TW201822453A - Encoder alignment method and device utilizes the memory to store the deviation angle so as complete alignment configuration between the encoder and the motor - Google Patents

Abstract

An encoder alignment method is executed by an encoder alignment device electrically connected to a motor device. The motor device comprises a motor including a rotor and an encoder electrically connected to the motor. The encoder senses the rotor and generates a first sensing signal. The encoder alignment method comprises the following steps: (A) generating a switching signal output according to an alignment command; (B) generating a three-phase driving signal output according to the switching signal output and a power signal so that the rotor is driven to rotate to a predetermined position; (C) obtaining a deviation angle according to the first sensing signal, wherein the deviation angle is a positional deviation between the angle of the rotor sensed by the encoder and an actual angle of the rotor; and (D) storing this deviation angle.

Description

Encoder alignment method and device

The present invention relates to an alignment method and device, in particular to an encoder alignment method and device.

The existing motor system includes a power supply for providing a power signal, a drive control device, and a motor device. The motor device includes a motor including a rotor, and an encoder mounted on the motor. The encoder is used to sense the rotor to generate a position signal corresponding to the rotor angle. The driving control device is electrically connected to the power source, the motor and the encoder, and generates a three-phase driving signal output according to the power signal and the position signal to drive the rotor of the motor to rotate.

Therefore, when assembling, the encoder must be installed on the motor according to the rotor angle of the motor to avoid the position signal that it senses is incorrect and affect the operation of the motor, which in turn generates the encoder and the motor. Questions on alignment. At present, the method of aligning the encoder with the motor is mostly handled manually. Before the motor device is installed in the motor system, the decorator will first electrically connect the motor device to an external power supply. A driving signal provided by the external power supply causes the rotor to rotate to a position where the electromotive force of the motor is opposite to zero. At the same time, the decoration staff uses a computer to write this position to the encoder to complete the encoder. Registration with this motor. After the alignment is completed, the decorator is setting the motor device in the motor system.

However, existing encoder alignment methods have the following disadvantages:

1. The external power supply needs to be used for alignment, and the cost of this instrument is relatively high, which results in a higher cost for producing the motor system.

2. If the motor device is disassembled and repaired, the relative position of the encoder and the motor will be shifted, so that the encoder and the motor need to be realigned, and the encoder must be rewritten to complete the alignment setting. . However, the encoder can only support a single write. Therefore, after the motor device is disassembled and repaired, the motor device must replace the encoder with a new encoder, resulting in increased maintenance costs of the motor device.

3. When the encoder and the motor are to be aligned, the decoration personnel need to remove the motor device from the motor system, and electrically connect the external power supply, and after the alignment is completed, the decoration personnel then reposition the motor. Replacing the device into the motor system caused tedious and inconvenient decoration and alignment processes.

[Problems to be Solved by the Invention]

Therefore, an object of the present invention is to provide an encoder alignment method and device capable of overcoming the disadvantages of the prior art.

[Technical means to solve the problem]

According to the invention of claim 1 in the scope of patent application, an encoder alignment method of the present invention is performed by an encoder alignment device. The encoder alignment device is suitable for electrically connecting a motor device. The motor device includes a rotor including a rotor. A motor and an encoder electrically connected to the motor, the encoder senses the rotor and generates a sensing output, the sensing output includes a first sensing signal, and the encoder alignment method includes the following steps:

(A) using the encoder alignment device to generate a switching signal output according to a pair of bit commands;

(B) using the encoder alignment device to generate a three-phase driving signal output according to the switching signal output and a power signal to drive the rotor to rotate to a predetermined position;

(C) using the encoder alignment device to obtain a deviation angle based on the first sensing signal, the deviation angle being a position deviation between the angle of the rotor sensed by the encoder and the actual angle of the rotor; and

(D) Use the encoder alignment device to store the deviation angle.

According to the invention in the second scope of the patent application, the three-phase driving signal output includes a U-phase driving signal, a V-phase driving signal, and a W-phase driving signal. The encoder alignment method also includes the following steps:

(E) using the encoder alignment device to adjust the switching signal output according to a target current value and a current of the U-phase drive signal, so that the magnitude of the current of the U-phase drive signal, the V-phase drive signal, and the W-phase The current level of the driving signal is changed to the target current value.

