CN101877525A

CN101877525A - Electric motor

Info

Publication number: CN101877525A
Application number: CN2009101377748A
Authority: CN
Inventors: 郝双晖; 郝明晖
Original assignee: Zhejiang Guanxi Electric & Motor Co Ltd
Current assignee: Hangzhou Corecess energy-saving equipment Limited by Share Ltd
Priority date: 2009-04-30
Filing date: 2009-04-30
Publication date: 2010-11-03
Anticipated expiration: 2029-04-30
Also published as: CN101877525B; WO2010124590A1

Abstract

The invention discloses a motor, comprising a body, a controller and a magnetoelectric sensor, wherein the magnetoelectric sensor is used for sensing rotation of a motor shaft, transmitting the sensed voltage signal to the controller, obtaining the rotation angle or position of the motor shaft through processing of the controller and further realizing precise control of the motor; the number of the magnetic poles of the magnetic steel related in the magnetoelectric sensor used by the motor is irrelevant to the number of the magnetic poles of an electric rotor, thus ensuring flexible matching between the motor and the magnetoelectric sensor. As the motor adopts the sensor of such a structure, the control precision, the system response speed and the reliability of the motor are greatly improved and the production cost of the motor is simultaneously lowered, thus improving the cost performance of the motor in the invention.

Description

A kind of motor

Technical field

The present invention relates to a kind of motor, especially a kind of control motor that is used for Accurate Position Control.

Background technology

Motor is to use a kind of very widely power source in the industrial circle, and will directly influence the operation of whole system to the control of motor, and therefore, the control system of motor is also by extensive concern.

The kind of motor is very many, according to different criteria for classifications, can be divided into asynchronous motor, synchronous motor to motor; Alternating current motor, DC motor etc.In more existing systems, need accurately control the position of motor, rotating speed etc., therefore, a kind of servomotor has appearred.This motor combines with controller, encoder, can realize the closed-loop control to motor.Because of having high response characteristic, characteristics such as wide speed regulating range are subjected to the extensive concern of industrial and agricultural production.And the employed precision that is used to detect the position detector of motor position directly has influence on the speed control and the positioning accuracy of system on its output shaft.

What at present, position-detection sensor mainly adopted is encoder.Method in common is to install photoelectric encoder on motor at present, and angle information is arrived controller by cable transmission.

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, the slit of indication grating cuts into interrupted light and is received element acceptance, exports corresponding pulse signal, and its direction 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 encoder rotated, and can not have in the course of work and disturb and pulse-losing, otherwise will be offset the zero point of numeration equipment memory, and be unable to find out.

For head it off, absolute type encoder has appearred.Absolute type encoder output and position be code one to one, can determine direction of rotation and rotor current location from the size variation of code.Anti-interference like this, the reliability of data has improved greatly, and absolute type encoder more and more has been applied to angle, linear measure longimetry and the Position Control of various industrial systems.But there are some shortcomings that are difficult to overcome in photoelectric encoder: photoelectric encoder is formed by groove by glass substance, and its anti-vibration and impact capacity are not strong, are not suitable for dust, adverse circumstances such as dewfall, and structure and location assembling complexity.Ruling span has the limit, improve resolution and must increase code-disc, is difficult to accomplish miniaturization.Must guarantee very high assembly precision aborning, directly have influence on production efficiency, finally influence product cost.

Because the problem that above-mentioned photoelectric encoder exists, the magneto-electric encoder that has occurred on motor, using, this encoder mainly comprises magnet steel, magnetic induction part and signal processing circuit, magnet steel is along with the axle of motor rotates, the magnetic field that changes, magnetic induction part is responded to the magnetic field of this variation, magnetic signal is transformed into the signal of telecommunication outputs to signal processing circuit, and signal processing circuit is processed into angle signal output with this signal of telecommunication.But for DC Brushless Motor, the magnetic pole of the magnet steel that uses in this magneto-electric encoder will adapt with the number of magnet poles of DC Brushless Motor.Will just can use with matching with encoder that it adapts for the DC Brushless Motor of different magnetic poles number, therefore, the versatility of this magneto-electric encoder is very poor.

