CN101776464A - Self-carried absolute position detecting device carried of motor and detecting method - Google Patents
Self-carried absolute position detecting device carried of motor and detecting method Download PDFInfo
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- CN101776464A CN101776464A CN 201010120705 CN201010120705A CN101776464A CN 101776464 A CN101776464 A CN 101776464A CN 201010120705 CN201010120705 CN 201010120705 CN 201010120705 A CN201010120705 A CN 201010120705A CN 101776464 A CN101776464 A CN 101776464A
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Abstract
The invention discloses a self-carried absolute position detecting device of a motor and a detecting method. The detecting device comprises a coder code disk with a notch and an uninterrupted coder circuit. The function of the device is realized by the built-in absolute position detecting method. The invention can be used for detecting the absolute position of the motor; and when being used for an EPS (electric power steering gear), the motor with the absolute position detecting device can be used for detecting the angle position of a steering wheel.
Description
Technical field
The present invention has announced that motor carries absolute position detection device and detection method, is used for detecting the absolute position of motor, is specially when being used for EPS, can be used for detecting position, bearing circle angle.
Background technology
All have scrambler on traditional servomotor, scrambler produces two-way orthogonal pulses signal when motor rotates, and its mutual phase relation is used to refer to the motor sense of rotation, and its pulse number counting is used to refer to the motor anglec of rotation.
When motor is used at vehicle electric power-assisted steering device (EPS), because of returning the needs that just reaching other control algolithms, when requiring to obtain the motor sense of rotation and the motor anglec of rotation, also requirement can detect the absolute position of motor constantly, so detect bearing circle when the anterior angle position.So also need the setting angle sensor on EPS, this has brought certain degree of difficulty with regard to the structural design of giving steering gear, and also increases to some extent on cost.Therefore, on drive motor, provide a kind of absolute position detection device that carries, have very strong practical value.
Therefore the present invention arises at the historic moment, and scrambler of the present invention not only has the same with traditional motor encoder to be declared to repertoires such as, countings; Can also be used to detecting the absolute position of motor.When the motor of this band absolute position detection device is used for EPS, can further be used for detecting position, bearing circle angle.
Summary of the invention
It is high to an object of the present invention is to provide a kind of stability, and antijamming capability is strong, and motor easy for installation carries absolute position detection device and detection method.
Realize that by following technical scheme the present invention has designed a kind of absolute position detection device, comprising when of the present invention: the code-wheel of band gap, uninterrupted encoder circuit; And built-in absolute position detection method.
Described band gap code-wheel can be the magnetoelectricity code-wheel, the magnetoelectricity code-wheel is a toroidal body, there is N-1 magnetic pole its inside, this N-1 magnetic pole is mounted in code-wheel by on N-1 the position in N the position of N five equilibrium, the magnetoelectricity code-wheel is attached to and constitutes a concentric circles on the support, there is individual circular port in the support center of circle, by this hole magnetoelectricity code-wheel and motor shaft are linked together, when the axle of motor rotates, the magnetoelectricity code-wheel can be followed together and be rotated, on the magnetoelectricity code-wheel, be the scrambler printed circuit board, be fixed on the rear end cap of motor, can not rotate; Above the printed board by a device of forming by two Hall elements, the position of magnetic pole when Hall element can detect the magnetoelectricity code-wheel and rotates, and produce corresponding with it pair of orthogonal pulse signal.Certainly, band gap code-wheel also can be a photoelectric coded disk, or the pulsed code-wheel of other media.
Carry absolute position detection Device Testing method, utilize code-disc of the present invention different with traditional code-disc, distribute to have a unique gap, the angle between this gap both sides magnetic pole be 2 times of angle between other magnetic poles to magnetic pole in this device; Utilize this feature, the phasing degree of each magnetic pole on the code-disc on apparatus of the present invention can uniquely be determined; When this gap was passed through in the motor rotation, encoder circuit was according to this feature identification gap, and according to the motor sense of rotation, circuit is counted encoder pulse (phase place) and motor rotating cycle; , this encoder circuit is uninterrupted (not power down) work under back-up source is supported, preserves the current absolute position of motor (rotating cycle+current phase place) forever.Can judge the absolute position of motor this moment thus, in the application of EPS and then judge the bearing circle position, angle of this moment; Because the existence of gap, a pulse has been lacked in Hall element output, by signal recovery method, that pulse-recovery that disappears is come out in this invention, makes it and traditional code-disc signal compatibility, reaches the purpose of detection.