If the invention of claim 3 is applied for, the sensing output generated by the encoder further includes a second sensing signal and a third sensing signal, and the second and third sensing signals are related to the rotor. The angle and rotation speed during the operation, after step (B) and before step (C), the encoder alignment method further includes the following steps:

(F) using the encoder alignment device to determine whether the time from the start of driving the rotor to the predetermined position to the present time is greater than a predetermined time; and

(G) When the judgment result of step (F) is yes, use the encoder alignment device to judge whether the rotor is stationary according to the second and third sensing signals, and when the judgment result is yes, execute step ( C).

If the invention in the fourth scope of the patent application is applied, the encoder alignment method further includes the following steps:

(H) When the encoder alignment device obtains the deviation angle and receives a rotation command, use the encoder alignment device to obtain a measurement angle based on the first to third sensing signals, the measurement angle The angle of the rotor sensed by the encoder;

(I) using the encoder alignment device to obtain an actual angle of the rotor according to the measurement angle and the stored deviation angle; and

(J) Use the encoder alignment device to adjust the output of the switching signal according to the actual angle, so that the output of the three-phase driving signal changes, causing the rotor to rotate.

For example, for the invention in the fifth scope of the application, step (I) includes the following sub-steps:

(I1) Use the encoder alignment device to subtract the deviation angle from the measurement angle to obtain the actual angle;

(I2) use the encoder alignment device to determine whether the zero angle is less than or equal to the actual angle of 360 degrees; and

(I3) When the judgment result of step (I2) is NO, use the encoder alignment device to adjust the actual angle to a range between zero and 360 degrees.

According to the invention in claim 6 of the patent application scope, an encoder alignment device of the present invention is suitable for being electrically connected between a power source and a motor device, and receiving a power signal from the power source. The motor device includes a rotor including a rotor. A motor and an encoder electrically connected to the motor. The encoder senses the rotor and generates a sensing output. The sensing output includes a first sensing signal. The encoder alignment device includes a driving module and a Control module.

The driving module is adapted to be electrically connected between the power source and the motor, and receives a switching signal output and the power signal from the power source. When receiving the switching signal output, the driving module outputs and The power signal generates a three-phase driving signal output to drive the rotor of the motor to a predetermined position.

The control module includes a controller, a pulse width modulation circuit, and a memory electrically connected to the controller.

The controller is adapted to be electrically connected to the encoder for receiving a pair of bit commands and the sensing output from the encoder. When the pair of commands is received, the controller generates a pair of bits according to the pair of commands. control signal.

The pulse width modulation circuit is electrically connected to the driving module and the controller, receives the registration control signal from the controller, and generates the switching signal output according to the registration control signal, and outputs the switching signal output To the drive module.

After the pulse width modulation circuit outputs the switching signal output and a predetermined time elapses, and when the rotor is stationary, the controller obtains a deviation angle according to the first sensing signal in the sensing output, and applies the The deviation angle is output to the memory and stored in the memory, and the deviation angle is a position deviation between the angle of the rotor sensed by the encoder and the actual angle of the rotor.

For example, the invention in claim 7 of the patent application scope, wherein the three-phase driving signal output includes a U-phase driving signal, a V-phase driving signal and a W-phase driving signal, and the control module further includes a current closed-loop control circuit.

The current closed-loop control circuit includes a subtractor and a proportional-integral controller.

The subtractor is electrically connected to the driving module, receives a target current value and a current of the U-phase driving signal from the driving module, and the subtractor subtracts the target current value from the current of the U-phase driving signal to A current difference is obtained.

The proportional-integral controller is electrically connected to the pulse width modulation circuit and the subtractor, receives the current difference value from the subtractor, generates an integration control signal according to the current difference value, and outputs the integration control signal to The pulse width modulation circuit.

When the pulse width modulation circuit receives the integration control signal, the pulse width modulation circuit also adjusts the switching signal output according to the integration control signal, so that the magnitude of the current of the U-phase drive signal and the V-phase drive The current level of the signal and the W-phase drive signal is changed to the target current value.

If the invention of claim 8 is applied for, the sensing output generated by the encoder further includes a second sensing signal and a third sensing signal, and the second and third sensing signals are related to the rotor. Angle and speed during operation.

When the controller obtains the deviation angle and receives a rotation command, the controller also obtains a measurement angle according to the first to third sensing signals, and the measurement angle is the rotor sensed by the encoder. Angle.

The control module also includes an angle corrector, which is electrically connected to the controller, the memory and the pulse width modulation circuit, and receives the deviation angle from the memory and the amount from the controller. Angle measurement. When the measurement angle is received, the angle corrector obtains an actual angle of the rotor according to the deviation angle and the measurement angle, and outputs the actual angle to the pulse width modulation circuit.

