CN101876558B - Position detecting device and signal processing device and method thereof - Google Patents
Position detecting device and signal processing device and method thereof Download PDFInfo
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- G—PHYSICS
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Abstract
The invention discloses a position detecting device and a signal processing device and method thereof. The position detecting device comprises a rotor and a stator covering the rotor inside, wherein the rotor comprises a first magnetic steel ring and a second magnetic steel ring which are fixed on a rotation axis; n-numbered magnetic induction elements which are uniformly distributed and correspond to the second magnetic steel ring, and m-numbered magnetic induction elements which are distributed at a certain angle and correspond to the first magnetic steel ring are arranged on the stator; and when the rotor carries out rotational motion relative to the stator, the magnetic induction elements convert the sensed magnetic signals into voltage signals and output the voltage signals to the signal processing device. In the invention, the magnetic induction elements fixed on the circumference of the stator are utilized to induce magnetic filed intensity variation caused by rotation of the magnetic steel fixed on the axis to output the voltage signals, and the voltage value is used for judging the rotation angle of the axis, thus realizing position detection. The invention has the advantages of quick response, high processing precision, low cost, simple manufacturing process, etc.
Description
Technical field
The present invention relates to a kind of sensor, relate to particularly a kind of position detecting device for Accurate Position Control and signal processing apparatus and method.
Background technology
In Industry Control, in order to reach accurate motor position, utilize position transducer that the physical quantitys such as the anglec of rotation of motor, angular velocity are converted to electric signal, this position transducer is commonly referred to scrambler.Along with the development of industrial automation, direct current generator is controlled to numerically controlled transformation to transformation and the simulation of alternating current generator, all be unable to do without the development of scrambler, and the manufacturing technology of scrambler and the processing horizontal of signal directly have influence on automatization level.
At present, the scrambler of using in the field of engineering technology mainly is optical-electricity encoder, and optical-electricity encoder has two kinds of increment type and absolute types.In incremental encoder, drive the grating disc rotation during axle rotation, the light that light-emitting component sends is cut into interrupted light by the slit of grating disc, is accepted by receiving element and exports corresponding pulse signal, and sense of rotation and number of pulses need to realize by the direction judgment circuit sum counter.But counting starting point Set arbitrarily, the output pulse was remembered the position by the internal storage unit of counting equipment when the increment of rotation scrambler rotated.Yet do not allowed in this scrambler course of work to disturb and then pulse-losing, otherwise will be offset and be unable to find out the zero point of counting device memory.
For head it off, absolute type encoder has appearred.Absolute type encoder output and position be code one to one, can determine the current location of sense of rotation and rotor from the size variation of code.Such anti-interference, the reliability of the data has improved greatly, and absolute type encoder more and more has been applied to angle, linear measure longimetry and the position control of various industrial systems.
Yet there are some shortcomings that are difficult to overcome in photoelectric encoder: photoelectric encoder is formed by groove by glass substance, and its anti-vibration and impact capacity are not strong, are not suitable for dust, the rugged surroundings such as dewfall, and structure and location assembling complexity; Ruling span has the limit, improve resolution and must increase code-disc, is difficult to accomplish miniaturization; Must guarantee very high assembly precision aborning, directly have influence on production efficiency, finally affect cost of products.
In order to solve these deficiencies, the magneto-electric scrambler has appearred, and the in recent years development of magnetic encoder launches just gradually.Stator and the rotor of tradition magnetoelectric transducer are comprised of pure iron, and fixed permanent magnet on the stator forms magnetic circuit system.Uniformly design tooth and groove on the stator annular end face relative with rotor, number equate, rotor and axle tighten up, and axle is connected with measured rotating shaft, and the axle rotor driven rotates, and when rotor tooth is relative with stator tooth, air gap is minimum, magnetic flux maximum, otherwise minimum.It detects principle, utilizes the magneto sensor impression that is fixed on the stator circumference to be fixed on the axle upper magnetic steel and rotates the change of magnetic field strength that causes and come output voltage signal, judges the axle rotational angle with magnitude of voltage, thereby realizes the detection of position.
This type of scrambler is many, but measuring accuracy is lower, can only realize increment output.
For example, the patent No. is that 200410024190.7,200410024191.1,200410024192.6 patent has proposed respectively a kind of magnetism encoder, the patent No. is that 200410024195.X, 200410024194.5,200410024193.0 patent have also proposed respectively a kind of scrambler, and the patent No. is that the storer that 200410024198.3,200410024197.9 and 200410024196.4 patent has proposed respectively a kind of scrambler writes device.
The above-mentioned absolute type position probing that realized, its principle is identical, take 200410024190.7 as example, as shown in Figure 1, in the structure of this magnetism encoder, magnetic induction part adopts the mode of surface label, namely arranges magnetic induction part at annular stator madial wall, be rotated the induction in magnetic field, then obtain rotation angle value according to the sensor voltage value.
