CN106441080B - Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection - Google Patents
Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection Download PDFInfo
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- CN106441080B CN106441080B CN201610783835.8A CN201610783835A CN106441080B CN 106441080 B CN106441080 B CN 106441080B CN 201610783835 A CN201610783835 A CN 201610783835A CN 106441080 B CN106441080 B CN 106441080B
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- magnetic field
- angle measurement
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- tracking
- angular sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection, the first magnetic field angular sensor including the first label magnet and for detecting the first label magnet magnetic line of force direction, has gap between the first label magnet and the first magnetic field angular sensor.The present invention is based on the separate type sun tracing system rotational angle measurement apparatus of magnetic field detection, realize cheap individual pen absolute value type angle measurement requirement；Between the measuring device and Magnetic Measurement primary standard substance of angle measurement system using magnetic field coupling measure, be not used for a long time in wear problem；Without auxiliary devices such as shaft joints, installation is convenient for magnetic field coupling measurement；Two-stage individual pen absolute value type angle measurement unit can improve measurement accuracy by combination, meet high-precision smooth heat build-up tracking system measurement request.
Description
Technical field
The invention belongs to solar tracking system angle detection technique fields, and in particular to a kind of separation based on magnetic field detection
Formula sun tracing system rotational angle measurement apparatus.
Background technique
Solar tracking system is widely used in solar energy power generating and solar light-heat power-generation field.Solar tracking system
It is mainly made of mechanically tracking bracket and automatic tracking control apparatus two large divisions, optical detection is broadly divided into control mode
Method and astronomical calculating method.Optical detection detects the orientation of the sun using photoelectric sensor and realizes tracing control, although simply
Cheap but reliability is low.Astronomical calculating method is calculated by the longitude, latitude and time of tracker present position and obtains entering for the sun
Firing angle degree, while using the practical attitude angle of angular transducer measurement tracking bracket, then adjustment tracks the actual measurement appearance of bracket
State angle is consistent with angle of incidence of sunlight degree, realizes the control of closed loop angle.Due to astronomical calculating method tracing control not by weather and
The influence that optic probe is stained, therefore tracking reliability and applicability are higher.
In astronomical calculating method solar tracking system, need the practical attitude angle of detecting and tracking bracket that could complete the sun
Tracing control.Common detection technique is mainly rotational potentiometer technology and rotation in solar tracking system angle measurement at present
Encoder techniques.
Rotational potentiometer is also referred to as angular displacement type variable-resistance transducer, electric when the rotary shaft of potentiometer is in different location
Position device centre tap and the resistance between two ends are also different, and the size by measuring resistance is that can measure absolutely turning for shaft
Angle.But rotational potentiometer is a kind of contact type measurement technology, will appear contact electrode in long-time use and swept resistance is worn
The phenomenon that.The measurement accuracy of rotational potentiometer is usually 0.1%, and for the attitude angle measurement of solar tracking system, maximum is surveyed
Measuring error is about positive and negative 0.36 degree, can only meet photovoltaic tracking, is not able to satisfy high-precision smooth heat build-up solar tracking control and requires.
Rotary encoder is a kind of Non-contact Angle Measurement device, generallys use photovoltaic principals or electromagnetic principle work,
Precision is higher.Rotary encoder is divided into incremental encoder and absolute position formula encoder, and incremental encoder can only output phase
To angle change, sun tracing system generally can not be applied individually to any.The shaft of absolute position formula encoder is in different location
When the different coding of encoder output, by coding can high-precision measuring encoder shaft rotation angle.Absolute position formula
The shortcomings that rotary encoder be it is expensive, using the cost that can significantly improve entire tracking system in solar tracking system,
It is less economical.
Either rotational potentiometer or rotary encoder, this kind of angle-measuring equipments are usually all by a measuring device and one
The shaft of a rotation is constituted, and the two is encapsulated in a shell.Measuring device and shaft are connected respectively to rotation when use
In mechanical fixation member and rotatable parts, the outer corner measurement of rotating machinery is realized.In order to guarantee coaxially to work, when installation, is required
Sensor shaft is strictly located on machinery rotation device center, shaft bending can be made to deform when otherwise rotating, and then damages measurement
Device.Increase flexible clutch is usually required due to being strictly difficult to accomplish with one heart, in engineering practice to realize connection, causes to install
Cost improves and installation trouble.