When the pulse width modulation circuit receives the actual angle from the angle corrector, the switching signal output is adjusted according to the actual angle, so that the output of the three-phase driving signal output by the driving module changes, so that the rotor follows The three-phase driving signal is output to rotate.

For example, the invention applied for item 9 of the patent scope, the angle corrector subtracts the measurement angle from the deviation angle to obtain the actual angle, and adjusts the actual angle when the actual angle exceeds the range between zero and 360 degrees. From zero to 360 degrees.

According to the invention of claim 10, the memory is one of an electronic erasable rewritable read-only memory and a flash memory.

[Effect of the present invention]

In the inventions with the scope of claims 1 and 6, the encoder alignment device can obtain the deviation angle required when the encoder and the motor are aligned according to the first sensing signal, and use the memory to store The deviation angle completes the alignment setting between the encoder and the motor.

In the inventions with the scope of claims 2 and 7, the current closed-loop control circuit can adjust the switching signal output according to the target current value and the current of the U-phase drive signal, so that the U-phase, V-phase, W The current magnitude of the phase drive signal is changed to the target current value to achieve a constant current control function.

In the invention in the third scope of the patent application, it is limited when the encoder alignment device obtains the deviation angle according to the first sensing signal, so as to ensure that the correct deviation angle is obtained.

In the inventions claimed in claims 4 and 8, the angle corrector can correct the measurement angle according to the deviation angle, so as to obtain the correct actual angle of the rotor and make the change of the three-phase drive signal output correct. Ensure that the rotor rotates normally.

In the inventions claimed in the scope of claims 5 and 9, how the encoder alignment device obtains the actual angle is limited.

In the invention of claim 10, the memory is limited to a rewritable memory element, and if the encoder and the motor are to be realigned, the present invention does not need to be replaced with a new encoder.

Referring to FIGS. 1 and 2, an embodiment of the encoder alignment device 3 of the present invention is suitable for being electrically connected between a power supply 1 and a motor device 2 and used to receive a power signal from the power supply 1. The power signal includes a positive A phase power signal P1 and a negative phase power signal P2. The motor device 2 includes a motor 21 including a rotor 20 and an encoder 22 electrically connected to the motor 21 and mounted on the motor 21. In this embodiment, the encoder alignment device 3, the power supply 1 and the motor device 2 constitute a motor system. The motor 21 further includes a stator casing (not shown), and the encoder 22 is assembled on the stator casing of the motor 21. The encoder 22 periodically (for example, continuously) senses the rotor 20 to generate a sensing output. The sensing output includes a first sensing signal S1, a second sensing signal S2, and a third sensing. Signal S3. It should be noted that the motor 21 is a brushless DC motor. The first sensing signal S1 is a pulse width modulation signal. In a single cycle, a pulse width corresponding to a high logic level of the first sensing signal S1 and the first sensing signal S1 are in a single cycle. A ratio of a total pulse width width corresponding to φ is related to a position deviation between the angle of the rotor 20 sensed by the encoder 22 and the actual angle of the rotor 20. The second and third sensing signals S2 and S3 are related to the angle and rotation speed of the rotor 20 during operation, and the phases of the second and third sensing signals S2 and S3 are different by 90 degrees. In other embodiments, the sensing output further includes a fourth sensing signal. The fourth sensing signal is a pulse wave signal generated by the encoder 22 when the rotor 20 runs one revolution, and is used to detect the pulse signal. Wait for whether the second and third sensing signals S2 and S3 are abnormal.

The encoder alignment device 3 is electrically connected to the power source 1, the motor 21 and the encoder 22, and receives a target current value, the positive and negative phase power signals P1, P2 from the power source 1, and from the encoder. The first to third sensing signals S1, S2, and S3 of 22 are adapted to receive one of an external alignment command and an external rotation command. When the encoder alignment device 3 receives the alignment command, it operates in a pair of alignment modes, and generates a three-phase driving signal according to the positive and negative power signals P1 and P2 in response to the alignment command. The output is used to drive the rotor 20 of the motor 21 to a predetermined position. When the encoder alignment device 3 receives the rotation command, it operates in a rotation mode, and adjusts the three-phase driving signal according to the first to third sensing signals S1, S2, and S3 in response to the rotation command. Output to drive the rotor 20 of the motor 21 to continuously rotate. In the present embodiment, the predetermined position is a position where one U of the motors 21 has opposite electromotive force to zero. The three-phase driving signal output includes a U-phase driving signal D _U , a V-phase driving signal D _V, and a W-phase driving signal D _W. The alignment command and the rotation command may be generated by a physical switch being triggered, or from an external communication interface. The encoder alignment device 3 mainly provides a manufacturer or a user to perform alignment correction between the encoder 22 and the motor 21 when the encoder 22 is installed in the motor 21, or the motor device 2 needs to be repaired after maintenance. The encoder 22 is re-aligned for use.