Principle of the present invention: in traditional scrambler, N the magnetic pole if complete code-wheel evenly distributes, then the angular displacement between magnetic pole is the 360/N degree, behind the scrambler that uses the band gap, owing in complete code-wheel, removed a magnetic pole, make angular displacement between each magnetic pole or grating occur unique one and be the 720/N degree, we can discern " erase " position of magnetic pole of this quilt, and every other magnetic pole and its relative position immobilize in code-wheel and are identified, thereby when the motor rotating operation, can discern this gap by coded signal, and then determine the phase place of other magnetic poles; The motor rotating cycle is counted, thus the absolute position of definite motor.According to reference to figure 7: " gap " characteristics and recognition methods in circuit can visually see:
1: use the scrambler number of magnetic poles of band gap to be N-1; It is Th that it's the gap time is past motor, and (or between grating) time is Tn between the process magnetic pole;
2: physically the motor speed rate of change makes through satisfying relation before the gap behind gap
Th/Tn-1≈3；Th/T1≈3；
3: it is the counter of N that modulus is arranged in the encoder circuit, and in this modulus scope, above-mentioned 3 features are unique.
The invention has the beneficial effects as follows: scrambler of the present invention not only has the same with traditional motor encoder to be declared to repertoires such as, countings; Can also be used to detecting the absolute position of motor.Beneficial effect when specifically being used for EPS is:
1, the present invention has saved angular transducer, utilizes code-disc to judge the position, angle of bearing circle, and production cost is reduced greatly; 2, the present invention is owing to be mainly used on the automobile EPS, and do not have angular transducer, and the problem that makes the EPS of band angular transducer that difficulty is installed is solved; 3, the present invention is owing to be the absolute position of judging motor by pulse signal, and this just makes that the stability of tape code coil motor is high, and antijamming capability is strong.
Below in conjunction with drawings and Examples, further specify the present invention, execute example but the present invention is not limited to this, any on essence spirit of the present invention improvement or substitute, still belong to scope required for protection in claims of the present invention.
Description of drawings
Fig. 1, Fig. 2 are magnetism encoder code-disc synoptic diagram of the present invention;
Fig. 3, Fig. 4 are photoelectricity photoelectric coder code-disc synoptic diagram of the present invention;
Fig. 5 is the uninterrupted encoder circuit synoptic diagram of magnetoelectricity printed board of the present invention;
Fig. 6 is the uninterrupted encoder circuit synoptic diagram of photoelectricity printed board of the present invention;
Fig. 7 is a scrambler original signal synoptic diagram of the present invention;
Fig. 8 is the assembling synoptic diagram of apparatus of the present invention on motor.
Among Fig. 8,1 shell, 2 main shafts, 3 bearings, 4 flanges, 5 encoder circuit plates, 6 band gap code-wheels, 7 bonnets.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
An example as Fig. 1, Fig. 2, Fig. 5, Fig. 8, the magneto-electric scrambler is made of 35 magnetic poles, these 35 magnetic poles are mounted in code-wheel by on 35 positions in 36 positions of 36 five equilibriums, in the printed board magnetic pole signal of responding to code-disc with a pair of Hall element is housed, form the scrambler original signal, after the circuit shown in Figure 5 of built-in absolute position detection method is further handled, form traditional two-way A, B orthogonal signal and direction signal, with general application compatible and the assurance motor; And form the positioning signal of characteristics of the present invention; Can also further export digitized absolute location information (rotating cycle+current phase place) from serial ports when front motor; Capacitor C 1 is a farad capacitor in this circuit, and power supply uses in support when external power is closed, and this circuit was worked under power-down state more than 5000 hours, realizes uninterrupted duty.
In traditional scrambler, complete code-wheel is 36 magnetic poles of distribution evenly, then the angular displacement between magnetic pole is 360/36 degree, behind the scrambler that uses the band gap, owing in complete code-wheel, removed a magnetic pole, making the angular displacement of each magnetic pole occur unique one is 720/36 degree, and we can discern " erase " position of magnetic pole of this quilt, and every other magnetic pole and its relative position immobilize in code-wheel and can be identified.The magneto-electric scrambler of band gap then is to be made of 35 magnetic poles, and during the motor rotation, the process of Hall element induction magnetic pole produces pulse signal.
Embodiment 2
An example as Fig. 3, Fig. 4, Fig. 6, Fig. 8, optical-electricity encoder has 71 gratings, these 71 gratings be engraved in code-wheel by 71 positions in 72 positions of 72 five equilibriums on, in the printed board stop position of responding to code-disc with a pair of optical chopper is housed, form the scrambler original signal, after the circuit shown in Figure 6 of built-in absolute position detection method is further handled, form traditional two-way A, B orthogonal signal and direction signal, with general application compatible and the assurance motor; And form the positioning signal of characteristics of the present invention; Can also further export digitized absolute location information (rotating cycle+current phase place) from serial ports when front motor; Capacitor C 1 is a farad capacitor in this circuit, and power supply uses in support when external power is closed, and takes scan mode that this circuit was worked under power-down state more than 500 hours, realizes uninterrupted duty.
