CN101876559B - 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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- CN101876559B CN101876559B CN 200910137782 CN200910137782A CN101876559B CN 101876559 B CN101876559 B CN 101876559B CN 200910137782 CN200910137782 CN 200910137782 CN 200910137782 A CN200910137782 A CN 200910137782A CN 101876559 B CN101876559 B CN 101876559B
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- 238000006243 chemical reaction Methods 0.000 claims description 22
- 230000015572 biosynthetic process Effects 0.000 claims description 15
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- 238000003786 synthesis reaction Methods 0.000 claims description 15
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- 238000010586 diagram Methods 0.000 description 24
- 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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- 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)
- Transmission And Conversion Of Sensor Element Output (AREA)
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 particularly a kind of position detecting device and signal processing apparatus and method of the Accurate Position Control for motor.
Background technology
The position detecting device of using in Motor Control Field mainly is scrambler, described scrambler is a kind of to be the position transducer that the physical quantitys such as motor spin angular position, angular velocity is converted to electric signal, and the manufacturing of scrambler and signal processing horizontal 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 rotation in the time of the rotation of incremental encoder axle, thereby the light that light-emitting component sends is cut into the received element of interrupted light by the slit of grating disc, indication grating and receives, export corresponding pulse signal, its sense of rotation and number of pulses need to realize by the direction judgment circuit sum counter.But counting starting point Set arbitrarily, the output pulse was remembered the position by the 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 counting device 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.So greatly improved anti-interference and the reliability of the data, 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 the 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 affect cost of products.
The magneto-electric scrambler can solve these deficiencies.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 equably tooth and groove that number equates on the stator annular end face relative with rotor, rotor and main shaft tighten up, main shaft is connected with measured rotating shaft, the main shaft rotor driven rotates, and when rotor tooth was relative with stator tooth, air gap was minimum, magnetic flux is maximum, when rotor tooth was relative with stator slot, air gap was maximum, and magnetic flux is 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 respectively a kind of magnetism encoder, the patent No. is that 200410024195.X, 200410024194.5,200410024193.0 patent have also proposed respectively a kind of scrambler, and the patent No. is that the storer that 200410024198.3,200410024197.9 and 200410024196.4 patent has proposed respectively a kind of scrambler writes device.
The above-mentioned absolute type position probing that realized, its principle is identical, take 200410024190.7 as example, as shown in Figure 1, in the structure of this magnetism encoder, magnetic induction part adopts the mode of surface label, namely arranges magnetic induction part at annular stator madial wall, be rotated the induction in magnetic field, then obtain rotation angle value according to the sensor voltage value.
Described magnetism encoder has following shortcoming in physical arrangement:
The stator inboard generally is circular arc and smooth, and sensor is difficult for installing and fixing, and causes easily positioning error, and then causes the phase deviation of signal, so that higher harmonic components is large in the signal; Process for machining and manufacturing is complicated, is unfavorable for industrialization;
Reliability is low, and sensor is distributed in madial wall, and the support matrices of sensor is necessary for flexible body such as FPC etc., and it is not high with its tensile strength of processing body contact position, breaks easily, has increased difficulty of processing, affects the life-span of product;
The magnetic field of sensor sensing is revealed large, and magnetic field can not fully be used, so that noise is large in the signal, affects measuring accuracy;
The requirement sensor bulk is little, so that cost of products is higher.
Described magnetism encoder is processed at signal has following shortcoming:
The A phase simulating signal v that obtains from magnetic induction part
aWith B simulating signal v mutually
b, generally all contain higher hamonic wave and noise, utilize the method for the above-mentioned tangent value of negating will be subject to the impact of higher hamonic wave, if can not reduce or the impact of Eliminate highter harmonic, then be difficult for drawing accurate position signalling θ;
Analog device causes temperature drift and zero point drift, has reduced the reliability and stability of circuit; The cost of products of mimic channel is higher.