In addition, present motor generally adopts the cable mode positional information to be transferred to the CPU of controller, but be subject to electromagnetic noise interference in the communication process and cause information errors, and the hysteresis quality that has communication, can not reflect the positional information of current rotor in real time, thereby have influence on the control effect of whole system.

Have, traditional design of electrical motor is pursued is to the finishing and realizing of simple target again, but under needs are finished the work more requirement, corresponding different task will be selected different motors.For example, as requiring the high rotating speed of heavy load in the task one, need to select the high-revolving motor of big torque.Task two requires the less rotating speed of load moderate, like this task once in the motor selected no longer be applicable to and the condition of work of task two need order to select motor, will cause waste like this.

Summary of the invention

The technical problem to be solved in the present invention is, the present invention proposes a kind of motor with new magnetoelectric sensor, thereby low-cost, as to improve system reliability, raising system response time are fast.

In order to address the above problem, the invention provides a kind of motor, comprise motor body, controller and magnetoelectric sensor, described magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, by the processing of controller, obtain angle or position that motor shaft rotates, and then realize accurate control motor; Wherein, described magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator that described rotor comprises first magnetic steel ring, second magnetic steel ring; Described first magnetic steel ring and second magnetic steel ring are separately fixed on the output shaft of motor, 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 described controller.

Preferably, be 360 °/2 corresponding to the angle between adjacent two magnetic induction parts of second magnetic steel ring on the stator ⁿ

Preferably, 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 °/2 ⁿ, when m was 3, the angle between every adjacent two magnetic induction parts was 120 °/2 ⁿWhen m was 6, the angle between every adjacent two magnetic induction parts was 60 °/2 ⁿ

Preferably, the direct Surface Mount of described magnetic induction part is in inner surface of stator.

Described control motor also comprises 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.

Preferably, the segmental arc end of described magnetic guiding loop is provided with chamfering.

Preferably, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.

Preferably, described magnetic induction part is that Hall should be answered element.

Preferably, described motor body and controller integral setting.

Preferably, described controller comprises shell and control module, and described shell covers on control module in the shell, and is fixed together by connector and motor.

Preferably, described magnetoelectric sensor is located in the shell, and between motor and control module or after being positioned at control module.

Described control motor also comprises fan, is used for motor and controller are dispelled the heat.

Preferably, described fan is positioned at shell, and places away from the outermost end of the shell of motor or between any two parts of motor, control module and magnetoelectric sensor.

Preferably, described control module comprises data processing unit, electric-motor drive unit and current sensor, described data processing unit receives the command signal of input, the motor input current signal of current sensor collection and the voltage signal of magnetoelectric sensor output, through data processing, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

Preferably, described data processing unit comprises machinery ring control sub unit, current loop control subelement, pwm control signal produces subelement and sensor signal is handled subelement.Described sensor signal is handled the voltage signal that subelement receives described magnetoelectric sensor, finds the solution through A/D sampling, angle, obtains the rotational angle of motor shaft, and this angle is transferred to described machinery ring control sub unit; Described sensor signal is handled the detected current signal that subelement also receives described current sensor, through exporting to described current loop control subelement after the A/D sampling.Described machinery ring control sub unit obtains current-order through computing, and exports to described current loop control subelement according to the command signal that receives and the rotational angle of motor shaft.Described current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of the current sensor output of the current-order that receives through computing, and exports to described pwm control signal generation subelement.Described pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with a definite sequence, acts on electric-motor drive unit respectively.