Summary of the invention
The object of the present invention is to provide a kind of separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection,
Solve the problems, such as that existing solar tracking bracket rotational angle measurement apparatus is at high cost, installation requirement is stringent, precision is low.
The technical scheme adopted by the invention is that the separate type sun tracing system rotation angular measurement dress based on magnetic field detection
It sets, the first magnetic field angular sensor including the first label magnet and for detecting the first label magnet magnetic line of force direction, first
There is gap between label magnet and the first magnetic field angular sensor.
The features of the present invention also characterized in that:
First magnetic field angular sensor includes the first magnetic field sensing element, and the first magnetic field sensing element is connected separately with first
Power supply and the first digital processor, the first power supply are connect with the first digital processor.
First magnetic field angular sensor is mounted on the fixation bracket affixed with tracking bracket ground, the first label magnet peace
On the central axis of tracking holder pivots mechanism.
First label magnet is mounted on the fixation bracket affixed with tracking bracket ground, the first magnetic field angular sensor peace
On the central axis of tracking holder pivots mechanism.
It further include the second label magnet and the second magnetic field angle sensing for detecting the second label magnet magnetic line of force direction
Device has gap between the second label magnet and the second magnetic field angular sensor.
Second magnetic field angular sensor includes the second magnetic field sensing element, and the second magnetic field sensing element is connected separately with second
Power supply and the second digital processor, the second power supply are connect with the second digital processor.
Second label magnet is mounted on the primary drive shaft of upper level deceleration system of rotary drive mechanism, the second magnetic field
Angular transducer is mounted on the bracket concentric with rotary shaft.
The beneficial effects of the present invention are: the present invention is based on the separate type sun tracing system of magnetic field detection rotation angular measurement dresses
It sets, realizes cheap individual pen absolute value type angle measurement requirement；The measuring device and Magnetic Measurement benchmark of angle measurement system
Between object using magnetic field coupling measure, be not used for a long time in wear problem；Magnetic field coupling measurement is without the auxiliary such as shaft joint
Device, installation are convenient；Two-stage individual pen absolute value type angle measurement unit can improve measurement accuracy by combination, meet high-precision
The light heat build-up tracking system measurement request of degree.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of separate type sun tracing system rotational angle measurement apparatus of the present invention；
Fig. 2 is the structure of the first magnetic field angular sensor in separate type sun tracing system rotational angle measurement apparatus of the present invention
Schematic diagram；
Fig. 3 is the structure of the second magnetic field angular sensor in separate type sun tracing system rotational angle measurement apparatus of the present invention
Schematic diagram；
Two-stage measuring system signal combination signal in Fig. 4 separate type sun tracing system rotational angle measurement apparatus of the present invention
Figure；
Fig. 5 is magnetic field angular sensor working principle in separate type sun tracing system rotational angle measurement apparatus of the present invention
Figure.
In figure, 1. first label magnet, 2. first magnetic field angular sensors, 3. fixed brackets, 4. tracking holder pivots machines
Structure, 5. tracking carriers, 6. rotation supports, 7. second label magnet, 8. second magnetic field angular sensors, 9. primary drive shafts,
10. the first magnetic field sensing element, 11. first digital processors, 12. first power supplies, 13. rotation central axis, 14. magnetic force
Line, 15. second magnetic field sensing elements, 16. second digital processors, 17. second power supplies.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention is based on the separate type sun tracing system rotational angle measurement apparatus of magnetic field detection, structure is as shown in Figure 1, packet
Include the first label magnet 1 and the first magnetic field angular sensor 2 for detecting the first label 1 magnetic line of force direction of magnet, the first mark
There is gap between note magnet 1 and the first magnetic field angular sensor 2, does not contact between each other, carry out coupling detection, nothing by magnetic field
Need the accessory structures such as shaft coupling.
As shown in Fig. 2, the first magnetic field angular sensor 2 includes the first magnetic field sensing element 10, the first magnetic field sensing element
10 are connected separately with the first power supply 12 and the first digital processor 11, the first power supply 12 and the first digital processing
Device 11 connects.
Embodiment 1
First magnetic field angular sensor 2 is mounted on the fixation bracket 3 affixed with tracking bracket ground and remain stationary, the
One label magnet 1 is mounted on the central axis of tracking holder pivots mechanism 4 with holder pivots.Tracking when tracking bracket and thereon
First label 1 synchronous rotary of magnet when carrier 5 is around rotation 6 rotation of support, magnetic line of force direction change, the first magnetic field angle
Sensor 2 tracks the absolute rotation angle of bracket by measurement magnetic line of force orientation measurement.