In this embodiment, the encoder alignment device 3 includes a driving module 31 and a control module 32.

The driving module 31 is adapted to be electrically connected to the power source 1 and the motor 21, and receives a switching signal output and the positive-phase and negative-phase power signals P1 and P2 from the power source 1. When operating in the alignment mode and receiving the switching signal output, the driving module 31 generates the U-phase driving signal D _U , the U-phase driving signal D _U , The V-phase driving signal D _V and the W-phase driving signal D _{W are} used to drive the rotor 20 of the motor 21 to rotate to the predetermined position. In this embodiment, the switching signal output includes first to sixth switching signals Q1 to Q6. The driving module 31 includes a capacitor 310 and six switches 311-316.

The capacitor 310 has a first terminal and a second terminal adapted to be electrically connected to the power source 1 to receive the positive-phase and negative-phase power signals P1 and P2, respectively. The series connected switches 311, 312, the series connected switches 313, 314, and the series connected switches 315, 316 are connected in parallel with the capacitor 310. The switches 311 to 316 respectively receive the first to sixth switching signals Q1 to Q6, and are controlled to be turned on or off by being controlled by the first to sixth switching signals Q1 to Q6, respectively. A common contact N1 between the switches 311 and 312 outputs the U-phase driving signal D _U. A common contact N2 between the switches 313 and 314 outputs the V-phase driving signal D _V. A common contact N3 between the switches 315 and 316 outputs the W-phase driving signal D _w .

The control module 32 is electrically connected to the encoder 22 and the driving module 31, and receives the target current value, the first to third sensing signals S1, S2, S3 from the encoder 22, and from the driver A current I _U of the U-phase driving signal D _U of the module 31, and receives one of the alignment command and the rotation command. The control module 32 operates in the registration mode and the rotation mode respectively according to the registration command and the rotation command. In simple terms, during operation, the control module 32 will first receive the alignment command and operate in the alignment mode. When the alignment mode ends and the control module 32 receives the rotation command, the control module 32 operates in the rotation mode according to the rotation command. When operating in the alignment mode, the control module 32 performs the following actions: (1) generating the first to sixth switching signals Q1 to Q6 according to the alignment command to drive the rotor 20 to rotate to the predetermined position ; the current I (2) D _U-phase drive signal based on the target current value and the adjustment of such U _U sixth switching signal to the first pulse width of Q1 ~ Q6, so that the U-phase drive signal of the D _U The magnitude of the current I _{U and the} magnitudes of the V-phase and W-phase drive signals D _V and D _W are changed to the target current value; (3) A deviation angle Ad is obtained according to the first sensing signal S1, and the deviation angle Ad The position deviation between the angle of the rotor 20 sensed by the encoder 22 and the actual angle of the rotor 20. When operating in the rotation mode, the control module 32 performs the following actions: (1) A measurement angle Am is obtained according to the first to third sensing signals S1, S2, and S3, and the measurement angle Am is The angle of the rotor 20 sensed by the encoder 22; (2) Correcting the error of the measurement angle Am due to the position deviation when the encoder 22 is assembled according to the deviation angle Ad to obtain the rotor 20's An actual angle Ar; (3) adjusting the first to sixth switching signals Q1 to Q6 according to the actual angle Ar, and then changing the three-phase driving signal output output by the driving module 31 so that the motor 21 The rotor 20 rotates according to the magnetic field generated by the three-phase driving signal output (for example, starts to rotate clockwise or counterclockwise).