Preferably, described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

Preferably, described sensor signal is handled the signal processing circuit that subelement comprises magnetoelectric sensor, is used for obtaining according to the voltage signal of described magnetoelectric sensor the rotational angle of motor shaft, specifically comprises: A/D change-over circuit, relativity shift angle θ ₁Counting circuit, absolute offset values θ ₂Counting circuit, synthetic output module and the memory module of reaching of angle.Wherein, the voltage signal that described A/D change-over circuit sends magnetoelectric sensor carries out the A/D conversion, is digital signal with analog signal conversion; Described relativity shift angle θ ₁Counting circuit is used for calculating the relative displacement θ of first voltage signal in the signal period of living in that magnetoelectric sensor sends corresponding to the magnetic induction part of first magnetic steel ring ₁Described absolute offset values θ ₂Counting circuit 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 magnetoelectric sensor 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.

In addition, the signal processing circuit of described magnetoelectric sensor also comprises signal amplification circuit, is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from magnetoelectric sensor being amplified.

Preferably, described relativity shift angle θ ₁Counting circuit comprises first combiner circuit and the first angle acquisition cuicuit, and described combiner circuit is handled a plurality of voltage signals through the A/D conversion that magnetoelectric sensor sends, and obtains a reference signal D; The described first angle acquisition cuicuit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first angle storage list ₁

Preferably, described relativity shift angle θ ₁Counting circuit also comprises temperature-compensation circuit, is used to eliminate the influence of the voltage signal that temperature sends magnetoelectric sensor.

Preferably, described relativity shift angle θ ₁Counting circuit also comprises a coefficient circuit for rectifying, and computing is carried out in its output according to combiner circuit, obtains an output signal K.

Preferably, described temperature-compensation circuit comprises a plurality of multipliers, each described multiplier will through A/D conversion, magnetoelectric sensor sends a voltage signal and output signal K multiply each other, the result after will multiplying each other exports to first combiner circuit.

Preferably, described absolute offset values θ ₂Counting circuit comprises second combiner circuit and the second angle acquisition cuicuit, and described decoder is used for second voltage signal that the magnetoelectric sensor corresponding to second magnetic steel ring sends is handled, and obtains a signal E; The absolute offset values θ that the described second angle acquisition cuicuit 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

Preferably, described data processing unit is MCU, and described electric-motor drive unit is the IPM module.

In addition, described motor body comprises three phase windings, and described each phase winding is connected end to end by the multistage winding and constituted, and all connects a control switch between the head of each section winding and the power supply of input.

Wherein, described control switch is the electron electric power switch; Further limit, described electron electric power switch is thyristor or IGBT.

Comprise also that in the aforementioned data processing unit moment of torsion switches subelement, described square switches the torque of subelement according to the output of motor actual needs, select corresponding winding, and the output control command is controlled the combination of opening and closing of a plurality of control switchs in each winding respectively to the control switch of described motor.

Motor of the present invention, the number of magnetic poles of the number of magnetic poles of the magnet steel that relates in the magnetoelectric sensor of its use and electronic rotor is irrelevant, make that the coupling of motor and magnetoelectric sensor is flexible, and, motor among the present invention is owing to used the transducer of this structure, when control precision, system response time, reliability are improved greatly, reduce production cost again, therefore improved the cost performance of motor described in the present invention.

Because the winding of the inside of motor of the present invention can be in series by multistage, therefore can come motor is controlled by the winding of control motor internal; Because the winding among the present invention is variable,, has so just reduced the operating current of motor, thereby reached purpose of energy saving so under the condition of low load, can select low winding state; The common electric machine winding is fixed, and any phase winding damages then motor can't operate as normal, and each phase winding of the present invention is made of the multistage winding, and therefore, even a winding damages, but other winding utmost points can work, therefore, and by the property raising; Make simply, thereby cost is low.

Description of drawings

Fig. 1 is the exploded view that the present invention is equipped with the control motor of fan.

Fig. 2 is the exploded view that the present invention does not install the control motor of fan.

Fig. 3 A, 3B and 3C are respectively three-dimensional exploded view, schematic diagram and the structure charts that the present invention is provided with the position detecting device structure of magnetic guiding loop.

Fig. 4 A-Fig. 4 D is the chamfer design figure of magnetic guiding loop of the present invention.

Fig. 5 is one of the flow chart of the signal processing method of position detecting device of the present invention.

