CN109802607A - A kind of AC servo motor is without control parameter phase sequence acquisition methods - Google Patents
A kind of AC servo motor is without control parameter phase sequence acquisition methods Download PDFInfo
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- CN109802607A CN109802607A CN201910079266.2A CN201910079266A CN109802607A CN 109802607 A CN109802607 A CN 109802607A CN 201910079266 A CN201910079266 A CN 201910079266A CN 109802607 A CN109802607 A CN 109802607A
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Abstract
The present invention provides a kind of AC servo motor without control parameter phase sequence acquisition methods, belongs to motor application field.The present invention includes the following steps: physical connection: the encoder wiring of the motor and forward motion direction of encoder is arranged in energization, motor line of force wiring；Phase sequence obtains: setting driver operating mode and electric excitation sequence, motor follow the excitation process of driver to rotate, and the driver obtains the phase sequence of motor；Phase sequence adjustment: driver reads the positional increment of encoder, and when judging motor rotation, whether the positional increment increases, if it is, motor wiring is correct, if not, exchanging any two on line of motor UVW, is adjusted to correct phase sequence.The invention has the benefit that realizing the phase sequence automatic identification of motor, it is not required to manual intervention, it is simple and effective.
Description
Technical field
The present invention relates to motor application fields more particularly to a kind of AC servo motor without control parameter phase sequence acquisition side
Method.
Background technique
The acquisition of AC permanent-magnet synchronous servo motor control parameter just can be carried out when motor driver operates normally, premise
First is that motor encoder and motor line of force UVW wiring are correct.The energisation mode of servo motor power line is that three-phase phase is poor
For 120 degree of sinusoidal ac, and the operational modulation mode of driver (variable-frequency power sources) can be SVPWM, SPWM or other modulation
Mode.If the variation for specifying motor encoder output signal amount when motor is rotated to certain direction is forward direction, motor UVW
When three phase excitation, when three phase sequences pass to the alternating current that successively phase difference is 120 electrical angles, direction of motor rotation and definition
The direction of encoder (signal output) is consistent, this is desired positive phase sequence, and no person is opposite phase sequence.Only motor wiring is
When positive sequence, motor can just normally control work.
And encoder is responsible for the detection of motor corner (displacement) in servo motor SERVO CONTROL, output signal also has forward direction
Reversely, such as the phase relation of incremental encoder output AB signal indicates rotation or mobile direction.
It is link because encoder line in use is complicated, and the motor line of force is configurable connection, is being installed
In use process, exists and release motor and servo-driver wiring and the again process of wiring, and the phase sequence of motor wiring has
The possibility upset and phase sequence must be redefined.
Motor motion control parameter (operating parameter adjusted out based on correct wiring) is not substantially when being determined due to phase sequence
It can use, motor and mating power supply are sensitive electromechanical device, and such as relying primarily on artificial detection method has security risk, needs the time
It is long, and require the professional knowledge of operator.
Summary of the invention
To solve the problems of the prior art, the present invention provides a kind of AC servo motor without control parameter phase sequence acquisition side
Method.
The present invention includes the following steps:
S1: physical connection: the encoder wiring and energization, motor line of force wiring, the forward direction that encoder is arranged of motor are transported
Dynamic direction；
S2: phase sequence obtains: setting driver operating mode and electric excitation sequence, motor follow the excitation process of driver to revolve
Turn, the driver obtains the phase sequence of motor；
S3: phase sequence adjustment: driver reads the positional increment of encoder, and when judging motor rotation, the position increases
Whether amount increases, if it is, motor wiring is correct, if not, exchanging any two on line of motor UVW, is adjusted to correct phase
Sequence；
S4: terminate.
The present invention is further improved, and in step s 2, the driver is set as SVPWM mode, and the electric excitation is suitable
Sequence is vector U100- > U101- > U001- > U011- > U010- > U110, in cycles, to generate a rotating magnetic potential, and is installed
There is the rotor of permanent magnet that this excitation process will be followed to rotate, obtains corresponding phase sequence.
The present invention is further improved, and the driver is under SVPWM mode, and aperture maximum is set as 10000, with U100
When vector driving motor, for the index value that aperture is 2 from low to high 1,2,4... configuration driven device, each conduction time is 500ms,
When test to aperture is 512, current of electric is that 3A is slightly larger than rated current 2.8A, and the acquisition of driver Automatic parameter terminates.
The present invention is further improved, and in step S2 and S3, is set in the operating current that electric current is 1-1.5 times of rated current
It fixs, each vector gives conduction time as 200ms, and motor starts to rotate and obtains phase sequence.
Compared with prior art, the beneficial effects of the present invention are: encoder correct wiring Shi Keling servo-driver from
Whether whether the dynamic current excitations direction of motor rotation that obtains correct with the positive consistent i.e. phase sequence of encoder, is not required to configuration control ginseng
Number is not required to manually carry out additional parameter calculating configuration, no manual intervention, detection process safety convenient；Testing result energy instructor
Work only passes through motor energization and two-phase wiring is appointed to exchange realization motor correct wiring with positive sort run, and guidance method is clearly simple.