Described magnetism encoder has following shortcoming in physical arrangement:
The stator inboard generally is circular arc and smooth, and sensor is difficult for installing fixing, easily causes positioning error, and then causes the phase deviation of signal, so that higher harmonic components is large in the signal; Process for machining and manufacturing is complicated, is unfavorable for industrialization;
Reliability is low, and sensor is distributed in madial wall, and the support matrices of sensor is necessary for flexible body such as FPC etc., and it is not high with its tensile strength of processing body contact position, easily breaks, and has increased difficulty of processing, affects the life-span of product;
The magnetic field of sensor sensing is revealed large, and magnetic field can not fully be used, so that noise is large in the signal, affects measuring accuracy;
The requirement sensor bulk is little, so that cost of products is higher.
Described magnetism encoder is processed at signal has following shortcoming:
The A phase simulating signal v that obtains from magnetic induction part
aWith B simulating signal v mutually
b, generally all contain higher hamonic wave and noise, utilize the method for the above-mentioned tangent value of negating will be subject to the impact of higher hamonic wave, if can not reduce or the impact of Eliminate highter harmonic, then be difficult for drawing accurate position signalling θ;
Analog device causes temperature drift and zero point drift, has reduced the reliability and stability of circuit; The cost of products of mimic channel is higher.
Summary of the invention
The technical problem to be solved in the present invention is, impact resistance for prior art is not strong, processing cost is high, the low deficiency that waits of the limited and precision of the scope of application, a kind of position detecting device and signal processing circuit thereof and disposal route are provided, make that position detecting device response is fast, processing accuracy is high, and cost is low, manufacturing process is simple.
For solving the problems of the technologies described above, the invention provides a kind of position detecting device, comprise rotor and rotor is enclosed within inner stator, described rotor comprises the first magnet steel ring, the second magnet steel ring; Wherein, described the first magnet steel ring and the second magnet steel ring can be separately fixed in the rotating shaft; On stator, corresponding to the second magnet steel ring, be provided with n equally distributed magnetic induction part take the center of the second magnet steel ring as the same circumference in the center of circle, n=1 wherein, 2 ... n, the magnetic order of the magnetic pole of described the second magnet steel ring is so that n magnetic induction part is output as the Gray code form, and adjacent two outputs only have a variation; On stator, corresponding to the first magnet steel ring, be provided with m magnetic induction part that distributes at an angle take the center of the first magnet steel ring as the same circumference in the center of circle,
WhereinM is 2 or 3 integral multiple, and the total logarithm of the magnetic pole of described the first magnet steel ring equates with the magnetic pole sum of the second magnet steel ring, and the polarity of two neighboring pole is opposite; When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.
Further, on the stator corresponding to the angle between adjacent two magnetic induction parts of the first magnet steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of the second magnet steel ring.
In one embodiment of the invention, the direct Surface Mount of described magnetic induction part is at the inside surface of stator.
Further, also comprise two be built in stator inner surface, respectively with the first magnet steel ring, magnetic guiding loop that the first magnet steel ring is corresponding, each described magnetic guiding loop is by a plurality of concentrics, consists of with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnet steel rings.
Preferably, the segmental arc end of described magnetic guiding loop is provided with chamfering.
Preferably, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.
Preferably, described magnetic induction part is the hall sensing element.
The present invention also provides a kind of signal processing apparatus based on above-mentioned various position detecting devices, comprising: A/D modular converter, relativity shift angle θ
1Computing module, absolute offset values θ
2Computing module, synthetic output module and the memory module of reaching of angle.Described A/D modular converter, the voltage signal that position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion; Described relativity shift angle θ
1Computing module is used for the relative displacement θ of the first voltage signal within the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of the first magnet steel ring
1Described absolute offset values θ
2Computing module according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2The synthetic output module that reaches of described angle is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative; Described memory module is used for the storage data.
Further, also comprise: the signal amplification module is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from position detecting device being amplified.
Further, described relativity shift angle θ
1Computing module comprises the first synthesis unit and the first angle acquiring unit, and described the first synthesis unit is processed a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains a reference signal D; Described the first angle acquiring unit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1
Further, described relativity shift angle θ
1Computing module also comprises temperature compensation unit, be used for to eliminate the impact of the voltage signal that temperature sends position detecting device.
Further, the output of described the first synthesis unit also comprises signal R, on this basis, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectification module is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to the first synthesis unit.
In addition, described absolute offset values θ
2Computing module comprises the second synthesis unit and the second angle acquiring unit, and the second voltage signal that described the second synthesis unit is used for the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E; The absolute offset values θ that described the second angle acquiring unit selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E in the second standard angle kilsyth basalt
2
The second synthesis unit will be corresponding with the second magnet ring the sign bit of output signal of magnetic sensing element integrate and obtain signal E.
