CN101266284A - Switch reluctance machine rotor angular position and rotation speed detection device and method - Google Patents
Switch reluctance machine rotor angular position and rotation speed detection device and method Download PDFInfo
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- CN101266284A CN101266284A CNA2007100865849A CN200710086584A CN101266284A CN 101266284 A CN101266284 A CN 101266284A CN A2007100865849 A CNA2007100865849 A CN A2007100865849A CN 200710086584 A CN200710086584 A CN 200710086584A CN 101266284 A CN101266284 A CN 101266284A
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Abstract
The invention relates to a device for detecting the angular position and the speed of the switch magnetic resistance motor and method, comprising a rotary encoder and a signal processing circuit mounted in the motor and fixed on a support plate, wherein the rotary encoder is connected with the main axis of the motor. The rotary encoder collects and transfers the angular position signals of the rotator to the encoder signal pretreating unit of the signal processing circuit. The encoder signal pretreating unit converts the output signal of the encoder into the signal capable for being received by the microprocessor unit. The microprocessor unit processes the angular position signals and calculates the speed of the motor. The communication unit sends the angular position signals and speed signals by serial communication bus. The connection line of the said device with the outside is simple and the antijamming capability is strong. The device device for detecting the angular position and the speed of the switch magnetic resistance motor is suitable for long distance transmission with high resolution, easy operation, small error and no zero setting by manpower.
Description
Technical field
The present invention relates to a kind of position, angle of detector switch magnetic resistance motor rotor, the device and method of rotating speed (comprising size and Orientation), be specifically related to a kind of position, angle and speed detector and method of the switch reluctance machine rotor based on absolute rotary encoder and serial bus communication.
Background technology
Switched reluctance variable speed machine generally is made up of controller and motor two parts, and the former is equipped with parts such as power circuit, control circuit, and the latter comprises stator, rotor, angular position pick up etc.
Switched reluctance machines is stator, rotor biconvex electrode structure, and its stator and rotor all are to be formed by silicon steel plate stacking, and concentrated winding is housed on the stator poles, do not have winding on the rotor.Switched reluctance machines can be designed to the different winding numbers of phases and different rotor numbers of poles, as three-phase 6/4 utmost point, three-phase 12/8 utmost point, four phases, 8/6 utmost point.Fig. 1 is the structural drawing of three-phase 12/8 pole switching reluctance motor, and the winding of per four stator poles is connected, and constitutes A, B, C three phase windings.
The magnetic resistance of each phase magnetic circuit of switched reluctance machines becomes with the position, angle of rotor, for making its operate as normal, must when forwarding the appropriate location to, open rotor or turn-off the electric current of corresponding phase winding, the electric current that guarantees each phase is synchronous with corresponding rotor-position, and correctly switches each phase winding in the rotor rotation process all the time.Therefore the angle position probing of rotor is an important link.Pick-up unit should also provide rotary speed information, makes controller adopt suitable control mode to carry out rotational speed regulation according to the rotating speed that measures, and realizes speed closed loop control.
Position, existing angle and speed detector mainly are made up of plurality of sensors element and a dish that rotates with electric machine main shaft, sensor element can adopt elements such as photo-electric, electromagnetic type, Hall-type, condenser type, and the material of dish, shape, light transmission are different and different according to the sensor element characteristic.
Fig. 2 adopts optoelectronic switch sensor element 1 and light tight fluted disc 2 to carry out the structural representation of the switched reluctance variable speed machine of position, angle and rotating speed detection.Fig. 3 then is position, angle and the speed probe structural representation that is used for three-phase 12/8 pole switching reluctance motor, form by three optoelectronic switch elements and a fluted disc, the spacing of the spacing of optoelectronic switch A and B and B and C is 7.5 °, fluted disc has along the circumferential direction equally distributed 8 teeth, tooth pitch is 45 °, and each tooth and groove are 22.5 °.Optoelectronic switch produces three road high-low level signals as shown in Figure 4, and 6 intervals are divided in the position of rotor on each 1/8 circumference, and each interval corresponding mechanical angle is 7.5 °.If as angle reference by location zero point, and this reference zero is corresponding with the relative position of rotor with the negative edge of A phase sensor signal, then controller can be judged between lane place, rotor angle of living in according to the three-way sensor signal.Controller also can utilize the cycle of signal or the size of frequency computation part rotating speed, judges the direction of rotating speed according to the phase relation of signal.