The control module 32 includes a pulse width modulation circuit 321 for generating the first to sixth switching signals Q1 to Q6, a memory 322 for storing the deviation angle Ad, a controller 323, and an angle correction. 324 and a current closed-loop control circuit 325. The controller 323 is electrically connected to the encoder 22, the pulse width modulation circuit 321, and the memory 322, and is used for receiving one of the alignment command and the rotation command, and receiving the The first to third sensing signals S1. The angle corrector 324 is electrically connected to the controller 323, the memory 322, and the pulse width modulation circuit 321. The current closed-loop control circuit 325 is electrically connected to the pulse width modulation circuit 321 and receives the target current value. In this embodiment, the memory 322 is a rewritable memory element, such as an electronically erasable rewritable read-only memory (EEPROM) or a flash memory (flash memory), but is not limited to this. The current closed-loop control circuit 325 includes a subtractor 3251 and a Proportional Integral Controller (PIC) 3252. The proportional-integral controller 3252 is electrically connected between the subtractor 3251 and the pulse width modulation circuit 321.

Further referring to FIGS. 3A and 3B, it is described that the encoder alignment device 3 operates in the alignment mode and executes an encoder alignment method to complete the alignment setting of the encoder 22 and the motor 21. The steps included in the encoder alignment method of this embodiment are described in detail below.

In step 40, the controller 323 receives the registration command and generates a pair of registration control signals C1 according to the registration command. The registration control signal C1 instructs the switches 312, 313, 315 to be turned on, and The switches 311, 314, and 316 are not turned on.

In step 41, the pulse width modulation circuit 321 generates the first to sixth switching signals Q1 to Q6 (that is, the switching signal output) according to the registration control signal C1.

In step 42, the switches 311 to 316 respectively receive the first to sixth switching signals Q1 to Q6, and the switches 312, 313, and 315 are subjected to the second, third, and fifth switching signals Q2, Q3 and Q5 are controlled and turned on. The switches 311, 314, and 316 are controlled by the first, fourth, and sixth switching signals Q1, Q4, and Q6 but are not turned on. The driving module 31 outputs the three-phase driving signals (i.e., the U-phase, V-phase, and W-phase driving signals D _U and D) according to the first to sixth switching signals Q1 to Q6 and the power signal. _V , _DW ) drive the rotor 20 to the predetermined position.

In step 43, the control module 32 receives the target current value and the current of the U phase of the drive signal D _{U U} I, _U and adjust the plurality of first to sixth switching signal and the current based on the target current value I The pulse widths of Q1 to Q6 are such that the magnitude of the current I _{U of} the U-phase drive signal D _U and the magnitude of the currents of the V-phase and W-phase drive signals D _V , D _W change to the target current value.

In detail, step 43 further includes detailed processes of sub-steps 431, 432, and 433.

In sub-step 431, the subtractor 3251 receives the target current value and the current I _U , and subtracts the target current value from the current I _U to obtain a current difference value I 1.

In sub-step 432, the proportional-integral controller 3252 receives the current difference value I1 and generates an integration control signal C2 according to the current difference value I1.

In sub-step 433, the pulse width modulation circuit 321 receives the integration control signal C2, and adjusts the pulse widths of the first to sixth switching signals Q1 to Q6 according to the integration control signal C2.

In step 44, the controller 323 determines that the pulse width modulation circuit 321 is generating the first to sixth switching signals Q1 to Q6 according to the registration control signal C1 to drive the rotor 20 to rotate to the predetermined position. Whether the time from a start time to the current time is greater than a predetermined time. If the determination result is yes, go to step 45; if not, go to step 44 repeatedly. In this embodiment, the predetermined time is, for example, 2 seconds, but is not limited thereto.

In step 45, the controller 323 determines whether the rotor 20 is stationary according to the second and third sensing signals S2 and S3. If the determination result is yes, go to step 46; otherwise, go to step 45 repeatedly.

In step 46, the controller 323 obtains the deviation angle Ad according to the first sensing signal S1.

In step 47, the controller 323 controls the pulse width modulation circuit 321 to adjust the first to sixth switching signals Q1 to Q6, so that the switches 311 to 316 receive the first to sixth switching signals, respectively. Q1 ~ Q6 are controlled but not turned on.

In step 48, the controller 323 outputs the deviation angle Ad to the memory 322 and stores it in the memory 322. In this way, the alignment mode ends, and the alignment setting of the encoder 22 and the motor 21 is completed.

Further referring to FIG. 4, when the alignment mode ends and the control module 32 receives the rotation command, the control module 32 will operate in the rotation mode according to the rotation command, and save it in the memory The deviation angle Ad in the body 322 corrects an error between the angle of the rotor 20 sensed by the encoder 22 and the actual angle of the rotor 20. The encoder alignment method executed by the encoder alignment device 3 further includes the following steps.

In step 51, when the controller 323 receives the rotation command, the controller 323 obtains the measurement angle Am according to the first to third sensing signals S1, S2, and S3.

