伺服电机转子位置检测的误差分析与补偿

doi:10.3969/j.issn.1000-1158.2022.10.12

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摘要针对伺服电机转子位置检测中存在安装不方便、成本高等问题,提出了基于隧道磁阻效应和时栅技术相结合的转子位置检测单元的设计方案。将空间正交的一对TMR传感单元嵌入在电机的前端盖上,实现嵌入式位置精密检测。根据检测单元转子位置解算原理,分析了检测单元的安装误差、电气误差、电磁噪声误差等引起的误差成分。提出了基于超限学习机的误差补偿方法,通过对真实值和测量值样本的训练得到模型最优参数,根据模型参数建立转子位置的误差模型。利用所得到误差模型实现对转子位置的误差补偿。实验结果表明,在2000r/min匀速工况下,补偿前转子位置最大测量误差为4.64°,补偿后转子位置误差为0.315°,精度提升了93.2%,为伺服电机转子位置检测提供了新的方法。

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	张天恒
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	杨继森

关键词 ：计量学, 电机转子, 位置检测, 隧道磁阻, 嵌入式位置, 时栅, 超限学习机

Abstract：Aiming at the problems of low accuracy, inconvenient installation and high cost in current motor rotor position measurement, a design scheme of rotor position sensor based on the combination of tunnel magnetoresistance effect and time grating technology is proposed. On the premise of not destroying the original structure of the motor, a pair of space orthogonal TMR chips are embedded in the front cover of the motor to realize the embedded position precise detection. According to the principle of TMR sensor rotor position calculation, the error components caused by installation error, electrical error and electromagnetic noise error of TMR sensor are analyzed. an error compensation method based on extreme learning machine is proposed. The model optimal parameters are obtained through training the real sample values and measured values. According to the model parameters, Rotor position error model is established, which is used to realize rotor position error compensation.The experimental results show that under the uniform speed of 2000r/min, the maximum measurement error of rotor position before compensation is 4.64° and the rotor position error is 0.315° after compensation, and the accuracy is improved by 93.2%.The embedded rotor position detection method provides a new method for motor rotor position detection.

Key words： metrology motor rotor position detection tunnel magnetoresistance embedded position time grating extreme learning machine

收稿日期: 2021-10-12 发布日期: 2022-10-14

PACS:

TB971

基金资助:国家自然科学基金(51875069,52175454);重庆市教委项目(KJQN201801108);重庆市基础研究与前沿探索专项(cstc2021jcyj-msxmX0375)

作者简介: 张天恒(1973-),男,甘肃武威人,重庆理工大学工程师,研究方向为精密测量与智能传感器。Email: zth@cqut.edu.cn

引用本文:

张天恒,童鹏,杨继森. 伺服电机转子位置检测的误差分析与补偿[J]. 计量学报, 2022, 43(10): 1319-1325.
ZHANG Tian-heng,TONG Peng,YANG Ji-sen. Error Analysis and Compensation of Servo Motor Rotor Position Detection. Acta Metrologica Sinica, 2022, 43(10): 1319-1325.

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