Detailed description of the invention
Fig. 1 is the lower embodiment basic vector electric excitation sequential schematic of driver SVPWM mode of the present invention；
Fig. 2 is basic vector composite magnetic power space-time diagram.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
The excitation condition of this example are as follows:
(1) motor and driver operating voltage 220VAC
(2) rated current of motor 2.8A
(3) encoder is 2500 line of incremental encoder resolution ratio.
The phase sequence of this example refers to the sequence of the excitation of 120 degree of phase difference of three-phase servo motor three-phase alternating current electric excitation, determines
Motor rotation just, opposite direction.
Phase sequence acquisition be in order to reach the encoder direction of rotation detection method that must be taken consistent with phase sequence, when phase sequence not
Adjustable (exchanging) three-phase motor appoints the sequence of wiring or the excitation of two-phase to correct phase sequence when consistent.
Specifically, the present invention includes the following steps:
S1: physical connection: the encoder wiring of motor, encoder are powered, and the forward motion direction of encoder, motor is arranged
Power line wiring, at this point, the position of encoder can be read by driver.
S2: phase sequence obtains: setting driver operating mode and electric excitation sequence, motor follow the excitation process of driver to revolve
Turn, the driver obtains the phase sequence of motor.
As an embodiment of the present invention, the driver of this example is set as SVPWM mode, wherein switching device pair
6 basic vectors for answering servo motor UVW turn-on sequence to generate, U100 (are directed toward VW phase by U phase in electric excitation direction), U101 (electricity
Excitation orientation is directed toward V phase by UW phase), U001 (is directed toward UV phase by W phase in electric excitation direction), and (electric excitation direction is referred to U011 by VW phase
To U phase), U010 (is directed toward UW phase by V phase in electric excitation direction), and U110 (is directed toward W phase by UV phase in electric excitation direction).This example will be electric
Excitation sequence is set as vector U100- > U101- > U001- > U011- > U010- > U110, in cycles, to generate a rotation
Magnetic potential, and the rotor for being equipped with permanent magnet will follow this excitation process to rotate, and obtain corresponding phase sequence.
As depicted in figs. 1 and 2, current direction when thin arrow line is corresponding voltage Vector eXcitation, from top to bottom, left-to-right
The rotation figure of space-time diagram and the i.e. magnetic field of composite magnetic power that respectively 6 voltage vectors successively act on, rotates to magnetic potential by magnetic potential 1
2... magnetic potential 6, in cycles.And rotor follows rotating excitation field to rotate, and generates corresponding phase sequence.
Specific work process are as follows:
This driver SVPWM aperture is 10000, and aperture setting is minimum, and driving voltage output is minimum；Setting is maximum, voltage
Export highest.The setting effect of duty such as 0-100% in pwm signal control on year-on-year basis corresponds to highest when 10000 values are arranged
SVPWM modulation relative to highest voltage output in motor, the aperture of this example presses 2 index value, from low to high 1,2,4...
For configuration driven device with U100 vector driving motor, each conduction time is 500ms (millisecond), when test to aperture is 512, electricity
Electromechanics stream is that 3A is slightly larger than volume point electric current 2.8A, this is Automatic parameter acquisition process, and aperture parameter is exponential increase given way,
Step effectively reduces, and testing efficiency is high.
Given value of current calculates theoretical foundation: I=U/Z, I are electric current, and U is the voltage determined by aperture, since PWM work is former
Reason is direct current given voltage, and Z is impedance, and since U is DC voltage, it is fixed value that Z, which is 1.5 times of phase resistance, herein.
Under the operating current setting that electric current is 1-1.5 times of rated current, the work of motor rotary test starts: by 6.2,
6.3 are tested, and each vector gives conduction time as 200ms, and motor starts to rotate and obtains phase sequence.
S3: phase sequence adjustment: driver reads the positional increment of encoder, and when judging motor rotation, the position increases
Whether amount increases, if it is, motor wiring is correct, if not, namely encoder shows that output increment is negative, surveys at this time
The VW wiring for being opposite phase sequence, then exchanging in UVW obtained, carries out this step operation, obtained phase sequence is positive again.Motor
Power line connection mode has UVW, UWV, VUW, VWU, WUV, and six kinds of mode of connection of WVU are connected to the terminals of driver, successively
This method is taken in wiring, can obtain correct phase sequence.
According to the phase sequence for the confirmation that this method step obtains, configuration driven device parameter, motor can correctly drive operation, thus
Prove the validity of this phase sequence acquisition methods.
The present invention has the advantage that
1. in encoder correct wiring, can enable servo-driver obtain automatically current excitations direction of motor rotation whether and
Whether the positive unanimously i.e. phase sequence of encoder is correct, to overcome the prior art necessary correct wiring before acquisition, configures motor
The problem of general parameter (mark of motor nameplate), encoder general parameter (electric drilling match explanation), the present invention are not required to configuration control
Parameter processed is not required to manually carry out additional parameter calculating configuration, no manual intervention, detection process safety convenient；
2. testing result can instruct manually only to appoint two-phase wiring to exchange realization motor correct wiring with just by motor energization
Sort run, guidance method is clearly simple, does not need study professional knowledge, no security risk.