In step 52, the angle corrector 324 receives the deviation angle Ad stored in the memory 322 and the measurement angle Am from the controller 323, and obtains the deviation angle Ad and the measurement angle Am This actual angle Ar of the rotor 20.

Specifically, in step 52, the detailed process of the sub-steps 521, 522, and 523 is further included.

In sub-step 521, the angle corrector 324 subtracts the measurement angle Am from the deviation angle Ad to obtain the actual angle Ar.

In sub-step 522, the angle corrector 324 determines whether zero degree is less than or equal to the actual angle Ar less than or equal to 360 degrees (that is, 0 ^o ≦ the actual angle Ar ≦ 360 ^o ). If the determination result is yes, go to step 53; if not, go to sub-step 523.

In sub-step 523, the angle corrector 324 adjusts the actual angle Ar to a range between zero and 360 degrees. For example, if the measurement angle Am is 20 degrees and the deviation angle Ad is 30 degrees, the actual angle Ar is -10 degrees (that is, 20-30 = -10). The angle corrector 324 adjusts the actual angle Ar to 350 degrees.

In step 53, the pulse width modulation circuit 321 receives the actual angle Ar, and adjusts the first to sixth switching signals Q1 to Q6 according to the actual angle Ar, and then changes the output from the driving module 31. The three-phase driving signal is output, so that the three-phase driving signal output is commutated, so that the rotor 20 of the motor 21 starts to rotate with the magnetic field generated by the three-phase driving signal output. For example, the pulse width modulation circuit 321 uses a 120 degree six-step square wave driving method according to the actual angle Ar (that is, a driving cycle includes six conduction intervals, and each conduction interval only The two of the switches 311 to 316 are turned on, and each of the switches is turned on for a time of 120 degrees electrical angle) to adjust the first to sixth switching signals Q1 to Q6 so as to use the switches 311 to The change of 316 commutates the three-phase driving signal output, and then causes the rotor 20 to sequentially rotate to six fixed points (ie, the positions of the electrical angles 60 ^o , 120 ^o , 180 ^o , 240 ^o , 300 ^o , and 360 ^o ). In this way, the driving cycle is cyclically operated, so that the rotor 20 of the motor 21 starts to rotate clockwise or counterclockwise with the magnetic field generated by the three-phase driving signal output.

In summary, the above embodiment has the following advantages:

1. The encoder alignment device 3 of the present invention can complete the alignment between the encoder 22 and the motor 21, so that the motor system including the encoder alignment device 3 of the present invention does not need to use an external motor system as is conventionally known The power supply is used for alignment. Therefore, during production, the motor system including the encoder alignment device 3 of the present invention can reduce production costs compared with the conventional motor system.

2. Since the memory 322 is a rewritable memory element, after the motor device 2 is disassembled and repaired, the encoder alignment device 3 may repeatedly execute the encoder alignment method to make the encoder 22 and The motors 21 are re-aligned, and the deviation angle obtained in the alignment mode is stored in the memory 322. Therefore, the present invention does not need to realign the encoder and the motor as in conventional motor systems. It is necessary to replace the new encoder, so that the maintenance cost of the motor device 2 of the present invention can be reduced, and unnecessary waste of resources can be reduced.

3. Since the encoder alignment device 3 of the present invention can complete the alignment between the encoder 22 and the motor 21, the motor system including the encoder alignment device 3 of the present invention does not need to be decorated as is the case with the conventional motor system The motor device is removed from the motor system for alignment, and the motor system does not need to be renovated by the person who is familiar with the motor system. After the alignment is completed, the motor device is returned to the motor system. Compared with the conventional motor system, the motor system of the positioning device 3 has the advantages of simple and convenient alignment process.

4. Since the encoder alignment device 3 of the present invention needs to use the memory 322 to record the fault code of the motor system, no additional memory is needed to store the deviation angle Ad, so that the encoder alignment device of the present invention 3 does not add additional manufacturing costs.

5. The current closed-loop control circuit 325 can adjust the first to sixth switching signals Q1 to Q6 according to the target current value and the current I _U so that the U-phase, V-phase, and W-phase driving signals D _U , The current levels of D _V and D _W are changed to the target current value to achieve a constant current control function, so that the currents of the U-phase, V-phase, and W-phase drive signals D _U , D _V , and D _W are not affected by the power signal. The influence can prevent the problem that the encoder 22 and the motor 21 cannot be accurately aligned due to the influence of the power signal.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited in this way, any simple equivalent changes and modifications made in accordance with the scope of the patent application and the content of the patent specification of the present invention are still Within the scope of the invention patent.

