伺服电机嵌入式位置检测方法及误差补偿  

Embedded position detection method and error compensation for servo motors

作　　者：郑方燕[1] 徐浩杰 袁彬斐 ZHENG Fangyan;XU Haojie;YUAN Binfei(Engineering Research Center of Mechanical Testing Technology and Equipment,Ministry of Education,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学机械检测技术与装备教育部工程研究中心,重庆400054

出　　处：《光学精密工程》2025年第2期236-246,共11页Optics and Precision Engineering

基　　金：国家重点研发计划项目(No.2023YFB3209400);重庆市巴南区科技成果转化及产业化专项(No.2021TJZ002)。

摘　　要：针对基于时栅技术的伺服电机位置检测理论中因电机定子开槽导致两空间正交放置的TMR输出信号幅值不等,影响测量精度问题,结合电机内部定子的结构特征,提出一种伺服电机位置检测新方法,将一对传感测头,对称分布于定子齿对称轴的两边且正交放置,以实现输出信号幅值相等。针对因伺服电机定子绕组产生的磁场谐波分量影响测量精度问题,采用间隔(2n+1)λi/2 (n=0,1,…,n)角度,布置另一对对称分布且正交的传感测头,再利用波形重构方法消除对应的i次谐波分量,同时保证信号幅值相等、相位正交的方式,实现精度提升。通过仿真验证了新的传感结构和误差补偿方法的有效性。实验结果表明,与单对测头、仅满足空间正交条件相比较,对称结构传感方式输出的信号幅值相等,经补偿后感应信号中主要含有的三次谐波分量减小了73.8%,测量精度提高了6倍。表明该方法在伺服电机位置检测精度提升方面具有明显优势。The stator slot of the servo motor led to the unequal amplitude of the output signal of the TMR(Tunneling Magnetoresistance)in two orthogonal positions.This unequal amplitude affected the measurement accuracy in the position detection theory of the servo motor based on time-gate technology.Based on the structural characteristics of the motor stator,a servo motor position detection method was proposed,which could effectively improve the precision of the motor rotor position detection.One pair of sensing probes were placed symmetrically and orthogonally on both sides of the symmetry axis of the stator teeth to achieve equal output signal amplitude.The other pair of sensing probes were positioned symmetrically and orthogonally at intervals of(2n+1)λi/2(n=0,1,…,n)degrees,which could reduce the influence of harmonic components of the magnetic field generated by the motor stator winding.Meanwhile,a waveform reconstruction method was used to eliminate the corresponding i-th harmonic component.Based on the above method,the signal amplitude was equal and the phase was orthogonal,which could effectively improve the accuracy.Simulation results demonstrated the effectiveness of the sensor structure based on the new error compensation method.The experimental results show that compared with the single pair probe which only satisfies the space orthogonal condition,the amplitude of the signal output by symmetrical structure sensors after compensation is equal,and the third harmonic component is reduced by 73.8%,The accuracy has been improved by 6 times.This method illustrates the obvious advantage in the accuracy of the motor rotor position detection.

关 键 词：伺服电机 时栅技术 位置检测 误差补偿 波形重构 

分 类 号：TH7[机械工程—仪器科学与技术]