In traditional scrambler, complete code-wheel is 72 gratings of distribution evenly, then the angular displacement between grating is 360/72 degree, behind the scrambler that uses the band gap, owing in complete code-wheel, removed a grating, making the angular displacement of each grating occur unique one is 720/72 degree, and we can discern " erase " position of grating of this quilt, and every other grating and its relative position immobilize in code-wheel and can be identified.The optical-electricity encoder of band gap then is by 71 optical grating constitutions, and during the motor rotation, the process of optical chopper induction grating produces pulse signal.
The absolute position detection method that just is built in below in the circuit is illustrated
Simple for narrating, from opening position, initial phase is 01 when external power is closed when establishing the 1st operation of motor, and motor current location (rotating cycle+current phase place) writes flash, and circuit enters the power down operations pattern.
2 when external power is opened, and sends the motor current location by serial ports; Circuit enters the routine work pattern, and regularly sends the motor current location by serial ports.As feature of the present invention, this example regularly sends the motor current location data.
3 when motor rotates, encoder circuit work, produce two-way orthogonal pulses signal, pulse (phase place) rolling counters forward, when counter timer reaches gap phase place (0 phase place), replenish the pulse of output pair of orthogonal, recover the gap default signal, thereby make the complete compatible conventional codec of scrambler of the present invention; As the feature of Fa Benming, circuit also will produce a position pulse output this moment; The motor rotating cycle is counted simultaneously, the phase counter zero clearing.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (3)
1. motor carries the absolute position detection device, comprise band gap scrambler code-disc and uninterrupted encoder circuit, it is characterized in that described scrambler code-disc is an annulus, be attached on the support, by the carriage center hole and motor shaft is connected and fixed and rotate with motor coaxle; The printed board and the parallel installation of scrambler code-disc of uninterrupted encoder circuit, and do not rotate with motor shaft; Have a device to have a pair of Hall element above the printed board, by this hall device, when motor rotated, uninterrupted encoder circuit can receive two-way orthogonal pulses signal for each magnetic pole on the code-wheel.
2. motor according to claim 1 carries the absolute position detection device, it is characterized in that, N-1 the magnetic pole that distributed on the described band gap code-wheel, this N-1 magnetic pole is mounted in code-wheel by on N-1 the position in N the position of N five equilibrium, and magnetic pole distributes and has a unique gap.
3. motor carries the absolute position detection device detection method, it is characterized in that, utilizing in the pick-up unit scrambler magnetic pole to distribute to exist a unique gap, the angle between this gap both sides magnetic pole is 2 times of angle between other magnetic poles; The phasing degree of each magnetic pole on the code-disc can uniquely be determined; When this gap is passed through in the motor rotation, encoder circuit is according to this feature identification gap, according to the motor sense of rotation, magnetic sheet inductive impulse and motor rotating cycle are counted, the current absolute position of motor is preserved in the non-stop run under back-up source is supported of this encoder circuit forever, judges the motor absolute position of this moment, when this motor is used for EPS, and then judge the bearing circle position, angle of this moment; Because the existence of gap, a pulse has been lacked in Hall element output, by signal recovery method, that pulse-recovery that disappears is come out in this invention, makes it and traditional code-disc signal compatibility, reaches the purpose of detection.