Embodiment 2
First label magnet 1 and 2 installation site of the first magnetic field angular sensor in embodiment 1 are exchanged, i.e., the first label
Magnet 1 is mounted on the fixation bracket 3 affixed with tracking bracket ground, is remain stationary, the first magnetic field angular sensor 2 is mounted on
It tracks on the central axis of holder pivots mechanism 4 with holder pivots.
Embodiment 1 and embodiment 2 realize low precision tracking angle measurement.
Embodiment 3
On the basis of above-described embodiment 1 or embodiment 2, it is also equipped with the second label magnet 7 and for detecting second
Mark 7 magnetic line of force direction of magnet the second magnetic field angular sensor 8, second label magnet 7 and the second magnetic field angular sensor 8 it
Between have gap, do not contact.
As shown in figure 3, the second magnetic field angular sensor 8 includes the second magnetic field sensing element 15, the second magnetic field sensing element
15 are connected separately with the second power supply 17 and the second digital processor 16, the second power supply 17 and the second digital processing
Device 16 connects.
On the primary drive shaft 9 for the upper level deceleration system that second label magnet 7 is mounted on rotary drive mechanism, the second magnetic
Field angular transducer 8 is mounted on the bracket concentric with rotary shaft.When primary drive shaft 9 drives the second label magnet 7 to rotate, the
The angular position that two magnetic field angular sensors 8 pass through the magnetic line of force angle detecting primary drive shaft 9 of measurement the second label magnet 7.
Embodiment 3 realizes the angle measurement of two-stage type high precision tracking.
About embodiment 3, there are a reduction ratio N, such as Fig. 4 between primary drive shaft 9 and tracking holder pivots mechanism 4
Shown, after primary drive shaft 9 turns over N circle, tracking holder pivots mechanism 4 is rotated by 360 ° (N=8 in Fig. 3).Rotation angle is surveyed
Device is measured on the basis of the first 2 output signal of magnetic field angular sensor, uses the second magnetic field angle in its different measured zone
The signal of degree sensor 8 is finely divided measurement result, to improve overall measurement accuracy.
Such as: when tracking holder pivots mechanism 4 is spent in 45-90, rotational angle measurement apparatus can determine whether primary 9 work of rotation axis
Make in the 2nd circle (and so on 90-135 degree work in the 3rd circle), primary rotation axis 9 does the rotation of 0-360 degree and is equivalent to tracking bracket
The angle of rotating mechanism 4 changes from 45-90 degree, in the case where system does not have gash spacing error, it is assumed that 9 angle of primary drive shaft is surveyed
Accuracy of measurement 0.1%, worst error are positive and negative 0.36 degree, in this angular error conversion to next stage tracking branch frame transmission mechanism 4
Then angular error is then positive and negative 0.045, overall precision 0.0125%, and precision improves 8 times of (reduction ratio phases with two-stage transmission
Together).
The first label magnet 1 and the measuring principle of the first magnetic field angular sensor 2 are as shown in Figure 5 in the present invention: the first mark
Remember that magnet 1 and the first magnetic field sensing element 10 are coaxially arranged, when the first label magnet 1 is rotated around rotation central axis 13, magnetic field
The magnetic line of force 14 also rotate with, the first magnetic field sensing element 10 detect magnetic field angle variation, pass through the first digital processing
Output angle measuring signal after 11 operational analysis of device.
Second label magnet 7 and the measuring principle of the second magnetic field angular sensor 8 are same as above.
The present invention is based on the separate type sun tracing system rotational angle measurement apparatus of magnetic field detection, realize cheap individual pen
Absolute value type angle measurement requirement；It is surveyed between the measuring device and Magnetic Measurement primary standard substance of angle measurement system using magnetic field coupling
Amount, be not used for a long time in wear problem；Without auxiliary devices such as shaft joints, installation is convenient for magnetic field coupling measurement；Two
Grade individual pen absolute value type angle measurement unit can improve measurement accuracy by combination, meet high-precision smooth heat build-up tracking system and survey
Amount requires.