Fig. 6 be position detecting device of the present invention signal processing method flow chart two.

Fig. 7 be position detecting device of the present invention signal processing method flow chart three.

Fig. 8 be position detecting device of the present invention signal processing method flow chart four.

The structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of Fig. 9 embodiments of the invention 1.

Figure 10 be first 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 algorithm flow chart of the magnetic order that magnetizes of second magnetic steel ring.

Figure 12 A-Figure 12 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 13 is the block diagram of the signal processing apparatus of the embodiment of the invention 1.

Figure 14 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 15 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 16 is the block diagram of the signal processing apparatus of the embodiment of the invention 2.

Figure 17 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 18 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 19 is the block diagram of the signal processing apparatus of the embodiment of the invention 3.

Figure 20 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 21 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 22 is the block diagram of the signal processing apparatus of the embodiment of the invention 4.

Figure 23 A-Figure 23 B is the distribution map of the present invention corresponding to the magnetic induction part of second magnetic steel ring and magnetic guiding loop, stator.

Figure 24 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 25 A-Figure 25 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.

Figure 26 is an electric system control structure principle sketch.

Figure 27 is an electric system control structure schematic diagram.

Figure 28 is another electric system control structure schematic diagram.

Figure 29 is the block diagram of machinery ring.

Figure 30 is the block diagram that has only the machinery ring under the situation of speed ring.

Figure 31 is the block diagram of electric current loop.

Figure 32 is the block diagram of pwm signal generation module.

Figure 33 is the IPM schematic diagram.

Figure 34 is the winding connection figure of motor body inside.

Figure 35 is the control structure schematic diagram that motor body inside has the multistage winding.

Embodiment

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in detail.

Fig. 1 is the exploded view that the present invention is equipped with the control motor of fan.Fig. 2 is the exploded view that the present invention does not install the control motor of fan.As depicted in figs. 1 and 2, control motor of the present invention comprises motor body 501, controller and magnetoelectric sensor.Controller comprises controller housing 507 and control module 502.Magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, by the processing of controller, obtains angle or position that motor shaft rotates, and then realizes the accurate control to motor.

Motor body among the present invention and controller can integrated setting, by integrated setting, shortened the transmission path of magnetoelectric sensor signal, reduced the signal interference, therefore, improved the reliability of control.

Control motor of the present invention can also be equipped with fan 508, is used for motor and controller are dispelled the heat.Fan 508 is positioned at fan guard 509, and places away from the outermost end of the shell of motor or between any two parts of motor body 501, control module 502 and magnetoelectric sensor.

Magnetoelectric sensor

The magnetoelectric sensor of just using among the present invention can comprise signal processing circuit, also can not comprise signal processing circuit, if do not comprise signal processing circuit, then this circuit is positioned at controller.Below the processing when being positioned at control of the signal processing circuit when introducing magnetoelectric sensor, introduced with this circuit identical, therefore, no longer repeat specification when the processing module of controller is described.

Fig. 3 A, 3B and 3C are respectively three-dimensional exploded view, schematic diagram and the structure charts that the present invention is provided with the position detecting device structure of magnetic guiding loop.Shown in Fig. 3 A, 3B and 3C, 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 inner surfaces are in the space of magnetic steel ring.

Fig. 3 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. 3 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. 4 A-Fig. 4 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.

Can also comprise signal processing apparatus on above-mentioned magnetoelectric sensor, 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 checkout gear 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 processing unit is shown in Fig. 5-8, and as shown in Figure 5, 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 adder 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. 6, be the signal amplification module that on the basis of Fig. 5, 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. 7 is the signal processing flow figure that comprises temperature-compensating, is carrying out angle θ ₁Before finding the solution, also comprise the process of temperature-compensating; Fig. 8 is the detailed process based on the temperature-compensating of Fig. 7, when promptly carrying out temperature-compensating, 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-compensating by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature-compensating 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.