The present invention also provides a kind of signal processing method based on above-mentioned position detecting device, may further comprise the steps: step S300 is used for the voltage signal that position detecting device sends is carried out the A/D conversion; Step S301, the relative displacement θ of the first voltage signal within the signal period of living in that sends corresponding to the magnetic induction part of the first magnet steel ring in the calculating location pick-up unit
1Step S302 according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2Step S303 is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative.
Further, among the described step S301, specifically comprise: step S3011, a plurality of voltage signals through the A/D conversion that position detecting device sends are processed, obtain reference signal D; Step S3012 according to this reference signal D, selects the angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1
Further, among the described step S301, when obtaining reference signal D, obtain signal R.
Further, also comprise among the step S301 according to the signal R under the standard state relative with it in the signal R consults memory that obtains
0, and the two is compared computing, obtain the step of signal K.
Further, before a plurality of voltage signals through the A/D conversion that step S3011 sends position detecting device are processed, described a plurality of voltage signals are multiplied each other with signal K respectively, thereby realization is to the temperature compensation of voltage signal.
In addition, described step S302 specifically may further comprise the steps: step S3021, and the second voltage signal that the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E; Step S3022, the absolute offset values θ that in the second standard angle kilsyth basalt, selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E
2
Position detecting device provided by the invention and signal processing circuit thereof and disposal route have the following advantages:
A) by increasing magnetic guiding loop, so that the magnetic guiding loop internal magnetic field is evenly distributed, reveal littlely, and the signal of magnetic induction part induction is integral form, and signal noise is little, and contained higher harmonic components composition is little, is conducive to improve the original signal quality, the raising Signal-to-Noise.
B) adopt magnetic guiding loop, and dwindle useful area by increasing chamfering, be conducive to improve the magnetic field intensity of magnetic induction part surface induction, can reduce to a certain extent can reduce the mechanical dimension of whole scrambler to the magnet size requirement.
C) adopt this improved structure, the mechanical dimension of magnetic induction part is not had harsh requirement, can select the model wide ranges, or even need not adopt follow-up amplifying circuit, be conducive to reduce cost of products, improve cost performance.
D) adopt this version, magnetic induction part can directly be fixed on the circuit board, need not adaptor, is conducive to improve the reliability of product.
E) manufacturing process is simple, magnetic guiding loop can be used the stator retainer, such as a skeleton, fix forming together an arrangement, one-shot forming, signal inductor, be that magnetic induction part directly is put in slit (locating slot) and locates, can maximumly guarantee phase differential between the signal, the stator retainer directly is fixed on the motor, mounting process is convenient, is conducive to enhance productivity.
F) adopt two tool magnet steel ring and magnetic guiding loops, increased accuracy of detection, make the processing accuracy of position detecting device higher, and have that cost is low, the simple advantage of manufacturing process.
G) adopt magnetic modes of emplacement of the present invention, the signal amplitude of magnetic induction part output is large, need not to adopt analog amplify circuit, the output signal of magnetic induction part is directly inputted to A/D converter and carries out analog to digital conversion, carrying out as required digital differential processes again, like this so that whole circuit is very simple, and reduced to a great extent because temperature and the zero point drift that analog device causes, and magnetic induction part can directly be fixed on the circuit board, need not adaptor, improve the reliability and stability of circuit, and significantly reduced the cost of product.The advantage of carrying out the digital differential processing is: can eliminate the deviation of signal that heart is not caused by installing, process with analog differential and compare, adopt digital signal to process, better effects if is not affected by the extraneous factors such as temperature, zero point drift; Can enlarge the amplitude of signal input quantity, the precision that is equivalent to A/D converter in effect has increased by one, can improve the precision that scrambler is measured.
Below in conjunction with accompanying drawing and specific embodiment the present invention is described in detail.