Summary of the invention
The technical problem to be solved in the present invention is, for 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 the first magnet steel ring and the second magnet steel ring, wherein, the first magnet steel ring and the second magnet steel ring are separately fixed in the rotating shaft, and the first magnet 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 the second magnet steel ring adds up to N, and its magnetic order is determined according to the specific magnetic sequence algorithm; And on stator, corresponding to the first magnet steel ring, be provided with the individual magnetic induction part that distributes at an angle of m (m as 2 or 3 integral multiple) take the center of the first magnet steel ring as the same circumference in the center of circle; Corresponding to the second magnet steel ring, the same circumference take the center of the second magnet steel ring as the center of circle is provided with n (n=0,1,2 ... 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, for position detecting device, be 360 °/N corresponding to the angle between adjacent two magnetic induction parts of the second magnet steel ring on the stator.
In addition, on the stator corresponding to the first magnet steel ring the 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 at the inside surface of stator.
Position detecting device of the present invention can comprise that also two are built in stator inner surface, correspond respectively to the magnetic guiding loop of the first magnet steel ring and the second magnet steel ring, each described magnetic guiding loop is by a plurality of concentrics, consists of with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnet steel rings.
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 various position detecting devices, comprising: A/D modular converter, relativity shift angle θ
1Computing module, absolute offset values θ
2Computing module, synthetic output module and the memory module of reaching of angle.Described A/D modular converter, the voltage signal that the magnetic induction part in the position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion; Described relativity shift angle θ
1Computing module is used for the relative displacement θ of the first voltage signal within the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of the first magnet steel ring
1Described absolute offset values θ
2Computing module according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
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 synthetic described the first voltage signal representative; Described memory module is used for the storage data.
Further, also comprise: the signal amplification module is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from position detecting device being amplified.
Further, described relativity shift angle θ
1Computing module comprises the first synthesis unit and the first angle acquiring unit, and described the first synthesis unit is processed a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains a reference signal D; Described the first angle acquiring unit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1
Further, described relativity shift angle θ
1Computing module also comprises temperature compensation unit, be used for to eliminate the impact of the voltage signal that temperature sends position detecting device.
Further, the output of described the first synthesis unit also comprises signal R, on this basis, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectification module is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to the first synthesis unit.
In addition, described absolute offset values θ
2Computing module comprises the second synthesis unit and the second angle acquiring unit, and the second voltage signal that described the second synthesis unit is used for the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains a signal E; The absolute offset values θ that described the second angle acquiring unit selects an angle relative with it to put as the residing signal period first place of the first voltage signal in the second standard angle kilsyth basalt according to this signal E
2
The second synthesis unit will be corresponding with the second magnet ring the sign bit of output signal of magnetic sensing element integrate and obtain signal E.
The present invention also provides a kind of signal processing method based on above-mentioned position detecting device, may further comprise the steps: step S300 is used for the voltage signal that position detecting device sends is carried out the A/D conversion; Step S301, the relative displacement θ of the first voltage signal within the signal period of living in that sends corresponding to the magnetic induction part of the first magnet steel ring in the calculating location pick-up unit
1Step S302 according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2Step S303 is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative.
Further, among the described step S301, specifically comprise: step S3011, a plurality of voltage signals through the A/D conversion that position detecting device sends are processed, obtain 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 with it in the signal R consults memory that obtains
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 processed, described a plurality of voltage signals are multiplied each other with signal K respectively, thereby realization is to the temperature compensation of voltage signal.
In addition, described step S302 specifically may further comprise the steps: step S3021, and the second voltage signal that the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains a signal E; Step S3022, the absolute offset values θ that in the second standard angle kilsyth basalt, selects an angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E
2
Position detecting device provided by the invention and signal processing circuit thereof and disposal route have the following advantages:
A) by increasing magnetic guiding loop, so that the magnetic guiding loop internal magnetic field is evenly distributed, reveal littlely, and the signal of magnetic induction part induction is integral form, and signal noise is little, and contained higher harmonic components composition is little, is conducive to improve the original signal quality, the raising Signal-to-Noise.