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. 9 is the structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of embodiments of the invention 1; Figure 10 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 10 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 EP (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 12 303 magnetize structure chart and H have been obtained like this ₃, H ₄And H ₅Distributing order.

Fig. 9 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 of multiplier 4,5, the output signal A of multiplier 4,5, B engage 6 the input of growing up to be a useful person, and the output signal D of first synthesizer 6 is as the input signal of memory 8 and memory 9, the output signal of memory 9 connects coefficient rectifier 10, the output signal θ of memory 8 ₁Input as adder 12.

Transducer 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 memory 11 then and obtain θ ₂θ ₁And θ ₂Export by the absolute angular displacement that adder 12 obtains measuring.

Wherein, in the Signal Processing process, the output of first synthesizer 6 is carried out in the following manner:

Agreement:

When data X was signed number, the 0th of data X (a binary system 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}

R = \sqrt{A^{2} + B^{2}};

Otherwise:

D＝{A_0；B_0；A_D}

R = \sqrt{A^{2} + B^{2}} .

The output of second synthesizer 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 memory, 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 checkout gear and a high precision position transducer 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 transducer 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

Embodiment 2

The second embodiment of the present invention provides the schematic diagram that is provided with four magnetic induction parts corresponding to first magnetic steel ring 302.

Figure 14 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 15 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 14, 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.

Magnetic steel ring 302 magnetizes in proper order and H as can be seen from Figure 15 ₁, H ₂, H ₃And H ₄Magnetic pole arrange.Magnetize structure and algorithm flow and the embodiment's 1 of first magnetic steel ring 302 is identical, omits explanation to them at this.

Figure 16 is the block diagram of the signal processing apparatus of the embodiment of the invention 2.Signal processing apparatus and processing method 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 synthesizer 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 structure chart that is provided with three magnetic induction parts corresponding to first magnetic steel ring.

Figure 17 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 18 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 17, 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.

Magnetic steel ring 302 magnetizes in proper order and H as can be seen from Figure 18 ₁, H ₂And H ₃Magnetic pole arrange.Magnetize structure and algorithm flow and the embodiment's 1 of first magnetic steel ring 302 is identical, omits explanation to them at this.

Figure 19 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 synthesizer is three, and synthesizer is different with embodiment 1 when processing signals, and all the other are identical with embodiment 1.Here, only illustrating how synthesizer is handled obtains D and R.

In the present embodiment, to Signal Processing, promptly the output principle of first synthesizer 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:

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}；

α = A - B \times \cos (\frac{π}{3}) - C \times \cos (\frac{π}{3})

β = B \times \sin (\frac{π}{3}) - C \times \sin (\frac{π}{3}) .

R = \sqrt{α^{2} + β^{2}}

Embodiment 4

A fourth embodiment in accordance with the invention provides the structure chart that is provided with six magnetic induction parts corresponding to first magnetic steel ring.

Figure 20 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 21 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 20, 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.

Magnetic steel ring 302 magnetizes in proper order and H as can be seen from Figure 21 ₁, H ₂, H ₃, H ₄, H ₅And H ₆Arrange.Magnetize structure and algorithm flow and the embodiment's 1 of first magnetic steel ring 302 is identical, omits explanation to them at this.

Figure 22 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 synthesizer 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), shown in Figure 23 A-Figure 23 B, 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 24 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 25 A-Figure 25 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.

Controller

Controller comprises controller housing 507 and control module 502, and controller housing 507 covers control module 502 within it, and is fixed together by connector and motor body 501.

Figure 26 is the electric system structure diagram.Electric system is made up of servo controller, motor and encoder.Encoder described here and be the magnetoelectric sensor described in the present invention with encoder related in figure below.Control module comprises data processing unit, electric-motor drive unit and current sensor.Described data processing unit is MCU, and described electric-motor drive unit is the IPM module.MCU receives the command signal of input, the motor input current signal of current sensor collection and the voltage signal of magnetoelectric sensor output, through data processing, output pwm signal is given IPM, and IPM gives motor according to pwm signal output three-phase voltage, thereby realizes the accurate control to motor.Whole system is the control system of a closed loop, control cycle short (control cycle has only tens microseconds), and response is fast, the precision height.