Description of drawings
Fig. 1 is the three-dimensional exploded view of the position detecting device of the embodiment of the invention one;
Fig. 2 is the installation diagram of position detecting device shown in Figure 1;
Fig. 3 is another installation diagram of position detecting device shown in Figure 1;
Fig. 4 is the structural drawing of magnetic guiding loop;
Fig. 5 is another structural drawing of magnetic guiding loop;
Fig. 6 is the another structural drawing of magnetic guiding loop;
Fig. 7 is another structural drawing of magnetic guiding loop;
One of process flow diagram of the signal processing method of Fig. 8 position detecting device of the present invention;
Two of the process flow diagram of the signal processing method of Fig. 9 position detecting device of the present invention;
Three of the process flow diagram of the signal processing method of Figure 10 position detecting device of the present invention;
Four of the process flow diagram of the signal processing method of Figure 11 position detecting device of the present invention;
Figure 12 is the coding that the embodiment of the invention one obtains when being equipped with 3 magnetic induction parts corresponding to the second magnet steel;
Figure 13 is the order that magnetizes of the embodiment of the invention one second magnet steel ring when being equipped with 3 magnetic induction parts corresponding to the second magnet steel;
Figure 14 is the structural drawing of the second magnet steel ring, magnetic guiding loop and the magnetic induction part of the embodiment of the invention one;
Figure 15 is the arrangenent diagram of the first magnet steel ring uniform magnetization of the embodiment of the invention one corresponding 2 magnetic induction parts when being 6 pairs of utmost points;
Figure 16 is the structural drawing of the first magnet steel ring, magnetic guiding loop and the magnetic induction part of the embodiment of the invention one;
Figure 17 is the circuit block diagram of the signal processing apparatus of the embodiment of the invention one;
Figure 18 is the structural drawing of the first magnet steel ring, magnetic guiding loop and the magnetic induction part of the embodiment of the invention two;
Figure 19 is the circuit block diagram of the signal processing apparatus of the embodiment of the invention two;
Figure 20 is the structural drawing of the first magnet steel ring, magnetic guiding loop and the magnetic induction part of the embodiment of the invention three;
Figure 21 is the circuit block diagram of the signal processing apparatus of the embodiment of the invention three;
Figure 22 is the structural drawing of the first magnet steel ring, magnetic guiding loop and the magnetic induction part of the embodiment of the invention four;
The circuit block diagram of the signal processing apparatus of Figure 23 embodiment of the invention three;
Figure 24 is the three-dimensional exploded view of another kind of structure of the position detecting device of embodiments of the invention one to embodiment four.
Embodiment
With reference to accompanying drawing, Fig. 1 is the three-dimensional exploded view of the position detecting device of the embodiment of the invention one.Such as Fig. 1～shown in Figure 3, this position detecting device comprises rotor and rotor is enclosed within inner stator, rotor comprises the first magnet steel ring 201a and the second magnet steel ring 201b and the first magnetic guiding loop 205a and the second magnetic guiding loop 205b, the first magnet steel ring 201a and the second magnet steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is support 203.
As shown in figures 1 and 3, the first magnetic guiding loop 205a and the second magnetic guiding loop 205b leave the space respectively by a plurality of concentrics, consist of with the segmental arc of radius between adjacent two segmental arcs, are located at respectively in this space corresponding to the magnetic induction part 204 of two magnet steel rings.As shown in Figure 4 to 7, the segmental arc end of two magnetic guiding loops is provided with chamfering, and described chamfering is vertically 251 or radially 252 or the chamfering that forms of simultaneously vertically 25 1, radially 252 cuttings.
According to magnetic Migong formula
Can know, when φ is certain, can by reducing S, increase B.
Because the magnetic flux that permanent magnet produces is certain, S is larger in magnetic guiding loop, so B is smaller, therefore can reduce the heating that causes because of the magnetic field alternation.And can increase the magnetic field intensity of end by reducing magnetic guiding loop end area, so that the output signal of magnetic induction part strengthens.Such picking up signal structure manufacturing process is simple, and the signal noise of picking up is little, and production cost is low, and reliability is high, and size is little.
Corresponding to the second magnet steel ring 201b, same circumference take the center of the second magnet steel ring 201b as the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetic order of the second magnet steel ring is so that n magnetic induction original paper output is the Gray code form.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.
The first magnet steel ring 201a is magnetized to g (value of g equals the magnetic pole sum in the second magnet steel ring) uniformly, and to the utmost point (the N utmost point and S utmost point alternative arrangement), when the magnetic pole in the second magnet steel ring add up to 6, the number of pole-pairs of the first magnet steel ring 201a was 6 pairs.On the same circumference in the center of circle, be provided with m magnetic induction part take the center of the first magnet steel ring 201a, such as 2, shown in Fig. 15, two magnetic induction part H
1, H
2Between angle be 90 °/6.The layout of magnetic induction part as shown in figure 16 when the first magnet steel ring was magnetized to 6 pairs of utmost points equably.When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.
