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首页 伺服电机编码器的调整方法

伺服电机编码器的调整方法.doc

伺服电机编码器的调整方法

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2017-11-27 0人阅读 举报 0 0 暂无简介

简介:本文档为《伺服电机编码器的调整方法doc》,可适用于领域

伺服电机编码器的调整方法Subject:servomotorencoderadjustmentmethodFromindustrialcontrolnetwork:PhasealignmentofanincrementalencoderInthisdiscussion,theincrementalencoderoutputsignalisasquarewavesignal,andcanbedividedintowithincrementalencodercommutationsignalsandordinaryincrementalencoder,incrementalencoderwithordinarytwophaseorthogonalsquarewavepulseoutputsignalAandB,andZwithzerosignalincrementalencodercommutationsignalhasABZoutputsignal,alsohasthedifferencebetweentheelectroniccommutationsignalUVWdegrees,UVWofeachturncyclesandmotorrotorpolesconsistentUVWelectronexchangephaseandrotorpolephasesignalwithincrementalencodercommutationsignals,thefollowingalignmentmethodorbetweenelectricphaseangle:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionuseoscilloscopetoobserveUphasesignalandZsignalofencoderadjusttherelativepositionbetweentheencodershaftandthemotorshaftThesideadjustment,whileobservingtheUencoderphasesignaljumpedge,andtdthemotorshaftaccordingtotheconvenienceoftheoperation,ortherelativepositionbetweentheencoderhousingandthemotorhousingsideadjustment,whileobservingtheencoderUphasesignalrisingedgeandmotorUcontrary,thepotentialwaveformfromlowtohighzerocrossing,andfinallymaketherisingedgeandzerocrossing,LocktheencodertotherelativepositionofthemotortocompletethealignmentSincethegeneralincrementalencoderdoesnothaveUVWphaseinformation,andtheZsignalcanonlyreflectonepointinonecircle,ithasnodirectphasealignmentpotential,soitisnotthetopicofthisdiscussionPhasealignmentofabsoluteencoderThephasealignmentoftheabsoluteencodermakeslittledifferencetothesinglecoilandthemulticoil,infact,itisinonecirclethatthephaseoftheencoderisalignedwiththeelectricalangleofthemotorEarlyabsoluteencoderswouldgivethehighestlevelofsinglephasephasewithseparatepins,andthephasealignmentoftheencoderandthemotorcouldalsobeachievedbyturningtheandofthislevel:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionuseoscilloscopetoobservethehighestdigitallevelsignalofabsoluteencoderadjusttherelativepositionbetweentheencodershaftandthemotorshaftsideadjustment,whileobservingthehighestnumberofdigitalsignalsalongthejumpedge,untilthejumpalongtheaccuratedirectionofthemotorshaftinthebalanceposition,lockingtheencoderandtherelativelocationofthemotorrelationshipturnthemotorshaftbackandforthAfterthestop,ifthemotorshaftisrestoredtothebalancepositionatanytime,thejumpingedgecanbeaccuratelyreproduced,andthealignmentisvalidTheabsoluteencoderhasbeenusingEnDAT,BiSS,Hyperfaceserialprotocol,modelofabsoluteencoderandJapanesespecialserialprotocolusedtoreplace,sothehighsignaldoesnotexist,theencoderandmotorphasealignmentmethodshavealsochanged,whichisaverypracticalmethodistousetheencoderEEPROMinternalstorage,measuredphaserandomencoderisinstalledonthemotorshaft,thespecificmethodsareasfollows:,theencoderisrandomlyinstalledonthemotor,thatis,theencodershaftandmotorshaft,aswellastheencodercasingandmotorshell,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadthesinglelooppositionvalueoftheabsoluteencoderwiththeservodriveandstoreintheencodertorecordtheEEPROMintheinitialphaseoftheelectricalangleofthemotorThealignmentprocessisoverSincetheaxisofthemotorisorientedinthedirectionofoftheelectricalangleandphase,thepositiondetectionvalueintheinternalEEPROMoftheencodercorrespondstothedegreeoftheelectricalangleofthemotorSincethen,thesingledriveringpositiondetectiondataatanytimeandthestoragevalue,andmakethenecessaryconversionaccordingtothemotorpolenumber,plusthe,youcangetthemomentmotorphaseangleThealignmentofencoderandservodriversupportandcooperationtoachieve,ontherootcauseoftheencoderphaseservofortheenduserisnotwillingtodirectlyadjustthefunctioninterfaceandoperationmethodofthisalignmentprovidestotheuserAgoodadvantageofthisalignmentmethodisthattherotordirectionalcurrentisprovidedonlytothemotorwindingstodeterminethephasesequenceanddirection,Noneedtoadjusttherelationshipbetweentheencoderandthemotorshaftangleencoder,thuscanbeanyinitialangledirectlymountedonthemotor,andnofine,evenasimpleadjustmentprocess,simpleoperation,goodmanufacturabilityThealignmentmethodcanberelativelycomplexiftheabsoluteencoderhasneithertheEEPROMavailablenorthehighestdigitalpintobedetectedConsiderationscanbeconsideredifthedrivesupportsreadanddisplayofsingleloopabsolutepositioninformation:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadanddisplaythesinglelooppositionvalueoftheabsoluteencoderusingtheservodriveadjusttherelativepositionbetweentheencodershaftandthemotorshaftaftertheseadjustments,thedisplayofthesingleringabsolutepositionvalueisveryclosetothesingleringabsolutepositionaccordingtothemotorpolesnumeratemotorelectricaldegreesshouldcorrespondtotherelativepositionbetweentheencoderandthemotorlockturnthemotorshaftbackandforth,andthen,whenthemotorshaftisfreetoreturntothebalanceposition,thetranslationpointscanbeaccuratelyreproduced,andthealignmentisvalidEveniftheuseristheabsolutevalueofinformationcannotbeacquired,thenitcanonlyusespecialtoolfactoryinstalled,whiledetectingabsolutepositiondetectionvalue,whiledetectionofmotorphaseangle,therelativeangularpositionoftooling,adjusttherelationshipbetweentheencoderandthemotor,theencoderphaseandelectromechanicalanglephasearealignedwitheachother,andthenlockedAsaresult,theuserhasmoretroublesolvingthephasealignmentproblemoftheencoderPersonalrecommendationmethodsintheEEPROMstoredinthelocationoftheinitialinstallationissimple,practical,goodadaptability,easytoopentotheuser,fortheusertoinstalltheencoder,andcompletephasemotorelectricangletuningPhasealignmentofsinecosineencoderTheaveragecosineencodercomprisesapairoforthogonalsincosVppsignal,ABsignalsinquadratureincrementalencoderisequivalenttoasquarewavesignal,eachringwillrepeatmanysignalcycle,suchasandanarrowsymmetricaltriangularwaveIndexsignal,ZsignalisequaltotheincrementalencoderAgeneralonethecosineencoderisessentiallyanincrementalencoderAnotheradditiontotheorthogonalcosineencodersin,cossignal,butalsohaveapairofmutuallyorthogonalsinusoidalcircleonlyonesignalcycleofVppC,Dsignal,iftheCsignalissin,theDsignaliscos,thehighrateofsinandCOSsignalsubdivisiontechnologythatcannotonlymakethecosineencoderformoredetailedthantheoriginalnameofthedetectionresolutionsignalcycle,suchascosineencoderlinebysegments,canreachthenominaldetectionresolutionofaboutlinesperturn,atpresentmanyEuropeanandAmericanmanufacturersareofferingthiskindofservoservosystemwithhighresolution,whiledomesticmanufacturersarestilldonotseeinaddition,cosineencoderwithCDsignalC,Dsignalaftersegmentation,eachturnabsolutepositioninformationcanalsoprovidehigher,suchaseveryabsoluteposition,Therefore,thepositivecosineencoderwithCandDsignalscanbeconsideredasananalogsingleloopabsoluteencoderTheinitialelectricalangleandphasealignmentoftheservomotorusingthisencoderareasfollows:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionuseoscilloscopetoobservetheCwaveformofsinecosineencoderadjusttherelativepositionbetweentheencodershaftandthemotorshaft,sideadjustment,whileobservingtheCsignalwaveform,untilthelowtohighzeropoint,accuratelyappearinthedirectionofthemotorshaftbalanceposition,lockingencoderandtherelativepositionofthemotorturnthemotorshaftbackandforthAfterthestop,ifthemotorshaftreturnstothebalancepositionatanytime,thezerocrossingcanbeaccuratelyreproduced,andthealignmentisvalidAfterremovingtheDCpower,verifyasfollows:observetheCphasesignaloftheencoderandtheUVlinebackEMFwaveformoftheencoderbyoscillographrotatingmotorshaft,theencoderCphasesignalfromlowtohighzerocrossing,andmotorUVlinebackEMFwaveformfromlowtohighzerocrossingThisverificationmethodcanalsobeusedasalignmentmethodThezeropointoftheCsignalisalignedwiththedegreeoftheelectricangleofthemotorIfyouwanttoaligndirectlywiththemotor'selectricalangleofdegrees,considerit:withresistanceequalconnectedintoastar,thenUVWwirethreephasewindingresistanceofstarconnectionarerespectivelyconnectedwithmotor,withanoscilloscopetoobservethemidpointoftheUphaseinputofthemotorandthestarresistance,theUEMFwaveformofthemotorcanbeapproximatelyobtainedadjusttherelativepositionbetweentheencodershaftandthemotorshaftThesideadjustment,whileobservingtheencoderCsignalfromlowtohighandzeromotorUreverseEMFwaveformfromlowtohighzero,thezerooverlap,relativepositionbetweentheencoderandthelockingmotor,completealignmentDuetothecommoncosineencoderdoesnothavephaseinformationwithinacircle,whiletheIndexsignalcanonlyreflectapointofacircle,donothavethepotentialofdirectphasealignment,sothisisnotasubjectfordiscussionIfaservodrivethatcanbeaccessedbythesinecosineencodercanprovidetheuserwithasingleloopabsolutepositioninformationobtainedfromtheCandD,itmaybeconsidered:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadanddisplaythesingleloopabsolutepositioninformationobtainedfromtheCandDsignalsusingtheservodriveadjusttherelativepositionbetweentheshaftandthemotorshaftaftertheseadjustments,theabsolutepositionofthedisplayedvaluesufficientlyclosetotheabsolutepositionaccordingtomotorpolesnumeratemotorelectricaldegreesshouldcorrespondtotherelativepositionbetweentheencoderandthemotorlock,turnthemotorshaftbackandforth,andthen,whenthemotorshaftisfreetoreturntothebalanceposition,thetranslation,theabsolutepositionpointcanbeaccuratelyreproduced,thenthealignmentisvalidAfterthat,youcangetthesamealignmentandverificationeffectasbeforewhenyouremovetheDCpowersupply:observetheCphasesignalofthesinecosineencoderandtheUVlinebackEMFwaveformofthemotorwithanoscilloscoperotatingmotorshaft,verifytheCphasesignaloftheencoderfromzerotohighzeropoint,andthemotorUVlinebackEMFwaveformfromlowtohighzerocrossingIfthenonvolatilememorysuchasEEPROMisusedinthedrive,theactualphaseafterthesinecosineencoderisrandomlyinstalledonthemotorshaftcanbestored,andtheconcretemethodisasfollows:,thesinecosineisrandomlyinstalledonthemotor,thatis,theencodershaftandthemotorshaft,andtheencodercasingandmotorshell,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadtheabsolutevalueofthesingleloopwhichisresolvedbytheCandDsignalswiththeservodriver,andrecordthemotorangle,theinitialinstallationphaseofEEPROMandothernonvolatilememoryinthedriverThealignmentprocessisoverSincethemotorshaftisorientedinthedirectionofoftheelectricalangleandphase,thepositiondetectionvalueinthenonvolatilememorysuchasEEPROMstoredintheactuatorcorrespondstothephaseoftheelectricalangleofthemotorSincethen,thedriverwillatanytimebytheencoderassociatedwithelectricalangleofsingleringabsolutepositionvaluedifferenceandthestoragevalue,andmakethenecessaryconversionaccordingtothemotorpolenumber,plusthe,youcangetthemomentmotorphaseangleThisalignmentneedservodriveandoperationathomeandgivesupportandcooperationtoachieve,butalsobecauseoftheinitialphaseoftherecordingelectricangleEEPROMnonvolatilememoryintheservodrive,sooncealigned,motoranddriveinfactbound,ifyouneedtoreplacethemotor,cosineencoder,ordrive,willneedtorealigningtheinitialinstallationphase,andthematchingrelationshipbetweentherebindingofmotoranddrivePhasealignmentofrotatingtransformerRotatingtransformerisakindofhighperformancesiliconsteellaminationandenameledwirewhichisspeciallydesignedbyelectromagnetismComparedwithphotoelectricencoder,ithasheatresistanceandvibrationresistanceImpactresistant,oilresistant,resistanttocorrosionandotherharshworkingenvironmentandabilitytoadapt,soitiswidelyusedinapplicationssuchasaweaponsystembad,apairofpole(singlespeedrotarytransformer)canberegardedasasingleringabsolutefeedbacksystem,andisalsowidelyused,andinonlyasinglespeedrotarytransformerasthediscussionobject,multispeedrotarytransformermatchedwithservomotor,thepolespersonallythinkthebestuseofapolemotor,amotorforthecorrespondingdegreeofpolesanddecompositionSignalwirerotarytransformerisgenerally,dividedintogroups,correspondingtoanexcitationcoilandinductioncoil,orthogonalcoils,acceptsinusoidalexcitationsignal,onthebasisofmutualinductioncoilrotatingangularpositionbetweentherotorandstator,inductiondetectionsignalwithSINandCOSpacketnetworkSwingSINandCOSoutputsignalsaccordingtotherotoranglebetweenthemodulationresultsofsinusoidalsignalexcitation,iftheexcitationsignalissinOmegaT,theanglebetweenthestatorandrotorfortheta,theSINsignalissinT*sinCOSsignalforsintheta,Omegat*cos,accordingtoSIN,COStheoriginalsignalandthesignaldetectioncircuit,bynecessity,youcangetthepositiondetectionresultsofhighresolution,resolutionofthecurrentcommercialswingsystemcanreach,orperlap,andscientificresearchandaerospacesystemscanevenreachmorethantimesof,butthevolumeandcostsarealsoveryimpressiveThemethodforaligningtheelectricalanglephaseofthecommercialrotationandtheservomotorisasfollows:withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,VoutthenobservetheoutputofthesignalleadofthespiralSINcoilwithanoscilloscope,accordingtotheconvenienceofoperation,adjusttherelativepositionoftherotatingrotorandthemotorshaftonthemotorshaft,ortherelativepositionoftherotatingstatorandthemotorshell,adjusttheside,whileobservingtheenvelopeofthespinSINsignal,hasbeenadjustedtotheamplitudeofthesignalenvelopeiscompletelyzero,lockedspin,turnthemotorshaftbackandforth,andthen,ifthemotorshaftreturnstothebalancepositionatanytime,theamplitudeofthesignalenvelopecanbeaccuratelyreproduced,andthealignmentisvalidRemoveDCpowerforalignmentverification:useoscilloscopetoobservethespiralSINsignalandtheUVlinebackEMFwaveformofthemotorrotatingmotorshaft,toverifythespinSINsignalenvelopezerocrossing,andthemotorUVlinebackEMFwaveformfromlowtohighzerocrossingThisverificationmethodcanalsobeusedasalignmentmethodThezerocrossingoftheSINsignalenvelopeisalignedwiththedegreeoftheelectricanglephaseofthemotorIfyouwanttoaligndirectlywiththemotor'selectricalangleofdegrees,considerit:withresistanceequalconnectedintoastar,thenUVWwirethreephasewindingresistanceofstarconnectionarerespectivelyconnectedwithmotor,withanoscilloscopetoobservethemidpointoftheUphaseinputofthemotorandthestarresistance,theUEMFwaveformofthemotorcanbeapproximatelyobtainedadjusttherelativepositionoftheencoderrotatingshaftandthemotorshaftaccordingtotheconvenienceoftheoperation,ortherelativepositionbetweentheencoderhousingandthemotorhousingThesideadjustment,whileobservingtheSINsignalenveloperesolverzerocrossingandmotorUreverseEMFwaveformfromlowtohighzero,eventuallythezerooverlap,relativepositionbetweentheencoderandthelockingmotor,completealignmentItisimportanttopointoutthatthepositivehalfandnegativehalfoftheSINenvelopesignalneedtobeeffectivelydistinguishedintheaboveoperationsBecausetheSINsignalistransferredtothestatoranglebetweenthemodulationresultsoftheexcitationsignalofthetathetavaluesofsin,SINandsinThesignalenvelopeishalfthecorresponding,themodulatedexcitationsignalandtheoriginalexcitationsignalphase,signalenvelopeandSINnegativehalfcycleandthecorrespondingsinthetaThemodulatedexcitationsignalandtheoriginalsignalinversionexcitation,AccordingtoSINsignalwaveformjudgmentdifferenceinrotatingoutputpositiveandnegativehalfcycles,alignment,SINenvelopesignalfromsinthetabythenegativehalfcycleofprimaryhalfcycletransitionpointcorrespondingtothezerocrossingpoint,iftake,ornotaccuratelydetermineiftheelectricalangleafteralignmentthepossibledislocationofdegrees,whichmaycausethespeedloopintopositivefeedbackIfaservodrivethatcanbeturnedintoarotorcanprovidetheuserwithabsolutepositioninformationassociatedwiththeelectricalangleofthemotorobtainedfromthespinsignal:,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadanddisplaytheabsolutepositioninformationassociatedwiththeelectricalangleofthemotorobtainedfromthespinsignalusingtheservodriveradjusttherelativepositionoftheshaftandthemotorshaftaccordingtotheconvenienceoftheoperation,orspintherelativepositionbetweentheshellandthemotorshellaftertheseadjustments,theabsolutepositionofthedisplayedvaluesufficientlyclosetotheabsolutepositionaccordingtomotorpolesnumeratemotorelectricaldegreesshouldcorrespondtotherelativepositionbetweentheencoderandthemotorlock,turnthemotorshaftbackandforth,andthen,whenthemotorshaftisfreetoreturntothebalanceposition,thetranslation,theabsolutepositionpointcanbeaccuratelyreproduced,thenthealignmentisvalidAfterthat,youcangetthesamealignmentandverificationeffectasbeforewhenyouremovetheDCpowersupply:useoscilloscopetoobservethespiralSINsignalandtheUVlinebackEMFwaveformofthemotorrotatingmotorshaft,toverifythespinSINsignalenvelopezerocrossing,andthemotorUVlinebackEMFwaveformfromlowtohighzerocrossingIfthenonvolatilememorysuchasEEPROMandthelikeofthedriverareutilized