This detection method angle position resolution is low, rotating speed response is slow, though can access higher angle position resolution by rotating speed reckoning or hardware frequency multiplication, becomes big at the rotation speed change time error, and precision is difficult to guarantee.When low speed, because the signal hop period is long, cause low-response, influence low-speed performance.Set because angular position pick up needs operating personnel to carry out zero point, this requires operating personnel that certain experience is arranged, and error is bigger, troublesome poeration.The sensor degree of protection is lower, is subject to the influence of dust, rainwater, and sensor is easily aging, damage, and sensor signal is not suitable for long Distance Transmission distance.
Summary of the invention
Technical matters to be solved by this invention provides a kind of resolution height, need not to set the position, angle and the speed detector of switch reluctance machine rotor simple to operate, that error is little artificial zero point.
Another technical matters to be solved by this invention provides a kind of position, angle of the switch reluctance machine rotor based on absolute rotary encoder and serial bus communication and the detection method of rotating speed.
The position, angle and the speed detector of switch reluctance machine rotor of the present invention comprise rotary encoder and signal processing circuit, place motor internal, are fixed on the supporting disk.Rotary encoder links to each other with electric machine main shaft, and rotary encoder connects signal processing circuit, and signal processing circuit connects outer member.
Rotary encoder of the present invention and signal processing circuit place in the seal closure of motor.
Described rotary encoder is an absolute rotary encoder, can select general absolute rotary encoder.The connected mode of absolute rotary encoder and motor depends on the structure of rotary encoder, and axle type rotary encoder adopts elastic connector to be connected with electric machine main shaft, and through hole type or blind hole type rotary encoder directly are enclosed within on the electric machine main shaft.
The output form of rotary encoder can be Gray code, natural binary code etc., and output logic can be positive logic, also can be negative logic.
Described signal processing circuit comprises code device signal pretreatment unit, microprocessor unit, communication unit.Rotary encoder connects the code device signal pretreatment unit, the code device signal pretreatment unit connects microprocessor unit, microprocessor unit connects communication unit, and communication unit connects outer member by serial communication bus, with the mode output angle position and the tach signal of serial communication.Described microprocessor can be selected single-chip microcomputer or digital signal processor (DSP) for use.
The position, angle and the speed detector of switch reluctance machine rotor of the present invention, rotary encoder, signal processing circuit can be two parts, also can carry out integrated design, signal processing circuit is integrated in the rotary encoder, be made into parts the two.
The position, angle of switch reluctance machine rotor of the present invention and rotating speed detection method, rotary encoder is gathered the angle position signal of rotor, signal is passed to the code device signal pretreatment unit of signal processing circuit; The code device signal pretreatment unit of signal processing circuit becomes the output signal of rotary encoder into the angle position signal that microprocessor unit can receive; Microprocessor unit carries out the calculating of angle position signal processing, motor speed; Communication unit adopts the mode of serial communication to send position, angle and tach signal by communication bus.
The code device signal pretreatment unit of signal processing circuit becomes the methods such as output signal employing level conversion of rotary encoder into the absolute angular position signal that microprocessor can receive.
Described angle position signal is handled and is comprised zero point correction and figure place expansion, zero point correction is about to the absolute angular position signal and becomes relative angle position with respect to zero point, the absolute angular position at zero point is kept in the non-volatile type memorizer, also can directly send the absolute angular position signal, handle accordingly by electric machine controller.