Define that adjacent a pair of " N-S " is a signal period in the first magnet steel ring, therefore, the mechanical angle that arbitrary " N-S " is corresponding is 360 °/g (g be " N-S " number), supposes that rotor is positioned at n at t moment anglec of rotation θ
ThIn signal period, then this constantly angular displacement can think and consisted of by two parts: 1. at n
ThRelative displacement in signal period, magnetic induction part H
1And H
2Respond to the magnetic field of the first magnet steel ring and determine at this " N-S " side-play amount θ in the signal period
1(value greater than 0 less than 360 °/g); 2. n
ThThe absolute offset values θ that put the signal period first place
2, determine with the magnetic field of sensor sensing the second magnet steel ring this moment, rotor was to be in which " N-S " to obtain θ actually
2
Signal processing apparatus based on this position detecting device and principle comprises: A/D modular converter, relative displacement θ
1Computing module, absolute offset values θ
2Computing module and memory module.Its signal processing flow is shown in Fig. 8-11, and as shown in Figure 8, the voltage signal that the first magnet steel ring in the position detecting device and the second magnet steel environment-development are sent here carries out the A/D conversion, is digital signal with analog signal conversion; By relative displacement θ
1Computing module carries out angle θ to the first voltage signal corresponding to the first magnet steel ring that position detecting device sends
1Find the solution, calculate the relative displacement θ of signal within the signal period of living in corresponding to the first magnet steel ring
1By absolute offset values θ
2Computing module carries out angle θ to the first voltage signal corresponding to the second magnet steel ring that position detecting device sends
2Find the solution, determine the absolute offset values θ that put the residing signal period first place of the first voltage signal
2Synthetic and output module is used for above-mentioned relative displacement θ such as totalizer by angle
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative.For Fig. 9, be the signal amplification module that the basis at Fig. 8 increases, concrete such as amplifier, be used for before the A/D modular converter carries out the A/D conversion, the voltage signal that comes from position detecting device being amplified.Figure 10 is the signal processing flow figure that comprises temperature compensation, is carrying out angle θ
1Before finding the solution, also comprise the process of temperature compensation; Figure 11 is the detailed process based on the temperature compensation of Figure 10, when namely carrying out temperature compensation, advanced row coefficient to correct, and the output of then again signal and the coefficient of A/D converter output being corrected is carried out temperature compensation by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature compensation is a variety of in addition, does not just introduce one by one at this.
Relative displacement θ
1Computing module comprises signal synthesis unit, the first angle acquiring unit and temperature compensation unit, and signal synthesis unit is processed the voltage signal through the A/D conversion that the diverse location pick-up unit sends, and obtains a reference signal D; Described the first angle acquiring unit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1Wherein, before obtaining reference signal D, first the signal that inputs to signal synthesis unit is carried out temperature compensation by temperature compensation unit, the signal after the temperature compensation is processed obtaining signal D again.Processing described here will describe in detail in the back.Absolute offset values θ
2Computing module comprises the second compositor and described the second angle acquiring unit, the second voltage signal that is used for the position detecting device corresponding to the second magnet steel ring is sent synthesizes, obtain axle and turn over the signal period number, thereby determine the absolute offset values θ that put the residing signal period first place of the first voltage signal
2, specific implementation is that described the second compositor synthesizes the second voltage signal that the position detecting device corresponding to the second magnet steel ring sends, and obtains a signal E; The absolute offset values θ that described the second angle acquiring unit selects an angle relative with it to put as the residing signal period first place of the first voltage signal in the second standard angle kilsyth basalt according to this signal E
2
Embodiment one
In embodiment one, be equipped with 3 magnetic induction parts corresponding to the second magnet steel, be equipped with 2 magnetic induction parts corresponding to the first magnet steel.
Because the magnetic pole magnetic order of the second magnet steel ring is so that n magnetic induction original paper output is the Gray code form.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.Therefore, in the present embodiment, because n is, obtain coding as shown in figure 12 at 3 o'clock, obtain 6 codes, namely obtain 6 utmost points, magnetize order as shown in figure 13, carry out reading around magnetic induction part is uniform.The position relationship of the second magnet steel ring, magnetic guiding loop and magnetic induction part as shown in figure 14.
Because the magnetic pole of the second magnet steel ring adds up to 6, therefore, the first magnet steel ring is magnetized to 6 pairs of utmost points uniformly, the arrangenent diagram of itself and 2 magnetic induction parts and magnetic order as shown in figure 15, the position relationship of the first magnet steel ring, magnetic guiding loop and magnetic induction part is as shown in figure 16.
Figure 17 show in the present embodiment corresponding to the first magnet steel be equipped with 2 magnetic induction parts, the circuit block diagram of signal processing apparatus when the second magnet steel is equipped with 3 magnetic induction parts.The output signal of sensor 1_1a and 1_2a meets amplifier 2_1a, 2_2a amplifies, then meet A/D converter 3_1a, 3_2a, after analog to digital conversion, obtain output signal and meet multiplier 4_1a, 5_1a, coefficient rectifier 10_1a output signal meets multiplier 4_1a, the input end of 5_1a, multiplier 4_1a, the output signal A of 5_1a, B connects the input end of the first compositor 6_1a, the first compositor 6_1a is to signal A, B processes, obtain signal D, R selects an angle relative with it as deviation angle θ in the standard angle kilsyth basalt of storing from storer 8_1a according to signal D
1Wherein, the output signal R of the first compositor 6_1a flows to coefficient rectifier 10_1a, and coefficient rectifier 10_1a tables look-up according to signal R with from storer 9_1a and obtains signal R
0Obtain signal K, this signal K is as another input end of multiplier 4_1a, 5_1a, obtains signal A, B as the input of the first compositor 6_1a though divide to multiply each other with signal C1, C2 from amplifier 2_1a, 2_2a output.
