CN101876559A - 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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- CN101876559A CN101876559A CN 200910137782 CN200910137782A CN101876559A CN 101876559 A CN101876559 A CN 101876559A CN 200910137782 CN200910137782 CN 200910137782 CN 200910137782 A CN200910137782 A CN 200910137782A CN 101876559 A CN101876559 A CN 101876559A
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- 238000012545 processing Methods 0.000 title claims abstract description 38
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- 230000001965 increasing effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 239000011521 glass Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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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; the first magnetic steel ring is uniformly magnetized into N (<=2n) pairs of magnetic poles and the adjacent two poles have opposite polarity; the total number of the magnetic poles of the second magnetic steel ring is N and the magnetic order is determined according to the specific magnetic order algorithm; 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 same circumference with the center of the first magnetic steel ring as the circle center on the stator, and n-numbered magnetic induction elements which are distributed at a certain angle and correspond to the second magnetic steel ring are arranged on the same circumference with the center of the second magnetic steel ring as the circle center on the stator. The device and the method of the invention can simplify the production process, improve the measuring precision, lower the production cost and improve the cost performance.
Description
Technical field
The present invention relates to a kind of position detecting device and signal processing apparatus thereof and method, relate to a kind of position detecting device and signal processing apparatus and method that is used for the Accurate Position Control of motor particularly.
Background technology
The position detecting device of using in Motor Control Field mainly is a scrambler, described scrambler is a kind of to be the position transducer that physical quantitys such as motor spin angular position, angular velocity is converted to electric signal, and the manufacturing of scrambler and signal Processing level directly have influence on automatization level.
At present, what use in field of engineering technology mainly is optical-electricity encoder, and two kinds of increment type and absolute types are arranged.Drive the grating disc spins in the time of the rotation of incremental encoder axle, the light that light-emitting component sends is by the grating dish, thereby the slit of indication grating cuts into interrupted light and is received the element reception, export corresponding pulse signal, its sense of rotation and number of pulses need realize by the direction judgment circuit sum counter.The counting starting point can be set arbitrarily, and the output pulse was remembered the position by the memory internal of counting equipment when the increment of rotation scrambler rotated, thereby and can not have in the course of work and disturb pulse-losing, otherwise will be offset the zero point of numeration equipment memory, and be unable to find out.
In order to address the above problem, absolute type encoder has appearred.Absolute type encoder output and position be code one to one, can determine sense of rotation and rotor current location from the size variation of code.Improved the reliability of anti-interference and data so greatly, absolute type encoder has been applied to measurement of angle, linear measure longimetry and the position control of various industrial systems more and more.
Yet there are some shortcomings that are difficult to overcome in optical-electricity encoder: optical-electricity encoder is formed by groove by glass substance, and its anti-vibration and impact capacity are not strong, are not suitable for rugged surroundings such as dust, dewfall, and structure and location assembling complexity; Ruling span has the limit, improve resolution and must increase code-disc, thereby be difficult to accomplish miniaturization; Must guarantee very high assembly precision aborning, directly have influence on production efficiency, finally influence cost of products.
The magneto-electric scrambler can solve these deficiencies.The stator and the rotor of tradition magnetoelectric transducer are made by pure iron, are fixed with permanent magnet on the stator, form magnetic circuit system.Be provided with tooth and groove that number equates on the stator annular end face relative equably with rotor, rotor and main shaft tighten up, main shaft is connected with measured rotating shaft, main shaft drives rotor rotation, when rotor tooth is relative with stator tooth, and the air gap minimum, the magnetic flux maximum, when rotor tooth is relative with stator slot, air gap maximum, magnetic flux minimum.Can pass through for example variation of the detection magnetic flux of magnetic induction sensor, and this variation is changed into the electric signal pulse.This type of scrambler is many, but measuring accuracy is lower, and can only realize increment output.
For example, the patent No. is that 200410024190.7,200410024191.1,200410024192.6 patent has proposed a kind of magnetism encoder respectively, the patent No. is that 200410024195.X, 200410024194.5,200410024193.0 patent have also proposed a kind of scrambler respectively, and the patent No. is that the storer that 200410024198.3,200410024197.9 and 200410024196.4 patent has proposed a kind of scrambler respectively writes device.
The above-mentioned absolute type position probing that realized, its principle is identical, with 200410024190.7 is example, as shown in Figure 1, in the structure of this magnetism encoder, the mode that magnetic induction part adopts the surface to paste is promptly arranged magnetic induction part at annular stator madial wall, be rotated the induction in magnetic field, obtain rotation angle value according to the sensor voltage value then.