Claims (3)
1. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection, which is characterized in that including the first label
Magnet (1) and the first magnetic field angular sensor (2) for being used to detect first label magnet (1) magnetic line of force direction, the first label magnetic
There is gap between iron (1) and the first magnetic field angular sensor (2)；
First magnetic field angular sensor (2) is mounted on the fixation bracket (3) affixed with tracking bracket ground, fixed bracket
(3) rotation support (6), the tracking holder pivots for being sequentially arranged above with horizontal rotation of rotation support (6) are installed above
Mechanism (4) and tracking carrier (5), first label magnet (1) are mounted on the central axis of tracking holder pivots mechanism (4)
On；Or first label magnet (1) is mounted on the fixation bracket (3) affixed with tracking bracket ground, first magnetic
Field angular transducer (2) is mounted on the central axis of tracking holder pivots mechanism (4)；
It further include that the second label magnet (7) and the second magnetic field angle for detecting second label magnet (7) magnetic line of force direction pass
Sensor (8) has gap between the second label magnet (7) and the second magnetic field angular sensor (8)；
On the primary drive shaft (9) for the upper level deceleration system that second label magnet (7) is mounted on rotary drive mechanism, just
Grade transmission shaft (9) rotation driving tracking holder pivots mechanism (4) rotation, the second magnetic field angular sensor (8) are mounted on and primary
On the concentric bracket of transmission shaft (9).
2. the separate type sun tracing system rotational angle measurement apparatus according to claim 1 based on magnetic field detection, special
Sign is that first magnetic field angular sensor (2) includes the first magnetic field sensing element (10), the first magnetic field sensing element (10)
It is connected separately with the first power supply (12) and the first digital processor (11), the first power supply (12) and first digital
Processor (11) connection.
3. the separate type sun tracing system rotational angle measurement apparatus according to claim 1 based on magnetic field detection, special
Sign is that second magnetic field angular sensor (8) includes the second magnetic field sensing element (15), the second magnetic field sensing element (15)
It is connected separately with the second power supply (17) and the second digital processor (16), the second power supply (17) and second digital
Processor (16) connection.
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| CN201610783835.8A CN106441080B (en) | 2016-08-30 | 2016-08-30 | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
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| CN201610783835.8A CN106441080B (en) | 2016-08-30 | 2016-08-30 | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
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| CN106441080B true CN106441080B (en) | 2019-07-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111060134B (en) * | 2019-12-10 | 2022-11-29 | 中船航海科技有限责任公司 | Device for measuring follow-up error of magnetic heading sending device |
| CN113650021A (en) * | 2021-10-20 | 2021-11-16 | 深圳市越疆科技有限公司 | Control method, device and equipment of mechanical arm, computer medium and mechanical arm |
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| US6324905B2 (en) * | 1997-09-11 | 2001-12-04 | Robert Bosch Gmbh | Method and device for measuring an angle of a rotatable body |
| JP2002340618A (en) * | 2001-05-16 | 2002-11-27 | Matsushita Electric Ind Co Ltd | Turning angle detecting device |
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| CN102393752A (en) * | 2011-09-29 | 2012-03-28 | 南通纺织职业技术学院 | Solar tracking device and control system thereof |
| CN206300608U (en) * | 2016-08-30 | 2017-07-04 | 赵跃 | A kind of separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004184264A (en) * | 2002-12-04 | 2004-07-02 | Matsushita Electric Ind Co Ltd | Device for detecting rotation angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324905B2 (en) * | 1997-09-11 | 2001-12-04 | Robert Bosch Gmbh | Method and device for measuring an angle of a rotatable body |
| EP1193472B1 (en) * | 2000-10-02 | 2010-05-05 | Bourns, Inc. | Method and apparatus for determining the absolute position of displacement and angle sensors |
| JP2002340618A (en) * | 2001-05-16 | 2002-11-27 | Matsushita Electric Ind Co Ltd | Turning angle detecting device |
| JP2004205370A (en) * | 2002-12-25 | 2004-07-22 | Calsonic Kansei Corp | Rotation angle detection device |
| CN1606024A (en) * | 2003-10-10 | 2005-04-13 | 松下电器产业株式会社 | Steering angular velocity detecting device |
| CN1815148A (en) * | 2005-02-03 | 2006-08-09 | 三美电机株式会社 | Rotary inspecting device |
| CN101750100A (en) * | 2008-12-15 | 2010-06-23 | 东京Cosmos电机株式会社 | Rotating angle sensor |
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| CN206300608U (en) * | 2016-08-30 | 2017-07-04 | 赵跃 | A kind of separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
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| CN106441080A (en) | 2017-02-22 |
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