Sensor 1_3a, 1_4a ... the output signal of 1_na connect respectively amplifier 2_3a, 2_4a ... 2_na amplifies, then connect A/D converter 3_3a, 3_4a ... 3_na carries out synthesizing by the second compositor 7_1a after the analog to digital conversion, obtains a signal E; According to the absolute offset values θ that selects an angle relative with it to put as the residing signal period first place of the first voltage signal in the second standard angle kilsyth basalt of this signal E in storer 11_1a
2, θ
1And θ
2Export θ by the absolute angle displacement that totalizer 12_1a obtains measuring.
Wherein, the function of the second compositor 7_1a is, by to sensor 1_3a, 1_4a ... the signal of 1_na synthesizes, obtain this constantly rotor be in which " N-S " in the signal period.
The processing of the second compositor 7_1a is: when data X was signed number, data X the 0th (the 1st from left to right of scale-of-two) was sign bit, and X_0=1 represents data X for negative, and X_0=0 represents that data X is for just.Also namely when the magnetic field of induction when being N, be output as X_0=0, otherwise be X_0=1.
Then for the present embodiment, E={C3_0; C4_0; Cn_0}.
Wherein, the first compositor 6_1a to the processing of signal is: the size of the numerical value of two signals relatively, the signal D that is used for output that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, than the value bit of the signal of fractional value }.Specific as follows:
Here agreement (hereinafter each compositor all uses this agreement), when data X was signed number, data X the 0th (the 1st from left to right of scale-of-two) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.X_D represents the value bit (absolute values of data) of data X, namely removes the remaining data bit of sign bit.
If A_D＞=B_D
D＝{A_0；B_0；B_D}
Otherwise:
D＝{A_0；B_0；A_D}
Signal K generally is by with signal R
0Carrying out division arithmetic with R obtains.
For first and second standard angle kilsyth basalt, in storer, stored two tables, each table is corresponding to a series of code, and each code is corresponding to an angle.This table obtains by demarcation, scaling method is, utilize pick-up unit and a high precision position sensor of originally executing example, carry out one by one correspondence with originally executing the signal of the magnetic induction part output in the example and the angle of this high precision position sensor output, set up out the signal of magnetic induction part output and the relation table between the angle with this.Namely, stored first a standard angle kilsyth basalt corresponding to signal D, each signal D represents a relative displacement θ
1Corresponding to signal E, stored second a standard angle kilsyth basalt, each signal E represents an absolute offset values θ
2
Embodiment two
Different from embodiment one, in the present embodiment, be provided with 4 magnetic induction parts corresponding to the first magnet steel ring, four magnetic induction part H
1, H
2, H
3, H
4Between angle be 90 °/6, the first magnet steel rings, magnetic guiding loop and magnetic induction part structural relation as shown in figure 18.
The circuit block diagram of signal processing apparatus when Figure 19 shows and is equipped with 4 magnetic induction parts corresponding to the first magnet steel.The output signal of sensor 1_1c and 1_2c meets amplifying circuit 2_1c and carries out differential amplification, the output signal of sensor 1_3c and 1_4c meets amplifying circuit 2_2c and carries out differential amplification, then meet A/D converter 3_1c, 3_2c, subsequent treatment is similar to the situation when being provided with 2 magnetic induction parts.
Wherein, the function of the second compositor 7_1c is, by to sensor 1_5c, 1_6c ... the signal of 1_nc synthesizes, obtain this constantly rotor be in which " N-S " in the signal period.
Signal processing method based on the position detecting device of the present embodiment is identical with the method for embodiment one.
Embodiment three
What the present embodiment was different from embodiment one and two is to be provided with 3 magnetic induction parts corresponding to the first magnet steel ring, three magnetic induction part H
1, H
2, H
3Between angle be 120 °/6, as shown in figure 20,
The circuit block diagram of signal processing apparatus when Figure 21 shows and is equipped with 3 magnetic induction parts corresponding to the first magnet steel.Processing procedure and the first two embodiment are basic identical, and different is that because the input signal of the first compositor 7_1b is 3, therefore, the processing of signal D, R is slightly different from the first two embodiment.In the present embodiment, the first compositor 7_1b to the treatment principle of signal is: the position that meets of judging first three signals, and the size of the numerical value of the identical signal of comparison operators co-bit, the signal D that is used for output that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, the 3rd signal meet the position, than the value bit of the signal of fractional value }.Take the present embodiment as example:
Agreement:
When data X was signed number, data X the 0th (the 1st from left to right of scale-of-two) was sign bit, and X_0=1 represents data X for negative, and X_0=0 represents that data X is for just.
X_D represents the value bit (absolute values of data) of data X, namely removes sign bit data left position.
If { A_0; B_0; C_0}=010 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=010 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=101 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=101 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=011 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=011 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=100 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=100 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=001 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=001 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=110 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=110 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}；
Signal processing method based on the position detecting device of the present embodiment is identical with the method for embodiment one.