B) adopt magnetic guiding loop, and dwindle useful area by increasing chamfering, be conducive to improve the magnetic field intensity of magnetic induction part surface induction, can reduce to a certain extent can reduce the mechanical dimension of whole scrambler to the magnet size requirement.
C) adopt this improved structure, the mechanical dimension of magnetic induction part is not had harsh requirement, can select the model wide ranges, even with adopting follow-up amplifying circuit, be not conducive to reduce cost of products, improve cost performance.
D) adopt this version, magnetic induction part can directly be fixed on the circuit board, need not adaptor, is conducive to improve the reliability of product.
E) manufacturing process is simple, magnetic guiding loop can be used the stator retainer, such as a skeleton, fix forming together an integral body, one-shot forming, signal inductor, be that magnetic induction part directly is put in slit (locating slot) and locates, can guarantee to the full extent phase differential between the signal, the stator retainer directly is fixed on the motor, mounting process is convenient, is conducive to enhance productivity.
F) adopt two tool magnet steel ring and magnetic guiding loops, increased accuracy of detection, make the processing accuracy of position detecting device higher, and have that cost is low, the simple advantage of manufacturing process.
G) adopt magnetic modes of emplacement of the present invention, the signal amplitude of magnetic induction part output is large, need not to adopt analog amplify circuit, the output signal of magnetic induction part is directly inputted to A/D converter and carries out analog to digital conversion, carrying out as required digital differential processes again, like this so that whole circuit is very simple, and reduced to a great extent because temperature and the zero point drift that analog device causes, and magnetic induction part can directly be fixed on the circuit board, need not adaptor, improve the reliability and stability of circuit, and significantly reduced the cost of product.The advantage of carrying out the digital differential processing is: can eliminate the deviation of signal that heart is not caused by installing, process with analog differential and compare, adopt digital signal to process, better effects if is not affected by the extraneous factors such as temperature, zero point drift; Can enlarge the amplitude of signal input quantity, the precision that is equivalent to A/D converter in effect has increased by one, can improve the precision that scrambler is measured.
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 the first magnet steel ring, magnetic guiding loop and the magnetic induction part of Fig. 7 embodiments of the invention 1;
Fig. 8 be the first magnet 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 the second magnet steel ring;
Figure 10 A-Figure 10 B be the second magnet 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 magnet 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 the first magnet 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 magnet steel ring Hall element of the embodiment of the invention 3 and magnetic guiding loop, magnetic induction part;
Figure 16 be the first magnet 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 magnet steel ring Hall element of the embodiment of the invention 4 and magnetic guiding loop, magnetic induction part;
Figure 19 be the first magnet 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 present invention corresponding to the distribution plan of the magnetic induction part of the second magnet 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 the first magnet 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 comprised of magnet steel ring 302, magnet steel ring 303, magnetic guiding loop 304, magnetic guiding loop 305, support 306 and a plurality of magnetic induction part 307.Particularly, magnet steel ring 302,303 diameter are less than magnetic guiding loop 304,305 diameter, thereby magnetic guiding loop 304,305 is set in respectively magnet steel ring 302,303 outsides, magnet steel ring 302,303 is fixed in the rotating shaft 301, and magnetic guiding loop 304,305 and magnet 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 magnet 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, can find out that from Fig. 1 C magnet steel ring 302, magnet steel ring 303 are arranged in parallel on the axle 301, are respectively equipped with two row magnetic induction parts 308 and 309 corresponding to magnet steel ring 302, magnet steel ring 303.Here for hereinafter explanation is convenient, be that a plurality of magnetic induction parts of corresponding magnet steel ring 302 and magnetic guiding loop 304 all use magnetic induction part 308 to represent with the first row magnetic induction part, and be that a plurality of magnetic induction parts of corresponding magnet 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 magnet steel ring 302 is defined as the first magnet steel ring, magnet steel ring 303 is defined as the second magnet steel ring, magnetic guiding loop 304 is defined as corresponding to the first magnet steel ring 302, magnetic guiding loop 305 is defined as corresponding to the second magnet steel ring 305, then the invention is not restricted to above-mentioned restriction.