The figure place expansion promptly expands to multi-turn to the rotary encoder individual pen, carries out high position expansion, is convenient to position closed loop control.As adopt 10 absolute rotary encoder, and the output of rotary encoder can be expanded to 16, high 6 is the integral part of the number of turns, low 10 is fraction part.
The position, angle of switch reluctance machine rotor of the present invention and rotating speed detection method, write down the time of N rotary encoder pulse and these pulses of generation, obtain the cycle and the frequency of rotary encoder output signal, calculate rotating speed, and judge the direction of rotating speed according to the direction that angle position signal changes.High more N is big more for rotating speed, and low more N is more little of 1 for rotating speed, improves low speed response and high speed precision like this, thereby makes that response and precision are preferably all arranged in the whole range of speeds.
The microprocessor unit of described signal processing circuit can be judged the rotary encoder fault according to the feature of the continuous saltus step of signal of rotary encoder.Whether the difference that detects current angle position signal and last angle position signal is that 1, twice value differs and is not at 1 o'clock, and then rotary encoder breaks down.
Signal processing circuit adopts serial communication mode that the status signal of position, angle, rotating speed, pick-up unit is sent.Can adopt 485, serial communication mode such as CAN bus.Send mode can be the formula of replying or initiatively send.The meaning of replying formula is that controller sends and to read rotating speed etc. and instruct pick-up unit, and pick-up unit is replied.Initiatively the meaning that sends is that pick-up unit adopts fixing or the on-fixed cycle initiatively sends signals such as position, angle, rotating speed, initiatively sends and can effectively utilize bus, provides position, angle and rotary speed information to controller, and then can improve the response speed of system.
Compare with conventional detection, position, angle and tach signal that the position, angle of switch reluctance machine rotor of the present invention and speed detector and method are measured are more accurate, and system's control response is faster.
The position, angle of switch reluctance machine rotor of the present invention and speed detector and extraneous line are simple, and antijamming capability is strong, is fit to long-distance transmissions, and the resolution height need not to set artificial zero point, and be simple to operate, error is little.
The figure place of absolute rotary encoder, output logic, output encoder form can be selected, and can develop accordingly according to different application scenarios, and dirigibility is good.
Because the degree of protection of rotary encoder can reach IP66, whole detection device degree of protection height.
Description of drawings
Fig. 1 is three-phase 12/8 pole switching reluctance electric machine structure figure.
Fig. 2 is a kind of structural representation of switched reluctance variable speed machine.
Fig. 3 is a kind of three-phase 12/8 pole switching reluctance motor angular position pick up structural representation that is used for.
Fig. 4 shows the sensor signal of Fig. 3.
Fig. 5 is the structural representation that adopts the switched reluctance variable speed machine of apparatus of the present invention.
Fig. 6 is the functional structure chart of apparatus of the present invention.
Fig. 7 is one embodiment of the present of invention structural drawing.
Reference numeral
1 sensor element, 2 fluted discs, 3 transducing signal lines, 4 controllers, 5 power lines, 6 connection box for motor, 7 motors, 8 supporting disks, 9 jiaos of positions and speed detector, 10 serial communication bus, 11 rotary encoders, 12 signal processing circuits, 13 electric machine main shafts, 14 elastic connectors, 15 seal closures.
Embodiment
Describe the present invention in detail below in conjunction with the drawings and specific embodiments.
The position, angle and the speed detector of switch reluctance machine rotor of the present invention, rotary encoder 11 and signal processing circuit 12 place in the seal closure 15 of motor 7, are fixed on the supporting disk 8.What rotary encoder 11 adopted is 10 absolute rotary encoders, and axle type connected mode is connected with electric machine main shaft 13 by elastic connector 14, open collector output, and Gray code, negative logic output adopt the 15V power supply to give rotary encoder 11 power supplies.