Described magnetism encoder has following shortcoming on physical arrangement:
The stator inboard generally is circular arc and smooth, and sensor is difficult for installing and fixing, and causes positioning error easily, and then causes the phase deviation of signal, makes that higher harmonic components is big in the signal; The process for machining and manufacturing complexity 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, breaks easily, has increased difficulty of processing, influences the life-span of product;
The magnetic field of sensor sensing is revealed big, and magnetic field can not fully be used, and makes that noise is big in the signal, influences measuring accuracy;
The requirement sensor bulk is little, makes cost of products than higher.
Described magnetism encoder has following shortcoming on signal Processing:
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 subjected to the influence of higher hamonic wave, if can not reduce or eliminate the influence of higher hamonic wave, 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, at the deficiencies in the prior art, has proposed a kind of position detecting device and signal processing apparatus thereof and method, simplifies production technology, improves accuracy of detection, reduces cost of products, improves cost performance.
For solving the problems of the technologies described above, the invention provides a kind of position detecting device, it comprises rotor and rotor is enclosed within inner stator, rotor comprises first magnetic steel ring and second magnetic steel ring, wherein, first magnetic steel ring and second magnetic steel ring are separately fixed in the rotating shaft, and first magnetic steel ring is evenly geomagnetic into N (N＜=2
n(n=0,1,2 ... n)) to magnetic pole, and the polarity of two neighboring pole is opposite; The magnetic pole of second magnetic steel ring adds up to N, and its magnetic order is determined according to the specific magnetic sequence algorithm; And on stator, corresponding to first magnetic steel ring, be that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple) with the center of first magnetic steel ring; Corresponding to second magnetic steel ring, be that the same circumference in the center of circle is provided with n (n=0,1,2 with the center of second magnetic steel ring ... n) the individual magnetic induction part that distributes at an angle; When rotor during with respect to stator generation relative rotary motion, magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.
According to different use needs,, be 360 °/N corresponding to the angle between adjacent two magnetic induction parts of second magnetic steel ring on the stator for position detecting device.
In addition, on the stator corresponding to first magnetic steel ring angle between adjacent two magnetic induction parts, when m was 2 or 4, the angle between every adjacent two magnetic induction parts was 90 °/N, when m was 3, the angle between every adjacent two magnetic induction parts was 120 °/N; When m was 6, the angle between every adjacent two magnetic induction parts was 60 °/N.
Magnetic induction part in position detecting device directly Surface Mount in inner surface of stator.
Position detecting device of the present invention also can comprise two magnetic guiding loops, and each described magnetic guiding loop is by a plurality of concentrics, constitutes with the segmental arc of radius, and adjacent two segmental arcs leave the space, is located at respectively in this space corresponding to the magnetic induction part of two magnetic steel ring.
For the position detecting device that is provided with magnetic guiding loop, the segmental arc end of described magnetic guiding loop is provided with chamfering.
Described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.
Magnetic induction part described in the position detecting device of the present invention is the hall sensing element.
The present invention also provides a kind of signal processing apparatus based on above-mentioned all places pick-up unit, 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 first voltage signal in the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of first magnetic steel ring
1Described absolute offset values θ
2Computing module according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating
2Synthetic and the output module 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 the synthetic described first voltage signal representative; Described memory module is used to store 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 first synthesis unit and the first angle acquiring unit, and described first synthesis unit is handled a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains a reference signal D; The described 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, is used to eliminate the influence of the voltage signal that temperature sends position detecting device.
Further, the output of described 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 first synthesis unit.
In addition, described absolute offset values θ
2Computing module comprises second synthesis unit and the second angle acquiring unit, and described second synthesis unit is used for second voltage signal that the position detecting device corresponding to second magnetic steel ring sends is synthesized, and obtains a signal E; The absolute offset values θ that the described second angle acquiring unit selects an angle relative with it to put as the residing signal period first place of first voltage signal in the second standard angle kilsyth basalt according to this signal E
2
Second synthesis unit will be corresponding with 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, the voltage signal that is used for that position detecting device is sent carry out the A/D conversion; Step S301, the relative displacement θ of first voltage signal in the signal period of living in that sends corresponding to the magnetic induction part of first magnetic steel ring in the calculating location pick-up unit
1Step S302 according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of 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 the synthetic described 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 handled, obtain a reference signal D; Step S3012 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, among the described step S301, when obtaining a reference signal D, obtain a signal R.
Further, also comprise among the step S301 according to the signal R under the standard state relative in the signal R consults memory that obtains with it
0, and the two is compared computing, obtain the step of a signal K.
Further, before a plurality of voltage signals through the A/D conversion that step S3011 sends position detecting device are handled, 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 second voltage signal that the position detecting device corresponding to second magnetic steel ring is sent synthesizes, and obtains a signal E; Step S3022, the absolute offset values θ that in the second standard angle kilsyth basalt, selects an angle relative to put according to this signal E as the residing signal period first place of first voltage signal with it
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, make the magnetic guiding loop internal magnetic field be evenly distributed, reveals for a short time that and the signal of magnetic induction part induction is integral form, signal noise is little, and contained higher harmonic components composition is little, helps improving the original signal quality, the raising Signal-to-Noise.