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 simultaneously vertically 354, radially 353 cuttings.
According to magnetic Migong formula
Can know, when φ is certain, can by reducing S, increase B.
Because the magnetic flux that permanent magnet produces is certain, S is larger in magnetic guiding loop, so B is smaller, therefore can reduce the heating that causes because of the magnetic field alternation.And can increase the magnetic field intensity of end by reducing magnetic guiding loop end area, so that the output signal of magnetic induction part strengthens.Such picking up signal structure manufacturing process is simple, and the signal noise of picking up is little, and production cost is low, and reliability is high, and size is little.
Leave the slit between adjacent two segmental arcs, magnetic induction part places in this slit, and when magnet 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, and reliability is high, and size is little.
The first magnet 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 the second magnet steel ring adds up to N, and its magnetic order is determined according to the magnetic order algorithm; On support 306, corresponding to the first magnet steel ring 302, be provided with the individual magnetic induction part 308 that distributes at an angle of m (m as 2 or 3 integral multiple) take the center of the first magnet steel ring 302 as the same circumference in the center of circle; Corresponding to the second magnet steel ring 303, the same circumference take the center of the second magnet steel ring 303 as the center of circle is provided with n (n=0,1,2 ... 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 the magnetic induction part in the 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 the first voltage signal within the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of the first magnet steel ring
1Described absolute offset values θ
2Computing module is determined the absolute offset values θ that put the residing signal period first place of the first voltage signal according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device by calculating
2The synthetic output module that reaches of described angle is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative; Described memory module is used for angle and the COEFFICIENT K rectification data that the storage 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 the first magnet steel ring in the position detecting device and the second magnet steel environment-development are sent here carries out the A/D conversion, is digital signal with analog signal conversion; By relative displacement θ
1Computing module carries out angle θ to the first voltage signal corresponding to the first magnet steel ring that the magnetic induction part in the position detecting device sends
1Find the solution, calculate the relative displacement θ of signal within the signal period of living in corresponding to the first magnet steel ring
1By absolute offset values θ
2Computing module carries out angle θ to the first voltage signal corresponding to the second magnet steel ring that position detecting device sends
2Find the solution, determine the absolute offset values θ that put the residing signal period first place of the first voltage signal
2Synthetic and output module is used for above-mentioned relative displacement θ such as totalizer by angle
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of synthetic described the first voltage signal representative.For Fig. 4, be the signal amplification module that the basis at Fig. 3 increases, concrete such as amplifier, be used for before the A/D modular converter carries out the A/D conversion, the voltage signal that comes from position detecting device being amplified.Fig. 5 is the signal processing flow figure that comprises temperature compensation, is carrying out angle θ
1Before finding the solution, also comprise the process of temperature compensation; Fig. 6 is the detailed process based on the temperature compensation of Fig. 5, when namely carrying out temperature compensation, advanced row coefficient to correct, and the output of then again signal and the coefficient of A/D converter output being corrected is carried out temperature compensation by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature compensation is a variety of in addition, does not just introduce one by one a little.
Describe by the following examples position detecting device of the present invention and signal processing apparatus thereof and method in detail.
Embodiment 1
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 the first magnet steel ring, magnetic guiding loop and the magnetic induction part of embodiments of the invention 1; Fig. 8 be the first magnet steel ring of embodiments of the invention 1 magnetize magnetic order and with the location diagram of magnetic induction part.First row magnetic induction part 308 corresponding to the first magnet steel ring 302 is 2, and namely 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 the second magnet steel ring 303 is 3, and namely 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 the second magnet steel ring 303.Be 90 °/8 corresponding to the angle between adjacent two magnetic induction parts 308 of the first magnet steel ring 302.