Described absolute rotary encoder 11 connects signal processing circuits 12, and signal processing circuit 12 connects outer members, as controller 4 etc.Described signal processing circuit 12 comprises code device signal pretreatment unit, microprocessor unit, communication unit.Described microprocessor is selected single-chip microcomputer for use.The code device signal pretreatment unit connects single-chip microcomputer, and single machine unit connects communication, and communication unit connects outer members such as controller by serial communication bus.
The code device signal pretreatment unit at first carries out level conversion with above-mentioned 10 absolute rotary encoder output signals, converts the output logic of rotary encoder to positive logic, carries out the conversion between Gray code and the natural binary code then.
The single machine unit of signal processing circuit is a core with the Atmaga8515 in the AVR family chip, and this chip is based on 8 CMOS microcontrollers of low-power consumption of the AVR risc architecture of enhancing.
The processing of angle position signal comprises zero point correction and figure place expansion.Be the inductance maximum position of benchmark winding phase zero point, zero point correction be with absolute angular position become relatively should zero point the relative angle position signalling, the absolute angular position at zero point is kept among the EEPROM of Atmaga8515, power down does not disappear.The figure place expansion is angle position signal to be carried out figure place expand to 16 figure places.The integral part of high 6 reflection number of turns, the fraction part of low 10 reflection number of turns, the state after powering on is initialized as the 0th circle.
Utilize the capturing unit of single-chip microcomputer to catch the signal saltus step of rotary encoder, when capture interrupt takes place, read the signal of rotary encoder.The calculating of rotating speed is by the time T (unit is second) of N pulse of measurement pulse in a period of time section, the computing formula of rotating speed (represent unit with ω: rev/min): ω=60*N/T/1024, result of calculation is 24 figure places, high 16 is integral part, and the 8th is fraction part.
According to the characteristics of the continuous saltus step of the signal of rotary encoder, signal processing circuit detects the rotary encoder fault, and whether the difference that detects current angle position signal and last angle position signal is that 1, twice value differs and is not then to be the rotary encoder fault at 1 o'clock.
Described serial communication bus adopts the CAN bus, connects controller by the CAN bus.CAN controller SJA1000 and CAN bus driver 82C250 form the CAN bus interface, based on the CAN2.0B standard, adopt the standard data frame.
In order to guarantee the response speed of position, angle and tach signal feedback, CAN bus baud rate is chosen as 1Mbps, and total line length can reach 30m under this baud rate.
After mistake appears in CAN bus one frame data, can resend automatically, but the number of times that breaks down can close closed bus after surpassing a fixed number, monitoring device detects the CAN bus state in real time, after bus occurring and closing, can restart the CAN bus.
Claims (10)
1. the position, angle and the speed detector of switch reluctance machine rotor, it is characterized in that comprising rotary encoder (11) and signal processing circuit (12), place motor (7) inside, be fixed on the supporting disk (8), rotary encoder (11) links to each other with electric machine main shaft (13), rotary encoder (11) connects signal processing circuit (12), and signal processing circuit (12) connects outer member.
2. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1 is characterized in that described rotary encoder (11) and signal processing circuit (12), place in the seal closure (15) of motor (7).
3. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1 is characterized in that described rotary encoder (11) is an absolute rotary encoder.
4. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1, it is characterized in that described signal processing circuit (12) comprises code device signal pretreatment unit, microprocessor unit, communication unit, rotary encoder (11) connects the code device signal pretreatment unit, the code device signal pretreatment unit connects microprocessor unit, microprocessor unit connects communication unit, and communication unit connects outer member by serial communication bus.
5. the position, angle and the speed detector of switch reluctance machine rotor according to claim 4 is characterized in that described microprocessor selects single-chip microcomputer or digital signal processor for use.
6. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1, it is characterized in that described signal processing circuit (12) and rotary encoder (11) are two parts, or signal processing circuit (12) is integrated into and makes parts in the rotary encoder (11).