Figure 27 is an electric system control structure schematic diagram.At this moment, the signal processing circuit of magnetoelectric sensor is arranged in this transducer, and controller only need get final product by the signal that the synchronous communication interface receives this transducer.As shown in figure 27, CPU, A/D, synchronous communication mouth and pwm signal generation module etc. are arranged in the inside of MCU, A/D is a digital signal with the analog signal conversion that current sensor is input to MCU, thereby obtains current feedback.Encoder passes to MCU with the motor angle positional information by synchronous mouthful of communication.CPU among the MCU is according to current feedback and angle back-to-back running control program.Control program mainly comprises machinery ring and electric current loop, and the machinery ring calculates current-order according to setting command and angle feedback, and electric current loop calculates the three-phase voltage duty ratio according to current-order and current feedback.The pwm signal generation module produces pwm signal according to the three-phase voltage duty ratio, passes to IPM.IPM produces three-phase voltage and gives motor according to pwm signal.

Figure 28 is another electric system control structure schematic diagram, at this moment, comprises the signal processing circuit that is used to handle the voltage signal that comes from magnetoelectric sensor in the controller, and this part is with aforementioned identical in the signal processing circuit described in the explanation of magnetoelectric sensor; Other parts are identical with Figure 27, therefore, and in this no longer repeat specification.

Figure 29 is the block diagram of machinery ring.As shown in figure 29, the machinery ring calculates through control according to the angle feedback of angle instruction and encoder, calculates current-order, passes to electric current loop.The machinery ring comprises position ring and speed ring, the instruction of position ring output speed, the instruction of speed ring output current.

The angle instruction is calculated for the instruction of control program setting or according to setting command.Encoder detects the angle position signal of machine shaft, and angle signal is passed to MCU by synchronous mouthful of communication, and MCU obtains the angle feedback.The angle instruction deducts the angle feedback, obtains angular error, by the PID controller angle is carried out PID control, obtains speed command, and the PID control of angle is called position ring, and what position ring was exported is speed command, passes to speed ring.The angle feedback obtains speed feedback by differentiator, and speed command deducts speed feedback, obtains velocity error, by the PID controller speed is carried out PID control, obtains current-order I _{Q_ref}The PID control of speed is called speed ring.Current-order is the output of speed ring, also is the output of machinery ring, and machinery changes output current instruction I _{Q_ref}Give electric current loop.

Figure 30 is the block diagram that has only the machinery ring under the situation of speed ring.In some cases, do not need motor is carried out Position Control, only need carry out speed control, therefore there is not position ring in the machinery ring, have only speed ring.Speed command is the instruction that control program is set.Encoder detects the angle position signal of machine shaft, and angle signal is passed to MCU by synchronous mouthful of communication, and MCU obtains the angle feedback, and the angle feedback obtains speed feedback by differentiator.Speed command deducts speed feedback, obtains velocity error, by the PID controller speed is carried out PID control, obtains current-order I _{Q_ref}The PID control of speed is called speed ring.Current-order is the output of speed ring, also is the output of machinery ring, and machinery changes output current instruction I _{Q_ref}Give electric current loop.

Figure 31 is the block diagram of electric current loop.Electric current loop calculates through control according to the current-order of machinery ring output and the current feedback of current sensor, produces the three-phase voltage duty ratio that adds to the pwm signal generation module.

Current sensor can be 3 or 2.When current sensor was 3, each current sensor detected the size of a phase current in motor U, V, the W three-phase respectively.Current sensor passes to CPU with the three-phase current signal that detects, and CPU is digital signal through the A/D sampling with analog signal conversion, thereby obtains the three-phase current size of motor.The three-phase current sum of motor is zero under the normal condition, and when motor some occurs when unusual, as the motor electric leakage, the three-phase current sum is non-vanishing.When current sensor breaks down or during electric current A/D sampling fault, the three-phase electricity flow valuve sum that also may cause CPU to obtain is non-vanishing, can detect foundation as an item system with this, in time report to the police when above-mentioned fault occurring.