Magnet steel ring 302 magnetizes sequentially and H as can be seen from Figure 8
1And H
2Magnetic pole arrange.Fig. 9 is the algorithm flow chart of magnet steel ring 303.As shown in Figure 9, at first carry out initialization a[0]=" 0 ... 0 "; Then present encoding is entered coded set, " 0 ... 0 " is namely arranged in the coded set; Then whether the check set element that enters coded set reaches 8, if it is EOP (end of program), on the contrary present encoding is moved to left one, the back mends 0; Then check present encoding whether to enter coded set, do not proceed above-mentioned steps if enter coded set then present encoding is entered coded set, if entered coded set then go 0 to mend 1 current code end position; Then check present encoding whether to enter coded set, if do not enter coded set then present encoding entered coded set and proceed above-mentioned steps, if entered coded set then checked whether current code is " 0 ... 0 ", be then to finish, otherwise with present encoding directly before go to position, code end to go 0 to mend 1; Whether if, entered coded set then check current yard be " 0 ... 0 ", then proceed following program if then checking present encoding whether to enter coded set, not proceeding above-mentioned steps if enter coded set then present encoding is entered coded set.Wherein 0 be magnetized to " N/S ", 1 is magnetized to " S/N ".Magnet steel ring 303 shown in Figure 10 magnetize structural drawing and H have been obtained like this
3, H
4And H
5Distributing order.
Figure 11 is the block diagram of the signal processing apparatus of the embodiment of the invention 1, the output signal of sensor (being foregoing magnetic induction part) 11a and 12a meets amplifier 21a, 22a, amplifier 21a, the output signal of 22a inputs to A/ D converter 31a, 32a analog input mouth, after analog to digital conversion, obtain output signal and meet multiplier 41a, 42a, the output signal of rectifier 7a meets multiplier 41a, the input end of 42a, multiplier 41a, the output signal A of 42a, B connects the input end of the first compositor 51a, the output signal D of the first compositor 51a is as the input signal of storer 61a and storer 62a, the output signal of storer 62a meets rectifier 7a, the output signal θ of storer 61a
1Input end as totalizer 9a.
The output signal of sensor 13a, 14a and 15a meets respectively three amplifier 23a, 24a and 25a amplifies, and then connects AD converter and carries out deciphering by the second device 52a after the analog to digital conversion, then meets storer 8a and obtains θ
2θ
1And θ
2Export by the absolute angular displacement that totalizer 9a obtains measuring.
Wherein, in the processing procedure of signal, the output of the first compositor 51a is carried out in the following manner:
Agreement:
When data X was signed number, data X the 0th (the 1st from left to right of scale-of-two) was sign bit, and X_0=1 represents data X for negative, and X_0=0 represents that data X is for just.
X_D represents the value bit (absolute values of data) of data X, namely removes sign bit data left position.
The size of the numerical value of two signals relatively, the signal D that is used for output that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, than the value bit of the signal of fractional value }.Specific as follows:
If A_D＞=B_D
D＝{A_0；B_0；B_D}
Otherwise:
D＝{A_0；B_0；A_D}
The output of the second compositor 52a 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 code, and each code is corresponding to an angle.This table obtains by demarcation, scaling method is, utilize pick-up unit and a high precision position sensor of originally executing example, carry out one by one correspondence with originally executing the signal of the magnetic induction part output in the example and the angle of this high precision position sensor output, set up out the signal of magnetic induction part output and the relation table between the angle with this.Namely, stored first a standard angle kilsyth basalt corresponding to signal D, each signal D represents a relative displacement θ
1Corresponding to signal E, stored second a standard angle kilsyth basalt, each signal E represents an absolute offset values θ
2
Embodiments of the invention 2 provide the synoptic diagram that is provided with four magnetic induction parts corresponding to the first magnet steel ring 302.
Figure 12 is the structural representation of the first magnet 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 the first magnet 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 the first magnet steel ring 302, namely 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 the first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to the second magnet steel ring 303 is 3, and namely 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 the second magnet steel ring 303.Be 90 °/8 corresponding to the angle between adjacent two magnetic induction parts 308 of the first magnet steel ring 302.