7. the position, angle of a switch reluctance machine rotor and rotating speed detection method is characterized in that rotary encoder (11) gathers the angle position signal of rotor, signal are passed to the code device signal pretreatment unit of signal processing circuit (12); The code device signal pretreatment unit becomes the output signal of scrambler into the angle position signal that microprocessor unit can receive; Microprocessor unit carries out angle position signal to be handled, and calculates rotating speed of motor; Communication unit sends position, angle and tach signal by serial communication bus.
8. the position, angle of switch reluctance machine rotor according to claim 7 and rotating speed detection method, it is characterized in that described angle position signal handle comprise zero point correction and/the figure place expansion, zero point correction is about to the absolute angular position signal and becomes relative angle position with respect to zero point, and the absolute angular position at zero point is kept in the non-volatile type memorizer; The figure place expansion promptly expands to multi-turn to the scrambler individual pen, carries out high position expansion.
9. the position, angle of switch reluctance machine rotor according to claim 7 and rotating speed detection method, the time that it is characterized in that writing down N encoder pulse and produce these pulses, obtain the cycle and the frequency of encoder output, calculating the size of rotating speed, and judge the direction of rotating speed according to the direction that angle position signal changes.
10. the position, angle of switch reluctance machine rotor according to claim 7 and rotating speed detection method is characterized in that described signal processing circuit (12) judges according to the continuity of code device signal saltus step whether scrambler exists fault.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007100865849A CN101266284A (en) | 2007-03-16 | 2007-03-16 | Switch reluctance machine rotor angular position and rotation speed detection device and method |
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| CNA2007100865849A CN101266284A (en) | 2007-03-16 | 2007-03-16 | Switch reluctance machine rotor angular position and rotation speed detection device and method |
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Cited By (17)
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| CN102006005A (en) * | 2010-09-17 | 2011-04-06 | 张世武 | Alternating current voltage and speed regulation device for getting feedback by utilizing integrated rotating speed transmitter |
| CN102052911A (en) * | 2009-10-29 | 2011-05-11 | 通用电气公司 | Systems and methods for determining the angular position of a wind turbine rotor |
| CN102055391A (en) * | 2011-01-17 | 2011-05-11 | 杨衍圣 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
| CN102148599A (en) * | 2010-12-22 | 2011-08-10 | 大连理工大学 | Angle position detector of switched reluctance motor and detection method |
| CN102621492A (en) * | 2012-04-02 | 2012-08-01 | 湘潭大学 | Detection device for switched reluctance generator |
| CN103308854A (en) * | 2012-03-08 | 2013-09-18 | 深圳市蓝韵实业有限公司 | Method and system for motor motion fault monitoring |
| CN103837120A (en) * | 2012-11-26 | 2014-06-04 | 弗里茨库布勒计数及传感技术有限公司 | Position insurance element, rotary detector system with position insurance element and method for fixing rotary detector system |
| CN104467566A (en) * | 2014-12-08 | 2015-03-25 | 中国矿业大学 | Switch reluctance machine position sensor fault-tolerant control method |
| CN104697563A (en) * | 2013-12-05 | 2015-06-10 | 北京通大华泉科技有限公司 | Grating encoder calibration system and grating encoder calibration method |
| CN105277882A (en) * | 2014-05-28 | 2016-01-27 | 中国有色（沈阳）冶金机械有限公司 | Motor monitoring device and motor monitoring control method |
| CN106059122A (en) * | 2016-06-15 | 2016-10-26 | 樊尘 | E type switch reluctance motor for wall breaking equipment |