Embodiment four
The present embodiment is different from embodiment three, is provided with 6 magnetic induction parts corresponding to the first magnet steel ring, the angle between six magnetic induction parts be 60 °/6, the first magnet steel rings, magnetic guiding loop and magnetic induction part structural relation as shown in figure 22.
The circuit block diagram of signal processing apparatus when Figure 23 shows and is equipped with 6 magnetic induction parts corresponding to the first magnet steel.Its detailed process illustrates at first three embodiment, in these different repeat specifications.
Signal processing method based on the position detecting device of the present embodiment is identical with the method for implementing one.
Figure 24 is the three-dimensional exploded view of another kind of structure of the position detecting device of embodiments of the invention one to embodiment four.This position detecting device comprises rotor and rotor is enclosed within inner stator, and rotor comprises the first magnet steel ring 201a and the second magnet steel ring 201b, and the first magnet steel ring 201a and the second magnet steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is support 203.Magnetic induction part 204 direct Surface Mounts are at the inside surface of support 203.
Similar with embodiment one to four, the first magnet steel ring in the position detecting device among Figure 22 can be provided with 2,4,3,6 magnetic induction parts.Method with embodiment one to four is identical respectively with signal processing method based on the signal processing apparatus of the position detecting device of the magnetic induction part of different numbers.
It should be noted that at last: above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although with reference to above-described embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, still can make amendment and be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (20)
1. a position detecting device is characterized in that, comprises rotor and rotor is enclosed within inner stator, and described rotor comprises the first magnet steel ring, the second magnet steel ring;
Wherein, described the first magnet steel ring and the second magnet steel ring are separately fixed on the same rotation axis;
On stator, corresponding to the second magnet steel ring, be provided with n equally distributed magnetic induction part take the center of the second magnet steel ring as the same circumference in the center of circle, n=1 wherein, 2 ... n, the magnetic pole magnetic order of described the second magnet steel ring is so that the output of n magnetic induction part is the Gray code form, the polarity of the second magnet steel ring magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point; Adjacent two outputs only have a variation;
On stator, corresponding to the first magnet steel ring, be provided with m magnetic induction part that distributes at an angle take the center of the first magnet steel ring as the same circumference in the center of circle, wherein m is 2 or 3 integral multiple, define that adjacent a pair of " N-S " is a signal period in the first magnet steel ring, the mechanical angle that arbitrary " N-S " is corresponding is 360 °/g, and g is " N-S " number; The total logarithm of the magnetic pole of described the first magnet steel ring equates with the magnetic pole sum of the second magnet steel ring, and the polarity of two neighboring pole is opposite;
When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to signal processing apparatus.
2. position detecting device as claimed in claim 1 is characterized in that, on the stator corresponding to the angle between adjacent two magnetic induction parts of the first magnet steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of the second magnet steel ring.
3. position detecting device as claimed in claim 1 is characterized in that, the direct Surface Mount of described magnetic induction part is at the inside surface of stator.
4. position detecting device as claimed in claim 1, it is characterized in that, also comprise two be built in stator inner surface, respectively with the first magnet steel ring, magnetic guiding loop that the first magnet steel ring is corresponding, each described magnetic guiding loop is by a plurality of concentrics, consists of with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnet steel rings.
5. position detecting device as claimed in claim 4 is characterized in that, the segmental arc end of described magnetic guiding loop is provided with chamfering.
6. position detecting device as claimed in claim 5 is characterized in that, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.
7. position detecting device as claimed in claim 1 is characterized in that, described magnetic induction part is the hall sensing element.
8. the signal processing apparatus based on the arbitrary described position detecting device of the claims 1-7 is characterized in that, comprising:
The A/D modular converter, the voltage signal that position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion;
Relativity shift angle θ
1Computing module is used for the relative displacement θ of the first voltage signal within the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of the first magnet steel ring
1
Absolute offset values θ
2Computing module according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2
The synthetic output module that reaches of angle is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ of synthetic described the first voltage signal representative;
Memory module is used for the storage data.
9. the signal processing apparatus of position detecting device according to claim 8 is characterized in that, also comprises:
The signal amplification module is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from position detecting device being amplified.
10. according to claim 8 or the signal processing apparatus of 9 described position detecting devices, it is characterized in that,
Described relativity shift angle θ
1Computing module comprises the first synthesis unit and the first angle acquiring unit, and described the first synthesis unit is processed a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D; Described the first angle acquiring unit selects the angle relative with it as deviation angle θ in the first standard angle kilsyth basalt according to this reference signal D
1
11. the signal processing apparatus of position detecting device as claimed in claim 10 is characterized in that, described relativity shift angle θ
1Computing module also comprises temperature compensation unit, be used for to eliminate the impact of the voltage signal that temperature sends position detecting device.
12. the signal processing apparatus of position detecting device as claimed in claim 11 is characterized in that, the output of described the first synthesis unit also comprises signal R.