B) adopt magnetic guiding loop, and dwindle useful area, help improving the magnetic field intensity of magnetic induction part surface induction, can reduce to a certain extent can reduce the mechanical dimension of whole encoder the magnet size requirement by increasing chamfering.
C) adopt this improved structure, the mechanical dimension of magnetic induction part is not had harsh requirement, can select the model wide ranges for use, or even need not adopt follow-up amplifying circuit, help reducing cost of products, improve cost performance.
D) adopt this version, magnetic induction part can directly be fixed on the circuit board, need not adaptor, helps improving reliability of products.
E) manufacturing process is simple, magnetic guiding loop can be used the stator retainer, as a skeleton, fix forming an arrangement, one-shot forming together, 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, helps enhancing productivity.
F) adopt two tool magnetic 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.
F) adopt magnetic modes of emplacement of the present invention, the signal amplitude of magnetic induction part output is big, 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 digital differential as required again handles, make entire circuit very simple like this, 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, handle with analog differential and compare, adopt digital signal to handle, better effects if is not influenced by 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 on effect has increased by one, can improve the precision that scrambler is measured.
Description of drawings
Figure 1A, 1B and 1C are respectively three-dimensional exploded view, synoptic diagram and the structural drawing that the present invention is provided with the position detecting device structure of magnetic guiding loop;
Fig. 2 A-Fig. 2 D is the chamfer design figure of magnetic guiding loop of the present invention;
Fig. 3 is one of the process flow diagram of the signal processing method of position detecting device of the present invention;
Fig. 4 be position detecting device of the present invention signal processing method process flow diagram two;
Fig. 5 be position detecting device of the present invention signal processing method process flow diagram three;
Fig. 6 be position detecting device of the present invention signal processing method process flow diagram four;
The structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of Fig. 7 embodiments of the invention 1;
Fig. 8 be first magnetic steel ring of embodiments of the invention 1 magnetize magnetic order and with the location diagram of magnetic induction part;
Fig. 9 is the algorithm flow chart of the magnetic order that magnetizes of second magnetic steel ring;
Figure 10 A-Figure 10 B be second magnetic steel ring of embodiments of the invention 1 magnetize magnetic order and with the location diagram of magnetic induction part;
Figure 11 is the block diagram of the signal processing apparatus of the embodiment of the invention 1;
Figure 12 is the structural representation of the first magnetic steel ring Hall element in the position detecting device of the embodiment of the invention 2 and magnetic guiding loop, magnetic induction part;
Figure 13 be first magnetic steel ring of the embodiment of the invention 2 magnetize magnetic order and with the location diagram of magnetic induction part;
Figure 14 is the block diagram of the signal processing apparatus of the embodiment of the invention 2;
Figure 15 is the structural representation of the first magnetic steel ring Hall element of the embodiment of the invention 3 and magnetic guiding loop, magnetic induction part;
Figure 16 be first magnetic steel ring of the embodiment of the invention 3 magnetize magnetic order and with the location diagram of magnetic induction part;
Figure 17 is the block diagram of the signal processing apparatus of the embodiment of the invention 3;
Figure 18 is the structural representation of the first magnetic steel ring Hall element of the embodiment of the invention 4 and magnetic guiding loop, magnetic induction part;
Figure 19 be first magnetic steel ring of the embodiment of the invention 4 magnetize magnetic order and with the location diagram of magnetic induction part;
Figure 20 is the block diagram of the signal processing apparatus of the embodiment of the invention 4;
Figure 21 A-Figure 21 B is the distribution plan of the present invention corresponding to the magnetic induction part of second magnetic steel ring and magnetic guiding loop, stator;
Figure 22 is the three-dimensional exploded view of the position detecting device structure of the direct Surface Mount of magnetic induction part of the present invention on position detecting device; And
Figure 23 A-Figure 23 D is respectively to just in the structural representation of the direct Surface Mount of the magnetic induction part of first magnetic steel ring on position detecting device.
Embodiment
Figure 1A, 1B and 1C are respectively three-dimensional exploded view, synoptic diagram and the structural drawing that the present invention is provided with the position detecting device structure of magnetic guiding loop.Shown in Figure 1A, 1B and 1C, position detecting device of the present invention is made up of magnetic steel ring 302, magnetic steel ring 303, magnetic guiding loop 304, magnetic guiding loop 305, support 306 and a plurality of magnetic induction part.Particularly, the diameter of magnetic steel ring 302,303 is less than the diameter of magnetic guiding loop 304,305, thereby magnetic guiding loop 304,305 is set in magnetic steel ring 302,303 outsides respectively, magnetic steel ring 302,303 is fixed in the rotating shaft 301, and magnetic guiding loop 304,305 and magnetic steel ring 302,303 can relatively rotate, thereby a plurality of sensor elements 307 that are arranged on support 306 inside surfaces are in the space of magnetic steel ring.