1‧‧‧ Power

2‧‧‧Motor device

20‧‧‧rotor

21‧‧‧Motor

22‧‧‧ Encoder

3‧‧‧ Encoder alignment device

31‧‧‧Drive Module

310‧‧‧Capacitor

311‧‧‧switch

312‧‧‧switch

313‧‧‧Switch

314‧‧‧Switch

315‧‧‧Switch

316‧‧‧Switch

32‧‧‧control module

321‧‧‧Pulse Width Modulation Circuit

322‧‧‧Memory

323‧‧‧controller

324‧‧‧Angle Corrector

325‧‧‧Current closed-loop control circuit

3251‧‧‧Subtractor

3252‧‧‧ Proportional Integral Controller

40 ~ 48‧‧‧step

Q4‧‧‧ Fourth switching signal

Q5‧‧‧ fifth switching signal

Q6‧‧‧ Sixth switching signal

431‧‧‧Sub-step

432‧‧‧Sub-step

433‧‧‧ Substep

51 ~ 53‧‧‧step

521‧‧‧Sub-step

522‧‧‧Sub-step

523‧‧‧Sub-steps

Ad‧‧‧ deviation angle

Am‧‧‧Measurement angle

Ar‧‧‧actual angle

C1‧‧‧ Registration control signal

C2‧‧‧Integral control signal

D _U ‧‧‧ _U phase drive signal

D _V ‧‧‧V phase drive signal

D _W ‧‧‧W phase drive signal

I1‧‧‧Current difference

I _U ‧‧‧ Current

N1 ~ N3‧‧‧Common contact

P1‧‧‧ Normal phase power signal

P2‧‧‧Negative-phase power signal

Q1‧‧‧first switching signal

Q2‧‧‧Second switching signal

Q3‧‧‧Third switching signal

S1‧‧‧First sensing signal

S2‧‧‧Second sensing signal

S3‧‧‧Third sensing signal

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a circuit block diagram illustrating an embodiment of an encoder alignment device of the present invention, a power source, and a motor device Used together; Figure 2 is a block diagram illustrating a control module of this embodiment; Figures 3A and 3B are flowcharts illustrating that the encoder alignment device of this embodiment operates in a pair of bit modes and performs an encoding And FIG. 4 is a flowchart illustrating that the encoder registration device of the embodiment operates in a rotation mode and executes the encoder registration method.

Claims (10)