Figure 11 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, difference is, owing in the present embodiment 24 sensors are arranged, the output signal of sensor 11b and 12b meets amplifying circuit 21b and carries out differential amplification, the output signal of sensor 13b and 14b meets amplifying circuit 22b and carries out differential amplification, the signal of finally exporting to compositor still is 2, and processing procedure and method are identical with embodiment 1.Therefore, do not repeat them here.
Embodiment 3
Embodiments of the invention 3 provide the structural drawing that is equipped with three magnetic induction parts corresponding to the first magnet steel.
Figure 15 is the structural representation of the first magnet steel ring Hall element of the embodiment of the invention 3 and magnetic guiding loop, magnetic induction part; Figure 16 be the first magnet 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 the first magnet steel ring 302, namely 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 the first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to the second magnet steel ring 303 is 3, and namely 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 the second magnet steel ring 303.Be 120 °/8 corresponding to the angle between adjacent two magnetic induction parts 308 of the first magnet steel ring 302.
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 from embodiment 1 when processing signals, and all the other are identical with embodiment 1.Here, only illustrating how compositor is processed obtains D and R.
In the present embodiment, processing to signal, namely the output principle of the first compositor 51c is: the position that meets of judging first three signals, and the size of the numerical value of the identical signal of comparison operators co-bit, the signal D that is used for output that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, the 3rd signal meet the position, than the value bit of the signal of fractional value }.Take present embodiment as example:
Agreement:
When data X was signed number, data X the 0th (the 1st from left to right of scale-of-two) was sign bit, and X_0=1 represents data X for negative, and X_0=0 represents that data X is for just.
X_D represents the value bit (absolute values of data) of data X, namely removes sign bit data left position.
If { A_0; B_0; C_0}=010 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=010 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=101 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=101 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=011 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=011 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=100 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}；
If { A_0; B_0; C_0}=100 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=001 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=001 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}；
If { A_0; B_0; C_0}=110 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}；
If { A_0; B_0; C_0}=110 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}；
Embodiment 4
According to embodiments of the invention 4, provide the structural drawing that is equipped with six magnetic induction parts corresponding to the first magnet steel.
Figure 18 is the structural representation of the first magnet steel ring Hall element of the embodiment of the invention 4 and magnetic guiding loop, magnetic induction part; Figure 19 be the first magnet 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 the first magnet steel ring 302, namely 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 the first magnetic guiding loop 304.Secondary series magnetic induction part 309 corresponding to the second magnet steel ring 303 is 3, and namely 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 the second magnet steel ring 303.Be 60 °/8 corresponding to the angle between adjacent two magnetic induction parts 308 of the first magnet steel ring 302.
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, the output signal of sensor 11d and 12d meets amplifying circuit 21d and carries out differential amplification, the output signal of sensor 13d and 14d meets amplifying circuit 22d and carries out differential amplification, the output signal of sensor 15d and 16d meets amplifying circuit 23d and carries out differential amplification, and the signal of finally exporting to compositor still is 3, and processing procedure and method are identical with embodiment 3.
Above-mentioned four embodiment are in the situation of n=3, the various embodiment that the m value changes, the invention is not restricted to this, sensor n on the second magnet steel ring can be arbitrary integer (n=0,1,2 ... n), as shown in figure 21, be respectively when n=3,4, the distribution of the second magnet steel ring, magnetic guiding loop and magnetic induction part 5 time.Its separately magnetic order and algorithm flow respectively with Fig. 8,9 similar, omit detailed description to them at this.
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 the first magnet steel ring on position detecting device.In the situation on the position detecting device, the distributing order of magnetic induction part is identical with above-mentioned order with 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 with reference to accompanying drawing, yet the present invention is not limited to described embodiment, but in the situation of the scope that does not break away from claims, can makes a variety of changes and improve.