Fig. 1 C is the plane structure chart of each elements combination after together that the present invention is provided with the position detecting device of magnetic guiding loop, from Fig. 1 C as can be seen magnetic steel ring 302, magnetic steel ring 303 be arranged in parallel in the axle 301 on, be respectively equipped with two row magnetic induction parts 308 and 309 corresponding to magnetic steel ring 302, magnetic steel ring 303.Here for hereinafter explanation is convenient, with the first row magnetic induction part is that a plurality of magnetic induction parts of corresponding magnetic steel ring 302 and magnetic guiding loop 304 all use magnetic induction part 308 to represent, and is that a plurality of magnetic induction parts of corresponding magnetic steel ring 303 and magnetic guiding loop 305 all use magnetic induction part 309 to represent with the secondary series magnetic induction part.For convenience of description, here magnetic steel ring 302 is defined as first magnetic steel ring, magnetic steel ring 303 is defined as second magnetic steel ring, magnetic guiding loop 304 is defined as corresponding to first magnetic steel ring 302, magnetic guiding loop 305 is defined as corresponding to second magnetic steel ring 305, the invention is not restricted to above-mentioned qualification then.
Shown in Fig. 2 A-Fig. 2 D, magnetic guiding loop is made of the segmental arc of two sections or the same radius of multistage, concentric, and the segmental arc end is provided with chamfering, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.Described chamfering is vertically 351 or radially 352 or the chamfering that forms of 353, radially 354 cuttings vertically simultaneously.
According to magnetic Migong formula
Can know, when φ is certain, can increase B by reducing S.
Because the magnetic flux that permanent magnet produces is certain, S is bigger 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, make the output signal of magnetic induction part strengthen.Such picking up signal structure manufacturing process is simple, and the signal noise of picking up is little, and production cost is low, the reliability height, and also size is little.
Leave the slit between adjacent two segmental arcs, magnetic induction part places in this slit, and when magnetic steel ring and magnetic guiding loop generation relative rotary motion, described magnetic induction part is converted to voltage signal with the magnetic signal that senses, and this voltage signal is transferred to corresponding controller.Such picking up signal structure manufacturing process is simple, and the signal noise of picking up is little, and production cost is low, the reliability height, and also size is little.
First magnetic steel ring 302 is evenly geomagnetic into N (N＜=2
n(n=0,1,2 ... n)) to magnetic pole, and the polarity of two neighboring pole is opposite, and the magnetic pole of second magnetic steel ring adds up to N, and its magnetic order is determined according to the magnetic order algorithm; On support 306,, be that the same circumference in the center of circle is provided with the individual magnetic induction part 308 that distributes at an angle of m (m is 2 or 3 integral multiple) with the center of first magnetic steel ring 302 corresponding to first magnetic steel ring 302; Corresponding to second magnetic steel ring 303, be that the same circumference in the center of circle is provided with n (n=0,1,2 with the center of second magnetic steel ring 303 ... n) the individual magnetic induction part 309 that is 360 °/N angular distribution.
The present invention also provides a kind of signal processing apparatus of above-mentioned position detecting device, and it comprises A/D modular converter, relativity shift angle θ
1Computing module, absolute offset values θ
2Computing module, angle synthetic and output module and memory module, wherein, the voltage signal that described A/D modular converter sends position detecting device carries out the A/D conversion, and is digital signal with analog signal conversion; Described relativity shift angle θ
1Computing module is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of first magnetic steel ring
1Described absolute offset values θ
2Computing module is determined the absolute offset values θ that put the residing signal period first place of first voltage signal according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the position detecting device 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 the synthetic described first voltage signal representative; Described memory module is used for storing angle and the COEFFICIENT K rectification data that calibration process obtains.
The flow process of corresponding above-mentioned treating apparatus is shown in Fig. 3-6, and as shown in Figure 3, the voltage signal that first magnetic steel ring in the position detecting device and second magnetic steel ring are sent carries out the A/D conversion, is digital signal with analog signal conversion; By relative displacement θ
1Computing module carries out angle θ to first voltage signal corresponding to first magnetic steel ring that position detecting device sends
1Find the solution, calculate the relative displacement θ of signal in the signal period of living in corresponding to first magnetic steel ring
1By absolute offset values θ
2Computing module carries out angle θ to first voltage signal corresponding to second magnetic 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 first voltage signal
2Synthetic and output module is used for above-mentioned relative displacement θ as totalizer by angle
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative.For Fig. 4, be the signal amplification module that on the basis of Fig. 3, increases, concrete 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.Fig. 5 is the signal processing flow figure that comprises temperature compensation, is carrying out before angle θ 1 finds the solution, and also comprises the process of temperature compensation; Fig. 6 is the detailed process based on the temperature compensation of Fig. 5, when promptly carrying out temperature compensation, advanced row coefficient to correct, and the output of again signal and the coefficient of A/D converter output being corrected is then 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 a little.
