1769-OB8
1769-OB8
1769-OB8
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綜合電流矢量I 與a相電流的夾角ε 即為電角度，當ε 等于零時，即為電機零位。交流伺服電機的矢量控制只有獲取準確的電角度，才能使伺服電機獲得最佳的出力效果。對于增量式編碼器通常將霍爾U信號的上升沿與電機零位對齊，或者將索引Z信號與電機零位對齊；對于絕對式編碼器，由于其輸出的每一個數(shù)值對應一圈中唯一位置，因此通常將絕對式編碼器的零位與電機零位對齊。
人工零位對齊方式是先對齊零位，然后再固定絕對式編碼器到電機軸上。本文所描述的方法是先將絕對式編碼器隨意安裝在電機上，然后通過本文描述的裝置獲取到絕對式編碼器的零位與電機零位的補償角度，驗證該補償角度的正確性，最后將補償角度保存到絕對式編碼器自帶的EEPROM中。伺服驅(qū)動器上電初始化時，從EEPROM中讀取補償角度，然后疊加到絕對式編碼器實時反饋角度上即可獲得準確的電角度。通過該方法可以撤銷人工調(diào)零工序，提高電機編碼器安裝效率。
為保證在獲取補償角度、補償角度寫入和讀出EEPROM整個過程都是正確的，考慮以下四點：
（1）對于某些單圈絕對式編碼器，其上電后，需要轉(zhuǎn)動一定角度α才能輸出標稱分辨率的數(shù)值，在α內(nèi)輸出的數(shù)值分辨率比較低。但電機通直流電后電機轉(zhuǎn)動的角度小于α，則CPU讀出的絕對式編碼器數(shù)值精度低，導致零位校正誤差大，后續(xù)將降低伺服驅(qū)動器的性能。因此，零位校正時，電機轉(zhuǎn)子必須轉(zhuǎn)過角度α。
（2）對應分體式絕對式編碼器，由于裝配原因，有可能導致其反饋數(shù)據(jù)有錯誤，故在獲取補償角度前必須對反饋數(shù)據(jù)進行檢驗。
（3）計算出補償角度后，通過試運行，以驗證補償角度的正確性。
（4）補償角度寫入EEPROM后，需要回讀，以保證數(shù)據(jù)讀寫正確。
圖2 控制系統(tǒng)簡要框圖
在圖2中，控制系統(tǒng)分為兩個階段進行控制：（1）階段一：當切換開關(guān)S處于“0”位時，系統(tǒng)為鎖軸控制，并計算補償角度。（2）階段二：當切換開關(guān)S處于“1”位時，系統(tǒng)根據(jù)計算得到的補償角度試運行電機，驗證補償角度的正確性。通過試運行，也可驗證編碼器裝配及編碼器數(shù)據(jù)反饋是否正確。
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