13. the signal processing apparatus of position detecting device as claimed in claim 12, it is characterized in that, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectification module is to the signal R of the output of described the first synthesis unit with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to the first synthesis unit.
14. according to claim 8 or the signal processing apparatus of 9 described position detecting devices, it is characterized in that described absolute offset values θ
2Computing module comprises the second synthesis unit and the second angle acquiring unit, and the second voltage signal that described the second synthesis unit is used for the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E; The absolute offset values θ that described the second angle acquiring unit selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E in the second standard angle kilsyth basalt
2
15. the signal processing method based on the arbitrary described position detecting device of the claims 1-7 is characterized in that, may further comprise the steps:
Step S300 is used for the voltage signal that position detecting device sends is carried out the A/D conversion;
Step S301, the relative displacement θ of the first voltage signal within the signal period of living in that sends corresponding to the magnetic induction part of the first magnet steel ring in the calculating location pick-up unit
1
Step S302 according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2
Step S303 is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ of synthetic described the first voltage signal representative.
16. the signal processing method of position detecting device according to claim 15 is characterized in that, among the described step S301, specifically comprises:
Step S3011 processes a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D;
Step S3012 according to this reference signal D, selects the angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1
17. the signal processing method of position detecting device according to claim 16 is characterized in that, among the described step S301, obtains signal R when obtaining reference signal D.
18. the signal processing method of position detecting device according to claim 17 is characterized in that, also comprises among the step S301 according to the signal R under the standard state relative with it in the signal R consults memory that obtains
0, and the two is compared computing, obtain the step of signal K.
19. the signal processing method of position detecting device according to claim 18, it is characterized in that, before a plurality of voltage signals through the A/D conversion that step S3011 sends position detecting device are processed, described a plurality of voltage signals are multiplied each other with signal K respectively, thereby realization is to the temperature compensation of voltage signal.
20. the signal processing method of position detecting device according to claim 15 is characterized in that, described step S302 specifically may further comprise the steps:
Step S3021, the second voltage signal that the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E;
Step S3022, the absolute offset values θ that in the second standard angle kilsyth basalt, selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E
2
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910137781 CN101876558B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
| PCT/CN2010/072057 WO2010124587A1 (en) | 2009-04-30 | 2010-04-22 | Position detection device and signal processing device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910137781 CN101876558B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
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| CN101876558A CN101876558A (en) | 2010-11-03 |
| CN101876558B true CN101876558B (en) | 2013-03-06 |
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| CN 200910137781 Expired - Fee Related CN101876558B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
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| WO (1) | WO2010124587A1 (en) |
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| JP5652181B2 (en) * | 2010-12-10 | 2015-01-14 | 株式会社ジェイテクト | Rotation angle detection device, torque detection device, and electric power steering device |
| CN102297081B (en) * | 2011-09-09 | 2013-06-05 | 广东明阳风电产业集团有限公司 | Wind turbine generator system variable pitch encoder |
| CN106352780A (en) * | 2016-08-19 | 2017-01-25 | 苏州博众精工科技有限公司 | Circumferential detection device and method |
| CN106441381B (en) * | 2016-09-29 | 2019-12-06 | 重庆理工大学 | Magnetoelectric rotating parameter measuring device |
| CN109443451B (en) * | 2018-12-27 | 2024-01-12 | 中国科学院宁波材料技术与工程研究所 | Motor position speed detection device |
| CN114689098B (en) * | 2020-06-18 | 2024-01-16 | 中国科学院苏州生物医学工程技术研究所 | Ultrasonic rotary encoder |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
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| US6201389B1 (en) * | 1997-04-23 | 2001-03-13 | Ab Eletronik Gmbh | Device for determining the angular position of a rotating shaft |
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| US5444370A (en) * | 1993-03-18 | 1995-08-22 | Honeywell Inc. | Magnetic angular position sensor with two magnetically sensitive components arranged proximate two target tracks having complimentary magnetic and nonmagnetic segments |
| JPH10311742A (en) * | 1997-05-12 | 1998-11-24 | Zexel Corp | Position detection sensor |
| FR2804804B1 (en) * | 2000-02-03 | 2003-02-14 | Parvex Sa | MULTIPOLAR RESOLVER WITH VARIABLE MAGNETIC COUPLING |
| CN100339684C (en) * | 2004-06-03 | 2007-09-26 | 威海华控电工有限公司 | Four-sensor style coding device |
| JP2007327800A (en) * | 2006-06-07 | 2007-12-20 | Jtekt Corp | Rotation angle detector, and electric power steering device equipped therewith |
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- 2009-04-30 CN CN 200910137781 patent/CN101876558B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3531798A (en) * | 1965-06-04 | 1970-09-29 | Alcatel Sa | Numerical coding |
| US6201389B1 (en) * | 1997-04-23 | 2001-03-13 | Ab Eletronik Gmbh | Device for determining the angular position of a rotating shaft |
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