Describe position detecting device of the present invention and signal processing apparatus thereof and method by the following examples in detail.
Embodiments of the invention 1 provide the first row magnetic induction part to be provided with two magnetic induction parts 308, and the secondary series sensing element is provided with the position detecting device of three magnetic induction parts 309.
Fig. 7 is the structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of embodiments of the invention 1; Fig. 8 for first magnetic steel ring of embodiments of the invention 1 magnetize magnetic order and with the location diagram of magnetic induction part.The first row magnetic induction part 308 corresponding to first magnetic steel ring 302 is 2, and promptly m=2 uses H
1And H
2Expression, these two magnetic induction part H
1And H
2Be positioned over respectively in two cracks of corresponding magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to second magnetic steel ring 303 is 3, and promptly n=3 uses H
3, H
4And H
5Expression.Getting number of magnetic poles N=8, like this, is 360 °/8 corresponding to the angle between adjacent two magnetic induction parts 309 of second magnetic steel ring 303.Corresponding to the angle between adjacent two magnetic induction parts 308 of first magnetic steel ring 302 is 90 °/8.
Magnetic steel ring 302 magnetizes in proper order and H as can be seen from Figure 8
1And H
2Magnetic pole arrange.Fig. 9 is the algorithm flow chart of magnetic steel ring 303.As shown in Figure 5, at first carry out initialization a[0]=" 0 ... 0 "; Then present encoding is gone into coded set, " 0 ... 0 " is promptly arranged in the coded set; Then whether the check set element of going into coded set reaches 8, if EOP (end of program) then, otherwise present encoding is moved to left one, the back mends 0; Check present encoding whether to go into coded set then, if do not go into coded set then present encoding is gone into coded set proceed above-mentioned steps, if gone into coded set then go 0 to mend 1 position, current sign indicating number end; Then check present encoding whether to go into coded set, if do not go into coded set then present encoding gone into coded set proceed above-mentioned steps, if gone into coded set then checked whether current sign indicating number is " 0 ... 0 ", be then to finish, otherwise with present encoding directly before go to position, sign indicating number end to go 0 to mend 1; Then check present encoding whether to go into coded set,,, proceed following procedure then if gone into coded set then check whether current sign indicating number is " 0 ... 0 " if do not go into coded set then present encoding is gone into coded set proceed above-mentioned steps.Wherein 0 be magnetized to " N/S ", 1 is magnetized to " S/N ".Magnetic steel ring shown in Figure 10 303 magnetize structural drawing and H have been obtained like this
3, H
4And H
5Distributing order.
Fig. 7 is the block diagram of the signal processing apparatus of the embodiment of the invention 1, magnetic induction part H
1And H
2Output signal connect amplifier, the output signal of amplifier inputs to A/D converter analog input mouth, after analog to digital conversion, obtain output signal and connect multiplier 4,5, the output signal of coefficient rectifier 10 connects the input end of multiplier 4,5, the output signal A of multiplier 4,5, B engage 6 the input end of growing up to be a useful person, and the output signal D of first compositor 6 is as the input signal of storer 8 and storer 9, the output signal of storer 9 connects coefficient rectifier 10, the output signal θ of storer 8
1Input end as totalizer 12.
Sensor H
3, H
4And H
5Output signal meet three amplifier 2_3,2_4 respectively and 2_5 amplifies, connect AD converter then and carry out deciphering by second device 7 after the analog to digital conversion, connect storer 11 then and obtain θ
2θ
1And θ
2Export by the absolute angular displacement that totalizer 12 obtains measuring.
Wherein, in the Signal Processing process, the output of first compositor 6 is carried out in the following manner:
Agreement:
When data X was signed number, the 0th of data X (a scale-of-two left side is played the 1st) 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, promptly removes sign bit data left position.
The size of the numerical value of two signals relatively, the signal D that is used to export 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:
If A_D＞=B_D
D＝{A_0；B_0；B_D}
Otherwise:
D＝{A_0；B_0；A_D}
The output of second compositor 7 is carried out in the following manner:
E＝{C3_0；C4_0；...Cn_0}
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 sign indicating number, and each sign indicating number is corresponding to an angle.This table obtains by demarcation, scaling method is, utilize a pick-up unit and a high precision position sensor of originally executing example, carry out correspondence one by one 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.Just, stored one first standard angle kilsyth basalt corresponding to signal D, each signal D represents a relative displacement θ
1Corresponding to signal E, stored one second standard angle kilsyth basalt, each signal E represents an absolute offset values θ
2
The second embodiment of the present invention provides the synoptic diagram that is provided with four magnetic induction parts corresponding to first magnetic steel ring 302.