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| CN 201010120705 CN101776464A (en) | 2010-03-10 | 2010-03-10 | Self-carried absolute position detecting device carried of motor and detecting method |
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| CN 201010120705 CN101776464A (en) | 2010-03-10 | 2010-03-10 | Self-carried absolute position detecting device carried of motor and detecting method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102331509A (en) * | 2011-06-15 | 2012-01-25 | 国网电力科学研究院 | Motor speed measuring method capable of judging direction of rotating speed |
| CN102357050A (en) * | 2011-10-21 | 2012-02-22 | 深圳市泰乐康科技有限公司 | Position display device for medical bed |
| CN102785750A (en) * | 2012-07-28 | 2012-11-21 | 成都宽和科技有限责任公司 | Sensing element with plurality of magnet blocks unevenly distributed in housing |
| CN102795305A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle provided with position rotary table type sensor provided with adjustable magnetic blocks |
| CN102795297A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle with adjustable magnetic block position sensor arranged on motor shell |
| CN102795302A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle provided with unevenly distributed magnetic flux rotary table type sensor provided with magnetic blocks |
| CN102798407A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Sensor with a plurality of magnet blocks adjustable in position in shell |
| CN102826185A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Rotary-disc type sensor with multiple magnets uneven in position for motorized bicycle |
| CN102826166A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Sensor with unevenly distributed magnetic blocks inside shell |
| CN102826178A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Booster bicycle provided with sensor provided with magnetic blocks with unevenly distributed magnetic fluxes in shell |
| CN103383270A (en) * | 2012-07-28 | 2013-11-06 | 成都宽和科技有限责任公司 | Sensing element with unevenly distributed multiple magnetic sheet locations and magnetic flux inside casing |
| CN103791009A (en) * | 2012-10-29 | 2014-05-14 | 六和机械股份有限公司 | Disc brake |
| CN107367289A (en) * | 2017-08-10 | 2017-11-21 | 银弗（北京）科技有限公司 | A kind of multi-turn absolute value encoder and its method of work |
| CN108731707A (en) * | 2018-06-04 | 2018-11-02 | 大族激光科技产业集团股份有限公司 | Double incremental encoders measure absolute position method and apparatus |
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Cited By (23)
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|---|---|---|---|---|
| CN102331509A (en) * | 2011-06-15 | 2012-01-25 | 国网电力科学研究院 | Motor speed measuring method capable of judging direction of rotating speed |
| CN102357050A (en) * | 2011-10-21 | 2012-02-22 | 深圳市泰乐康科技有限公司 | Position display device for medical bed |
| CN103383270A (en) * | 2012-07-28 | 2013-11-06 | 成都宽和科技有限责任公司 | Sensing element with unevenly distributed multiple magnetic sheet locations and magnetic flux inside casing |
| CN102795297B (en) * | 2012-07-28 | 2014-02-05 | 成都宽和科技有限责任公司 | Power-assisted bicycle with adjustable magnetic block position sensor arranged on motor shell |
| CN102795297A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle with adjustable magnetic block position sensor arranged on motor shell |
| CN102795302A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle provided with unevenly distributed magnetic flux rotary table type sensor provided with magnetic blocks |
| CN102798407A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Sensor with a plurality of magnet blocks adjustable in position in shell |
| CN102826185A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Rotary-disc type sensor with multiple magnets uneven in position for motorized bicycle |
| CN102826166A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Sensor with unevenly distributed magnetic blocks inside shell |
| CN102826178A (en) * | 2012-07-28 | 2012-12-19 | 成都宽和科技有限责任公司 | Booster bicycle provided with sensor provided with magnetic blocks with unevenly distributed magnetic fluxes in shell |
| CN102785750A (en) * | 2012-07-28 | 2012-11-21 | 成都宽和科技有限责任公司 | Sensing element with plurality of magnet blocks unevenly distributed in housing |
| CN102826185B (en) * | 2012-07-28 | 2014-02-05 | 成都宽和科技有限责任公司 | Rotary-disc type sensor with multiple magnets uneven in position for power-assisted bicycle |
| CN102826178B (en) * | 2012-07-28 | 2014-02-05 | 成都宽和科技有限责任公司 | Power-assisted bicycle provided with sensor provided with magnetic blocks with unevenly distributed magnetic fluxes in shell |
| CN102795305A (en) * | 2012-07-28 | 2012-11-28 | 成都宽和科技有限责任公司 | Booster bicycle provided with position rotary table type sensor provided with adjustable magnetic blocks |
| CN102795302B (en) * | 2012-07-28 | 2014-03-26 | 成都宽和科技有限责任公司 | Booster bicycle provided with unevenly distributed magnetic flux and rotary table type sensor provided with magnetic blocks |
| CN103383270B (en) * | 2012-07-28 | 2015-11-11 | 成都宽和科技有限责任公司 | The sensing element of many magnetic sheets position and magnetic flux uneven distribution in housing |
| CN102798407B (en) * | 2012-07-28 | 2014-09-24 | 成都宽和科技有限责任公司 | Sensor with a plurality of magnet blocks adjustable in position in shell |
| CN103791009A (en) * | 2012-10-29 | 2014-05-14 | 六和机械股份有限公司 | Disc brake |
| CN103791009B (en) * | 2012-10-29 | 2016-06-15 | 六和机械股份有限公司 | Disc brake |
| CN107367289A (en) * | 2017-08-10 | 2017-11-21 | 银弗（北京）科技有限公司 | A kind of multi-turn absolute value encoder and its method of work |
| CN107367289B (en) * | 2017-08-10 | 2019-11-29 | 前沿驱动（北京）技术有限公司 | A kind of multi-turn absolute value encoder and its working method |
| CN108731707A (en) * | 2018-06-04 | 2018-11-02 | 大族激光科技产业集团股份有限公司 | Double incremental encoders measure absolute position method and apparatus |
| CN108731707B (en) * | 2018-06-04 | 2021-01-01 | 大族激光科技产业集团股份有限公司 | Method and device for measuring absolute position by double-increment type encoder |
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Open date: 20100714 |