,themeasuredphaseaftertherotationisrandomlyinstalledonthemotorshaftcanbestored,andtheconcretemethodisasfollows:,therotationisrandomlyinstalledonthemotor,thatis,thefixedrotationshaftandthemotorshaft,aswellastherotationoftheshellandmotorshell,withaDCpowersupplytothemotorUVwindingthroughlessthantheratedcurrentofDC,Uinto,Vout,themotorshaftorientationtoabalancepositionreadtheabsolutepositionvalueoftheelectricalangleassociatedwiththeresolverbytheservodriveandstoreitinthenonvolatilememorysuchasEEPROMinthemotor,theelectricalangle,andtheinitialmountingphaseThealignmentprocessisoverSincethemotorshaftisorientedinthedirectionofoftheelectricalangleandphase,thepositiondetectionvalueinthenonvolatilememorysuchasEEPROMstoredintheactuatorcorrespondstothephaseoftheelectricalangleofthemotorSincethen,thedriverwillabsolutepositionrelatedtotheelectricalangleatanytimebyrotatingthevaluedifferenceandthestoragevalue,andmakethenecessaryconversionaccordingtothemotorpolenumber,plusthe,youcangetthemomentmotorphaseangleThisalignmentneedservodriveandoperationathomeandgivesupportandcooperationtoachieve,butalsobecauseoftheinitialphaseoftherecordingelectricangleEEPROMnonvolatilememoryintheservodrive,sooncealigned,Themotoranddriveinfactbound,ifyouneedtoreplacethemotor,swing,ordrive,willneedtorealigningtheinitialinstallationphase,andthematchingrelationshipbetweentherebindingofmotoranddriveBecarefulinthediscussionabove,thesocalled"degree"phasealignmenttothemotorelectricangleisbasedonthepremisethattheUVEMFwaveformlagsbehindtheUphasedegreesIntheabovediscussions,theUVisconnectedwitheachother,andtheUVlinebackEMFwaveformistakenasanexampleSomeservosystemalignmentmethodsmayusetheUWparallelconnectionandrefertotheUWlinebackEMFwaveformifyouwanttodirectlyalignedtotheelectricangleofdegreesphasepoints,canalsobepositiveUphaseconnectedtolowvoltageDCsource,thenegativeterminalofVphaseandWphaseparallelaccessDCsource,theorientationofthemotorshaftanglerelativetotheUVphaseonUnicomelectricalmeanswilloffsetdegreestoalignthecorrespondingalignmentmethodinthispaper,thedegreephasewillbetheprincipleofaligningwiththemotorangle,butthereisnooffsetThisisgoodbutitseemsthatconsideringtheparametersofmotorwindinginconsistency,VphaseandWphaseinparallel,currentflowsthroughtheVphaseandWphasewindingisprobablynotconsistent,whichwillaffecttheaccuracyofthemotorshaftorientationangleWhileinUVphaseelectricity,UphaseandVphasewindinginseriesonly,sothecurrentflowingthroughUphaseandVphasewindingmustbeconsistent,directionalaccuracywillnotbeaffectedbythemotorshaftwindingdirectionalcurrentdonotruleoutthepossibilityofinitialphaseservomanufacturerstodislocationalignment,especiallythefeedbacksystemofabsolutepositiondatacanprovideintheinitialphaseofthealignment,thedislocationwilleasilybeoffsetcompensationdataback,thiswaymayplayaprotectiveroleoftheirproductlineInthisway,theuserisevenmorelikelytoknowwheretheinitialphaseoftheservomotorelementshouldbealignedUsersnaturallyarereluctanttomeetsuchvendorsAddtheabovestatement:Nowthehigherversionofthesystem,suchasthegridsystemversion,inmorethanofthegenerator,aftertheinstallationofsynchronousmotorencoder,youcanautomaticallyadjusttheparametersItdoesn'ttakesomuchtim
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伺服电机编码器的调整方法

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