Figure 12 is the structural representation of the first magnetic steel ring Hall element in the position detecting device of the embodiment of the invention 2 and magnetic guiding loop, magnetic induction part; Figure 13 be first magnetic steel ring of the embodiment of the invention 2 magnetize magnetic order and with the location diagram of magnetic induction part.
As shown in figure 12, be 4 corresponding to the first row magnetic induction part 308 of first magnetic steel ring 302, promptly m=4 uses H
1, H
2, H
3And H
4Expression, these two magnetic induction part H
1, H
2, H
3And H
4Be positioned over respectively in four cracks of corresponding first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to second magnetic steel ring 303 is 3, and promptly n=3 uses H
5, H
6And H
7Expression.Getting N=8, like this, is 360 °/8 corresponding to the angle between adjacent two magnetic induction parts 309 of second magnetic steel ring 303.Corresponding to the angle between adjacent two magnetic induction parts 308 of first magnetic steel ring 302 is 90 °/8.
Figure 14 is the block diagram of the signal processing apparatus of the embodiment of the invention 2.Signal processing apparatus and disposal route and embodiment 1 are similar, and difference is, owing to 4 magnetic induction parts are arranged, magnetic induction part H in the present embodiment 2
1And H
2Output signal meet amplifying circuit 2-1 and carry out differential amplification, magnetic induction part H
3And H
4Output signal meet amplifying circuit 2-2 and carry out differential amplification, the signal of finally exporting to compositor still is 2, processing procedure and method are identical with embodiment 1.Therefore, do not repeat them here.
Embodiment 3
The third embodiment of the present invention provides the structural drawing that is provided with three magnetic induction parts corresponding to first magnetic steel ring.
Figure 15 is the structural representation of the first magnetic steel ring Hall element of the embodiment of the invention 3 and magnetic guiding loop, magnetic induction part; Figure 16 be first magnetic steel ring of the embodiment of the invention 3 magnetize magnetic order and with the location diagram of magnetic induction part;
As shown in figure 15, be 3 corresponding to the first row magnetic induction part 308 of first magnetic steel ring 302, promptly m=3 uses H
1, H
2And H
3Expression, these two magnetic induction part H
1, H
2And H
3Be positioned over respectively in three cracks of corresponding first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to second magnetic steel ring 303 is 3, and promptly n=3 uses H
4, H
5And H
6Expression.Getting N=8, like this, is 360 °/8 corresponding to the angle between adjacent two magnetic induction parts 309 of second magnetic steel ring 303.Corresponding to the angle between adjacent two magnetic induction parts 308 of first magnetic steel ring 302 is 120 °/8.
Figure 17 is the block diagram of the signal processing apparatus of the embodiment of the invention 3.As different from Example 1, magnetic induction part has three, and the signal of exporting to compositor is three, and compositor is different with embodiment 1 when processing signals, and all the other are identical with embodiment 1.Here, only illustrating how compositor is handled obtains D and R.
In the present embodiment, to Signal Processing, promptly the output principle of first compositor 7 is: the position that meets of judging three signals earlier, and relatively meet the size of the numerical value of the identical signal in position, the signal D that is used to export 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 }.With the present embodiment is example:
Agreement:
When data X was signed number, the 0th of data X (a scale-of-two left side is played the 1st) 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, promptly 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}；
A fourth embodiment in accordance with the invention provides the structural drawing that is provided with six magnetic induction parts corresponding to first magnetic steel ring.
Figure 18 is the structural representation of the first magnetic steel ring Hall element of the embodiment of the invention 4 and magnetic guiding loop, magnetic induction part; Figure 19 be first magnetic steel ring of the embodiment of the invention 4 magnetize magnetic order and with the location diagram of magnetic induction part.
As shown in figure 18, be 6 corresponding to the first row magnetic induction part 308 of first magnetic steel ring 302, promptly m=6 uses H
1, H
2, H
3, H
4, H
5And H
6Expression, these two magnetic induction part H
1, H
2, H
3, H
4, H
5And H
6Be positioned over respectively in six cracks of corresponding first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to second magnetic steel ring 303 is 3, and promptly n=3 uses H
7, H
8And H
9Expression.Getting N=8, like this, is 360 °/8 corresponding to the angle between adjacent two magnetic induction parts 309 of second magnetic steel ring 303.Corresponding to the angle between adjacent two magnetic induction parts 308 of first magnetic steel ring 302 is 60 °/8.