The specific embodiment of the above is better embodiment of the invention, is not limited with this of the invention specific
Practical range, the scope of the present invention includes being not limited to present embodiment, all equal according to equivalence changes made by the present invention
Within the scope of the present invention.
Claims (4)
1. a kind of AC servo motor is without control parameter phase sequence acquisition methods, which comprises the steps of:
S1: physical connection: the encoder wiring of the motor and forward motion side of encoder is arranged in energization, motor line of force wiring
To；
S2: phase sequence obtains: setting driver operating mode and electric excitation sequence, motor follow the excitation process of driver to rotate,
The driver obtains the phase sequence of motor；
S3: phase sequence adjustment: driver reads the positional increment of encoder, and when judging motor rotation, the positional increment is
No increase, if not, exchanging any two on line of motor UVW, is adjusted to correct phase sequence if it is, motor wiring is correct；
S4: terminate.
2. AC servo motor according to claim 1 is without control parameter phase sequence acquisition methods, it is characterised in that: in step
In S2, the driver is set as SVPWM mode, the electric excitation sequence be vector U100- > U101- > U001- > U011- >
U010- > U110, in cycles, so that a rotating magnetic potential is generated, and the rotor for being equipped with permanent magnet will follow this to motivate
Cheng Xuanzhuan obtains corresponding phase sequence.
3. AC servo motor according to claim 2 is without control parameter phase sequence acquisition methods, it is characterised in that: the drive
For dynamic device under SVPWM mode, aperture maximum is set as 10000, and when with U100 vector driving motor, the index value that aperture is 2 is certainly
Low to high 1,2,4... configuration driven devices, each conduction time are 500ms, when test to aperture is 512, current of electric 3A
Slightly larger than rated current 2.8A, the acquisition of driver Automatic parameter terminates.
4. AC servo motor according to claim 3 is without control parameter phase sequence acquisition methods, it is characterised in that: in step
In S2 and S3, under the operating current setting that electric current is 1-1.5 times of rated current, each vector given conduction time is 200ms,
Motor starts to rotate and obtains phase sequence.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910079266.2A CN109802607A (en) | 2019-01-28 | 2019-01-28 | A kind of AC servo motor is without control parameter phase sequence acquisition methods |
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| CN201910079266.2A CN109802607A (en) | 2019-01-28 | 2019-01-28 | A kind of AC servo motor is without control parameter phase sequence acquisition methods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114389512A (en) * | 2021-12-31 | 2022-04-22 | 上海四横电机制造有限公司 | Method, device, equipment and medium for controlling phase sequence of adjustable speed motor |
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| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN103401502A (en) * | 2013-07-22 | 2013-11-20 | 深圳市汇川技术股份有限公司 | System and method for identifying initial angle of permanent magnet synchronous motor |
| CN205334836U (en) * | 2015-12-31 | 2016-06-22 | 苏州工业职业技术学院 | Servo motor speed control's teaching experiment device |
| CN108322103A (en) * | 2018-02-08 | 2018-07-24 | 浙江国自机器人技术有限公司 | A kind of permanent magnet synchronous motor phase sequence bearing calibration and its device |
| CN108693436A (en) * | 2017-04-11 | 2018-10-23 | 郑州宇通客车股份有限公司 | Permanent magnet synchronous motor power line wiring phase sequence detecting method and detecting system |
| CN108900121A (en) * | 2018-07-10 | 2018-11-27 | 东莞市李群自动化技术有限公司 | Motor initial phase and phase sequence detecting method and control system for permanent-magnet synchronous motor |
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2019
- 2019-01-28 CN CN201910079266.2A patent/CN109802607A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN103401502A (en) * | 2013-07-22 | 2013-11-20 | 深圳市汇川技术股份有限公司 | System and method for identifying initial angle of permanent magnet synchronous motor |
| CN205334836U (en) * | 2015-12-31 | 2016-06-22 | 苏州工业职业技术学院 | Servo motor speed control's teaching experiment device |
| CN108693436A (en) * | 2017-04-11 | 2018-10-23 | 郑州宇通客车股份有限公司 | Permanent magnet synchronous motor power line wiring phase sequence detecting method and detecting system |
| CN108322103A (en) * | 2018-02-08 | 2018-07-24 | 浙江国自机器人技术有限公司 | A kind of permanent magnet synchronous motor phase sequence bearing calibration and its device |
| CN108900121A (en) * | 2018-07-10 | 2018-11-27 | 东莞市李群自动化技术有限公司 | Motor initial phase and phase sequence detecting method and control system for permanent-magnet synchronous motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114389512A (en) * | 2021-12-31 | 2022-04-22 | 上海四横电机制造有限公司 | Method, device, equipment and medium for controlling phase sequence of adjustable speed motor |
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Application publication date: 20190524 |