An encoder alignment method is performed by an encoder alignment device. The encoder alignment device is suitable for electrically connecting a motor device. The motor device includes a motor including a rotor and an encoder electrically connected to the motor. The encoder senses the rotor and generates a sensing output, the sensing output includes a first sensing signal, and the encoder alignment method includes the following steps: (A) using the encoder alignment device according to a pair The bit command generates a switching signal output; (B) uses the encoder alignment device to generate a three-phase driving signal output based on the switching signal output and a power signal to drive the rotor to a predetermined position; (C) using the The encoder alignment device obtains a deviation angle according to the first sensing signal, and the deviation angle is a position deviation between the angle of the rotor sensed by the encoder and the actual angle of the rotor; and (D) using the code The positioning device stores the deviation angle. According to the encoder positioning method described in claim 1, the three-phase driving signal output includes a U-phase driving signal, a V-phase driving signal, and a W-phase driving signal, after step (B), and in step (C ) Before, it also includes the following steps: (E) using the encoder alignment device to adjust the switching signal output according to a target current value and a current of the U-phase drive signal, so that the magnitude of the current of the U-phase drive signal, the The magnitudes of the currents of the V-phase drive signal and the W-phase drive signal are changed to the target current value. The encoder alignment method according to claim 1, the sensing output generated by the encoder further includes a second sensing signal and a third sensing signal, and the second and third sensing signals are related to each other. The angle and rotation speed of the rotor during operation, after step (B) and before step (C), further include the following steps: (F) using the encoder alignment device to determine that it drives the rotor to rotate to the Whether the start time from the predetermined position to the present time is greater than a predetermined time; and (G) when the judgment result of step (F) is yes, use the encoder alignment device to judge based on the second and third sensing signals If the rotor is stationary, and if the determination result is yes, step (C) is executed. The encoder alignment method according to claim 3, further comprising the following steps: (H) When the encoder alignment device obtains the deviation angle and receives a rotation command, use the encoder alignment device according to these The first to third sensing signals obtain a measurement angle, which is the angle of the rotor sensed by the encoder; (I) using the encoder alignment device according to the measurement angle and its storage Obtain the actual angle of the rotor by the deviation angle; and (J) use the encoder alignment device to adjust the switching signal output according to the actual angle, so that the three-phase drive signal output changes, causing the rotor to rotate. The encoder alignment method according to claim 4, wherein step (I) includes the following sub-steps: (I1) using the encoder alignment device to subtract the measurement angle from the deviation angle to obtain the actual angle; (I2) use the encoder alignment device to determine whether the zero degree is less than or equal to the actual angle of 360 degrees; and (I3) when the judgment result of step (I2) is no, use the encoder alignment device to determine the actual angle Adjust to a range between zero and 360 degrees. An encoder alignment device is suitable for being electrically connected between a power source and a motor device, and receiving a power signal from the power source. The motor device includes a motor including a rotor and an encoder electrically connected to the motor. The encoder senses the rotor and generates a sensing output. The sensing output includes a first sensing signal. The encoder alignment device includes: a drive module adapted to be electrically connected between the power source and the motor. And receiving a switching signal output and the power signal from the power source, when receiving the switching signal output, the driving module generates a three-phase driving signal output according to the switching signal output and the power signal to drive the The rotor of the motor rotates to a predetermined position; and a control module including a controller adapted to electrically connect the encoder to receive a pair of bit commands and the sensing output from the encoder. When the registration command is issued, the controller generates a pair of registration control signals according to the registration command. A pulse width modulation circuit is electrically connected to the driving module and the controller, and receives the control signal from the controller. The registration control signal of the controller, and generates the switching signal output according to the registration control signal, and outputs the switching signal output to the driving module, and a memory, which is electrically connected to the controller; The pulse width modulation circuit outputs the switching signal output and after a predetermined time elapses, and when the rotor is stationary, the controller obtains a deviation angle according to the first sensing signal in the sensing output, and sets the deviation angle Output to the memory and store in the memory, the deviation angle is the position deviation between the angle of the rotor sensed by the encoder and the actual angle of the rotor. The encoder positioning device according to claim 6, wherein the three-phase driving signal output includes a U-phase driving signal, a V-phase driving signal and a W-phase driving signal, and the control module further includes: a current closing The loop control circuit includes a subtractor, which is electrically connected to the driving module, receives a target current value and a current of the U-phase driving signal from the driving module, and the subtractor subtracts the target current value from the U-phase. The current of the driving signal is used to obtain a current difference value, and a proportional-integral controller is electrically connected to the pulse width modulation circuit and the subtractor, receives the current difference value from the subtractor, and according to the current difference value Generating an integral control signal and outputting the integral control signal to the pulse width modulation circuit; wherein, when the pulse width modulation circuit receives the integral control signal, the pulse width modulation circuit further The integral control signal adjusts the output of the switching signal so that the magnitude of the current of the U-phase drive signal, the magnitude of the V-phase drive signal, and the magnitude of the W-phase drive signal change to the target current value. The encoder alignment device according to claim 6, the sensing output generated by the encoder further includes a second sensing signal and a third sensing signal, and the second and third sensing signals are related For the angle and speed of the rotor during operation, wherein: when the controller obtains the deviation angle and receives a rotation command, the controller also obtains a measurement angle based on the first to third sensing signals, The measurement angle is the angle of the rotor sensed by the encoder; the control module further includes an angle corrector, which is electrically connected to the controller, the memory, and the pulse width modulation circuit, and receives from the The deviation angle of the memory and the measurement angle from the controller. When the measurement angle is received, the angle corrector obtains an actual angle of the rotor according to the deviation angle and the measurement angle, and The actual angle is output to the pulse width modulation circuit; and when the pulse width modulation circuit receives the actual angle from the angle corrector, the switching signal output is adjusted according to the actual angle, so that the driver module outputs The Phase drive signal is output to change so that the rotor of the three-phase signals as the output driver to rotate. The encoder positioning device according to claim 8, wherein the angle corrector subtracts the measurement angle from the deviation angle to obtain the actual angle, and when the actual angle exceeds a range between zero and 360 degrees, Adjust the actual angle to a range between zero and 360 degrees. The encoder alignment device according to claim 6, wherein the memory is one of an electronically erasable rewritable read-only memory and a flash memory.