Figure 20 is the block diagram of the signal processing apparatus of the embodiment of the invention 4.As different from Example 3, magnetic induction part has six, therefore, and magnetic induction part H
1And H
2Output signal meet amplifying circuit 2-1 and carry out differential amplification, magnetic induction part H
3And H
4Output signal meet amplifying circuit 2-2 and carry out differential amplification, magnetic induction part H
5And H
6Output signal meet amplifying circuit 2-3 and carry out differential amplification, the signal of finally exporting to compositor still is 3, processing procedure and method are identical with embodiment 3.
Above-mentioned four embodiment are under the situation of n=3, the various embodiment that the m value changes, the invention is not restricted to this, magnetic induction part n on second magnetic steel ring can be arbitrary integer (n=0,1,2 ... n), as shown in figure 21, be respectively when n=3,4, the distribution branch of second magnetic steel ring, magnetic guiding loop and magnetic induction part 5 time.Its separately magnetization order and algorithm flow respectively with Fig. 8,9 similar, omit detailed description at this to them.
Figure 22 is the three-dimensional exploded view of the position detecting device structure of the direct Surface Mount of magnetic induction part of the present invention on position detecting device.Figure 23 A-Figure 23 D is respectively corresponding to the structural representation of the direct Surface Mount of the magnetic induction part of first magnetic steel ring on position detecting device.Under the situation on the position detecting device, the distributing order of magnetic induction part is identical with the above-mentioned order that has a magnetic guiding loop at the direct Surface Mount of magnetic induction part, and signal processing apparatus and method are also identical, in this detailed.
Abovely describe each embodiment of the present invention in detail, yet the present invention is not limited to described embodiment, but under the situation of the scope that does not break away from claims, can makes various changes and modifications with reference to accompanying drawing.
Claims (10)
1. a position detecting device is characterized in that, comprises rotor and rotor is enclosed within inner stator, and described rotor comprises first magnetic steel ring, second magnetic steel ring;
Wherein, described first magnetic steel ring and second magnetic steel ring are separately fixed in the rotating shaft, and described first magnetic steel ring is evenly geomagnetic into N[N＜=2
n(n=0,1,2 ... n)] to magnetic pole, and the polarity of two neighboring pole is opposite; The magnetic pole of described second magnetic steel ring adds up to N, and its magnetic order is determined according to the specific magnetic sequence algorithm;
On stator,, be that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple) with the center of first magnetic steel ring corresponding to first magnetic steel ring; Corresponding to second magnetic steel ring, be that the same circumference in the center of circle is provided with n (n=0,1,2 with the center of second magnetic steel ring ... n) the individual magnetic induction part that distributes at an angle;
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, is being 360 °/N corresponding to the angle between adjacent two magnetic induction parts of second magnetic steel ring on the stator;
On the stator corresponding to first magnetic steel ring angle between adjacent two magnetic induction parts, when m was 2 or 4, the angle between every adjacent two magnetic induction parts was 90 °/N, when m was 3, the angle between every adjacent two magnetic induction parts was 120 °/N; When m was 6, the angle between every adjacent two magnetic induction parts was 60 °/N.
3. position detecting device as claimed in claim 1 is characterized in that, the direct Surface Mount of described magnetic induction part is in inner surface of stator;
Perhaps, comprise that also two are built in magnetic guiding loop stator inner surface, that correspond respectively to first magnetic steel ring and second magnetic steel ring, each described magnetic guiding loop is by a plurality of concentrics, constitutes 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 magnetic steel ring;
The segmental arc end of described magnetic guiding loop is provided with chamfering;
Described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting;
Described magnetic induction part is the hall sensing element.
4. the signal processing apparatus based on the arbitrary described position detecting device of aforesaid right requirement 1-3 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 first voltage signal in the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of first magnetic steel ring
1
Absolute offset values θ
2Computing module according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating
2
Synthetic and the output module of angle is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative;
Memory module is used to store data.
5. the signal processing apparatus of position detecting device according to claim 4 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.
6. according to the signal processing apparatus of claim 4 or 5 described position detecting devices, it is characterized in that,
Described relativity shift angle θ
1Computing module comprises first synthesis unit and the first angle acquiring unit, and described first synthesis unit is handled a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D; The described first angle acquiring unit selects the angle relative with it as deviation angle θ in the first standard standard angle kilsyth basalt according to this reference signal D
1
Described relativity shift angle θ
1Computing module also comprises temperature compensation unit, is used to eliminate the influence of the voltage signal that temperature sends position detecting device;
It is characterized in that the output of described first synthesis unit also comprises signal R;
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 first synthesis unit.
