器在交流伺服位置系统的应用;张明鸣;冯轶博;李晋尧;韩峰;;机械制造与自动化;20071231(第06期);第164-166页 *

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