Claims (21)
1. a position detecting device is characterized in that, comprises rotor and rotor is enclosed within inner stator, and described rotor comprises the first magnet steel ring, the second magnet steel ring;
Wherein, described the first magnet steel ring and the second magnet steel ring are separately fixed in the rotating shaft, and described the first magnet steel ring is evenly geomagnetic into N to magnetic pole, N＜=2
n, n=0 wherein, 1,2 ... n; And the polarity of two neighboring pole is opposite; The magnetic pole of described the second magnet steel ring adds up to N, and its magnetic order is determined according to the specific magnetic sequence algorithm;
On stator, corresponding to the first magnet steel ring, be provided with m magnetic induction part that distributes at an angle take the center of the first magnet steel ring as the same circumference in the center of circle, wherein, m is 2 or 3 integral multiple; Corresponding to the second magnet steel ring, be provided with n magnetic induction part that distributes at an angle take the center of the second magnet steel ring as the same circumference in the center of circle, wherein, n=0,1,2 ... n;
Comprise that also two are built in magnetic guiding loop stator inner surface, that correspond respectively to the first magnet steel ring and the second magnet steel ring, the diameter of the first magnet steel ring and the second magnet steel ring is less than the diameter of two magnetic guiding loops, two magnetic guiding loops and the first magnet steel ring and the second magnet steel ring relative motion, magnetic induction part is in the space of magnetic guiding loop; 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 the second magnet steel ring on the stator.
3. position detecting device as claimed in claim 1, it is characterized in that, on the stator corresponding to the first magnet steel ring the angle between adjacent two magnetic induction parts, when m is 2 or 4, angle between every adjacent two magnetic induction parts is 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.
4. position detecting device as claimed in claim 1 is characterized in that, the direct Surface Mount of described magnetic induction part is at the inside surface of stator.
5. position detecting device as claimed in claim 1 is characterized in that, each described magnetic guiding loop is by a plurality of concentrics, consists of 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 magnet steel rings.
6. position detecting device as claimed in claim 5 is characterized in that, the segmental arc end of described magnetic guiding loop is provided with chamfering.
7. position detecting device as claimed in claim 6 is characterized in that, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.
8. position detecting device as claimed in claim 1 is characterized in that, described magnetic induction part is the hall sensing element.
9. the signal processing apparatus based on the arbitrary described position detecting device of the claims 1-8 is characterized in that, comprising:
The A/D modular converter, the voltage signal that magnetic induction part in the position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion;
Relativity shift angle θ
1Computing module is used for the relative displacement θ of the first voltage signal within the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of the first magnet steel ring
1
Absolute offset values θ
2Computing module according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2
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 of synthetic described the first voltage signal representative;
Memory module is used for the storage data.
10. the signal processing apparatus of position detecting device according to claim 9 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.
11. according to claim 9 or the signal processing apparatus of 10 described position detecting devices, it is characterized in that,
Described relativity shift angle θ
1Computing module comprises the first synthesis unit and the first angle acquiring unit, and described the first synthesis unit is processed a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D; Described the first angle acquiring unit selects the angle relative with it as deviation angle θ in the first standard angle kilsyth basalt according to this reference signal D
1
12. the signal processing apparatus of position detecting device as claimed in claim 11 is characterized in that, described relativity shift angle θ
1Computing module also comprises temperature compensation unit, be used for to eliminate the impact of the voltage signal that temperature sends position detecting device.
13. the signal processing apparatus of position detecting device as claimed in claim 12 is characterized in that, the output of described the first synthesis unit also comprises signal R.
14. the signal processing apparatus of position detecting device as claimed in claim 13, it is characterized in that, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectifier is to the signal R of the output of described the first synthesis unit with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to the first synthesis unit.
15. according to claim 9 or the signal processing apparatus of 10 described position detecting devices, it is characterized in that described absolute offset values θ
2Computing module comprises the second synthesis unit and the second angle acquiring unit, and the second voltage signal that described the second synthesis unit is used for the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E; The absolute offset values θ that described the second angle acquiring unit selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E in the second standard angle kilsyth basalt
2
16. the signal processing method based on the arbitrary described position detecting device of the claims 1-8 is characterized in that, may further comprise the steps:
Step S300 is used for the voltage signal that position detecting device sends is carried out the A/D conversion;
Step S301, the relative displacement θ of the first voltage signal within the signal period of living in that sends corresponding to the magnetic induction part of the first magnet steel ring in the calculating location pick-up unit
1
Step S302 according to the second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, determines the absolute offset values θ that put the residing signal period first place of the first voltage signal by calculating
2
Step S303 is used for above-mentioned relative displacement θ
1With absolute offset values θ
2Addition, the anglec of rotation θ of synthetic described the first voltage signal representative.
17. the signal processing method of position detecting device according to claim 16 is characterized in that, among the described step S301, specifically comprises:
Step S3011 processes a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D;
Step S3012 according to this reference signal D, selects the angle relative with it as deviation angle θ in the first standard angle kilsyth basalt
1
18. the signal processing method of position detecting device according to claim 17 is characterized in that, among the described step S301, obtains signal R when obtaining reference signal D.
19. the signal processing method of position detecting device according to claim 18 is characterized in that, also comprises among the step S301 according to the signal R under the standard state relative with it in the signal R consults memory that obtains
0, and the two is compared computing, obtain the step of signal K.
20. the signal processing method of position detecting device according to claim 19, it is characterized in that, before a plurality of voltage signals through the A/D conversion that step S3011 sends position detecting device are processed, described a plurality of voltage signals are multiplied each other with signal K respectively, thereby realization is to the temperature compensation of voltage signal.
21. the signal processing method of position detecting device according to claim 16 is characterized in that, described step S302 specifically may further comprise the steps:
Step S3021, the second voltage signal that the position detecting device corresponding to the second magnet steel ring is sent synthesizes, and obtains signal E;
Step S3022, the absolute offset values θ that in the second standard angle kilsyth basalt, selects the angle relative with it to put as the residing signal period first place of the first voltage signal according to this signal E
2
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 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 |
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| CN101876559B true CN101876559B (en) | 2013-03-06 |
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|---|---|---|---|
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| WO (1) | WO2010124604A1 (en) |
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| DE102011008614A1 (en) * | 2010-12-30 | 2012-07-05 | Siemens Aktiengesellschaft | Determining the angular position of a rotor |
| JP6555289B2 (en) * | 2017-03-13 | 2019-08-07 | 株式会社デンソー | Rotation sensor |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4779454A (en) * | 1987-11-12 | 1988-10-25 | Brunswick Corp. | Crankshaft angle sensing system |
| US6211588B1 (en) * | 1997-11-28 | 2001-04-03 | Saia-Burgess Electronics Ag | Electromoter having a position sensor with a plurality of field sensitive elements on a semiconductor chip |
| EP1612563A2 (en) * | 2001-09-11 | 2006-01-04 | Koyo Seiko Company, Ltd. | Magnetic pulser ring |
| 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 |
Family Cites Families (5)
| 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 |
| 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 |
-
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
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4779454A (en) * | 1987-11-12 | 1988-10-25 | Brunswick Corp. | Crankshaft angle sensing system |
| US6211588B1 (en) * | 1997-11-28 | 2001-04-03 | Saia-Burgess Electronics Ag | Electromoter having a position sensor with a plurality of field sensitive elements on a semiconductor chip |
| EP1612563A2 (en) * | 2001-09-11 | 2006-01-04 | Koyo Seiko Company, Ltd. | Magnetic pulser ring |
| 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 |
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| WO2010124604A1 (en) | 2010-11-04 |
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Effective date of registration: 20170825 Address after: Hangzhou City, Zhejiang province Tonglu County Tonglu 311500 Beach Road Economic Development Zone No. 77 Patentee after: Hangzhou Corecess energy-saving equipment Limited by Share Ltd Address before: 310019 4D, No. nine, 63 Ring Road, Jianggan District, Zhejiang, Hangzhou Patentee before: Zhejiang Zhongke Derun Technology Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130306 Termination date: 20210430 |