7. according to the signal processing apparatus of claim 4 or 5 described position detecting devices, it is characterized in that described absolute offset values θ
2Computing module comprises second synthesis unit and the second angle acquiring unit, and described second synthesis unit is used for second voltage signal that the position detecting device corresponding to second magnetic steel ring sends is synthesized, and obtains signal E; The absolute offset values θ that the described second angle acquiring unit selects the angle relative with it to put as the residing signal period first place of first voltage signal according to this signal E in the second standard angle kilsyth basalt
2
8. the signal processing method based on the arbitrary described position detecting device of aforesaid right requirement 1-3 is characterized in that, may further comprise the steps:
Step S300, the voltage signal that is used for that position detecting device is sent carry out the A/D conversion;
Step S301, the relative displacement θ of first voltage signal in the signal period of living in that sends corresponding to the magnetic induction part of first magnetic steel ring in the calculating location pick-up unit
1
Step S302 according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of 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 in this moment of the synthetic described first voltage signal representative.
9. the signal processing method of position detecting device according to claim 8 is characterized in that, among the described step S301, specifically comprises:
Step S3011 handles 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
Among the described step S301, when obtaining reference signal D, obtain signal R;
Also comprise among the step S301 according to the signal R under the standard state relative in the signal R consults memory that obtains with it
0, and the two is compared computing, obtain the step of signal K;
Before a plurality of voltage signals through the A/D conversion that step S3011 sends position detecting device are handled, described a plurality of voltage signals are multiplied each other with signal K respectively, thereby realization is to the temperature compensation of voltage signal.
10. the signal processing method of position detecting device according to claim 8 is characterized in that, described step S302 specifically may further comprise the steps:
Step S3021, second voltage signal that the position detecting device corresponding to second magnetic 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 an angle relative to put according to this signal E as the residing signal period first place of first voltage signal with it
2
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910137782 CN101876559B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
| PCT/CN2010/072190 WO2010124604A1 (en) | 2009-04-30 | 2010-04-26 | Position detection device and signal processing device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910137782 CN101876559B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101876559A true CN101876559A (en) | 2010-11-03 |
| CN101876559B CN101876559B (en) | 2013-03-06 |
Family
ID=43019176
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910137782 Expired - Fee Related CN101876559B (en) | 2009-04-30 | 2009-04-30 | Position detecting device and signal processing device and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101876559B (en) |
| WO (1) | WO2010124604A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103299162A (en) * | 2010-12-30 | 2013-09-11 | 西门子公司 | Determining the angular position of a rotor |
| CN107607037A (en) * | 2017-09-18 | 2018-01-19 | 哈尔滨理工大学 | A kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent |
| CN110418942A (en) * | 2017-03-13 | 2019-11-05 | 株式会社电装 | Rotation sensor |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0718712B2 (en) * | 1986-03-19 | 1995-03-06 | 本田技研工業株式会社 | Rotation angle detection circuit |
| US4779454A (en) * | 1987-11-12 | 1988-10-25 | Brunswick Corp. | Crankshaft angle sensing system |
| EP0920113B1 (en) * | 1997-11-28 | 2001-02-14 | SAIA-Burgess Electronics AG | Dc motor |
| EP1612813A3 (en) * | 2001-09-11 | 2009-12-09 | JTEKT Corporation | Magnetizing device with pole array, and magnetizing method |
| CN1252616C (en) * | 2003-09-27 | 2006-04-19 | 哈尔滨工业大学 | Position signal processing device |
| CN100343632C (en) * | 2004-06-03 | 2007-10-17 | 威海华控电工有限公司 | Memory write-in device for six-sensor style encoders |
| JP2007327800A (en) * | 2006-06-07 | 2007-12-20 | Jtekt Corp | Rotation angle detector, and electric power steering device equipped therewith |
| JP2008008699A (en) * | 2006-06-28 | 2008-01-17 | Tdk Corp | Rotation detecting apparatus |
| CN201488742U (en) * | 2009-04-30 | 2010-05-26 | 浙江关西电机有限公司 | Position detecting device and signal processing device thereof |
-
2009
- 2009-04-30 CN CN 200910137782 patent/CN101876559B/en not_active Expired - Fee Related
-
2010
- 2010-04-26 WO PCT/CN2010/072190 patent/WO2010124604A1/en active Application Filing
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103299162A (en) * | 2010-12-30 | 2013-09-11 | 西门子公司 | Determining the angular position of a rotor |
| CN103299162B (en) * | 2010-12-30 | 2015-11-25 | 西门子公司 | The determination of rotor angle location |
| CN110418942A (en) * | 2017-03-13 | 2019-11-05 | 株式会社电装 | Rotation sensor |
| CN110418942B (en) * | 2017-03-13 | 2022-04-05 | 株式会社电装 | Rotary sensor |
| CN107607037A (en) * | 2017-09-18 | 2018-01-19 | 哈尔滨理工大学 | A kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent |
| CN107607037B (en) * | 2017-09-18 | 2020-05-19 | 哈尔滨理工大学 | Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101876559B (en) | 2013-03-06 |
| WO2010124604A1 (en) | 2010-11-04 |
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