| CN107276463A (en) * | 2017-08-09 | 2017-10-20 | 中国科学院宁波材料技术与工程研究所 | A kind of detecting apparatus for rotor position of four phase switch reluctances motor |
| CN107450020A (en) * | 2017-06-09 | 2017-12-08 | 苏州朗高电机有限公司 | A kind of low pressure pitch motor functional tester |
| CN107643116A (en) * | 2017-09-14 | 2018-01-30 | 湖南省计量检测研究院 | A kind of water meter rotating speed scaling method, system and device |
| CN111211712A (en) * | 2020-01-14 | 2020-05-29 | 之江实验室 | Unmanned aerial vehicle motor driving system and motor fault-tolerant control method |
| CN112421998A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| WO2022178835A1 (en) * | 2021-02-26 | 2022-09-01 | 京东方科技集团股份有限公司 | Key control apparatus and key control method |
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2007
- 2007-03-16 CN CNA2007100865849A patent/CN101266284A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102052911A (en) * | 2009-10-29 | 2011-05-11 | 通用电气公司 | Systems and methods for determining the angular position of a wind turbine rotor |
| CN102006005B (en) * | 2010-09-17 | 2012-11-14 | 张世武 | Alternating current voltage and speed regulation device for getting feedback by utilizing integrated rotating speed transmitter |
| CN102006005A (en) * | 2010-09-17 | 2011-04-06 | 张世武 | Alternating current voltage and speed regulation device for getting feedback by utilizing integrated rotating speed transmitter |
| CN102148599A (en) * | 2010-12-22 | 2011-08-10 | 大连理工大学 | Angle position detector of switched reluctance motor and detection method |
| CN102055391A (en) * | 2011-01-17 | 2011-05-11 | 杨衍圣 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
| CN103308854A (en) * | 2012-03-08 | 2013-09-18 | 深圳市蓝韵实业有限公司 | Method and system for motor motion fault monitoring |
| CN102621492A (en) * | 2012-04-02 | 2012-08-01 | 湘潭大学 | Detection device for switched reluctance generator |
| CN103837120A (en) * | 2012-11-26 | 2014-06-04 | 弗里茨库布勒计数及传感技术有限公司 | Position insurance element, rotary detector system with position insurance element and method for fixing rotary detector system |
| CN104697563A (en) * | 2013-12-05 | 2015-06-10 | 北京通大华泉科技有限公司 | Grating encoder calibration system and grating encoder calibration method |
| CN105277882A (en) * | 2014-05-28 | 2016-01-27 | 中国有色（沈阳）冶金机械有限公司 | Motor monitoring device and motor monitoring control method |
| CN105277882B (en) * | 2014-05-28 | 2018-03-20 | 中国有色（沈阳）冶金机械有限公司 | A kind of motor monitoring device and monitoring and control method |
| CN104467566B (en) * | 2014-12-08 | 2017-01-25 | 中国矿业大学 | Switch reluctance machine position sensor fault-tolerant control method |
| CN104467566A (en) * | 2014-12-08 | 2015-03-25 | 中国矿业大学 | Switch reluctance machine position sensor fault-tolerant control method |
| CN106059122A (en) * | 2016-06-15 | 2016-10-26 | 樊尘 | E type switch reluctance motor for wall breaking equipment |
| CN107450020A (en) * | 2017-06-09 | 2017-12-08 | 苏州朗高电机有限公司 | A kind of low pressure pitch motor functional tester |
| CN107276463A (en) * | 2017-08-09 | 2017-10-20 | 中国科学院宁波材料技术与工程研究所 | A kind of detecting apparatus for rotor position of four phase switch reluctances motor |
| CN107643116A (en) * | 2017-09-14 | 2018-01-30 | 湖南省计量检测研究院 | A kind of water meter rotating speed scaling method, system and device |
| CN107643116B (en) * | 2017-09-14 | 2020-05-05 | 湖南省计量检测研究院 | Water meter rotating speed calibration method, system and device |
| CN112421998A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN112421998B (en) * | 2019-08-23 | 2022-08-09 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN111211712A (en) * | 2020-01-14 | 2020-05-29 | 之江实验室 | Unmanned aerial vehicle motor driving system and motor fault-tolerant control method |
| WO2022178835A1 (en) * | 2021-02-26 | 2022-09-01 | 京东方科技集团股份有限公司 | Key control apparatus and key control method |
| GB2611899A (en) * | 2021-02-26 | 2023-04-19 | Boe Technology Group Co Ltd | Key control apparatus and key control method |
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