When current sensor is 2, detect the size of biphase current in motor U, V, the W three-phase.Current sensor passes to CPU with the biphase current signal that detects, and CPU is digital signal through the A/D sampling with analog signal conversion, obtains the biphase current size of motor.Because the three-phase current sum of motor is zero, so according to the biphase current size, can calculate the third phase size of current.So only just can satisfy the needs of electric system, reduce cost with two current sensors.

The current-order of machinery output is I _{Q_ref}, be the current-order of q axle.The signal of current sensor output passes to MCU, through the A/D sampling, obtains current feedback.If current sensor is three, then directly obtain three-phase current feedback I _{A_fb}, I _{B_fb}, I _{C_fb}If current sensor is two, then directly obtained the biphase current feedback, another phase current feedback is zero according to the three-phase current feedback sum, calculates.Three-phase current feedback I _{A_fb}, I _{B_fb}, I _{C_fb}Through 3-＞2 conversion, obtain d, the current feedback I of q axle _{D_fb}, I _{Q_fb}General current-order I with the d axle _{D_ref}Be controlled to be 0.With d, the current-order of q axle deducts d respectively, and the current feedback of q axle obtains d, the current error I of q axle _{D_err}And I _{Q_err}, respectively to d, the q shaft current is carried out PID control, obtains d, the command voltage U of q axle by the PID controller _{D_ref}, U _{Q_ref}Command voltage U _{D_ref}, U _{Q_ref}Through 2-＞3 conversion, obtain the three-phase command voltage, be three-phase voltage duty ratio U _{The a_ duty ratio}, U _{The b_ duty ratio}, U _{The c_ duty ratio}The three-phase duty ratio is the output of electric current loop, passes to the pwm signal generation module.

The formula of above-mentioned 3-＞2 conversion is:

[\begin{matrix} I_{d} \\ I_{q} \end{matrix}] = \frac{2}{3} [\begin{matrix} {\cos θ}_{e} & \cos (θ_{e} - \frac{2}{3} π) & \cos (θ_{e} + \frac{2}{3} π) \\ {- \sin θ}_{e} & - \sin (θ_{e} - \frac{2}{3} π) & - \sin (θ_{e} + \frac{2}{3} π) \end{matrix}] [\begin{matrix} I_{a} \\ I_{b} \\ I_{c} \end{matrix}]

3-＞2 conversion through coordinate transform, are transformed to d, the q shaft current with the motor three-phase current of current sensor feedback.I in the formula _a, I _b, I _cThree-phase current for feedback corresponds to I in the electric current loop block diagram _{A_fb}, I _{B_fb}, I _{C_fb}I in the formula _d, I _qBe the d after the conversion, the q shaft current corresponds to I in the electric current loop block diagram _{D_fb}, I _{Q_fb}θ in the formula _eBe the electrical degree of motor, wherein: θ _e=p * θ _r, p is the number of pole-pairs of motor, θ _rBe the mechanical angle of motor, θ _rAngle feedback in the control block diagram obtains by the angle derivation algorithm.

The formula of 2-＞3 conversion is:

[\begin{matrix} U_{a} \\ U_{b} \\ U_{c} \end{matrix}] = [\begin{matrix} {\cos θ}_{e} & - {\sin θ}_{e} \\ \cos (θ_{e} - \frac{2}{3} π) & - \sin (θ_{e} - \frac{2}{3} π) \\ \cos (θ_{e} + \frac{2}{3} π) & - \sin (θ_{e} + \frac{2}{3} π) \end{matrix}] [\begin{matrix} U_{d} \\ U_{q} \end{matrix}]

3-＞2 conversion are with d, and the q shaft voltage is converted to the three-phase voltage of motor.U in the formula _d, U _qBe d, the q shaft voltage corresponds to U in the electric current loop block diagram _{D_ref}, U _{Q_ref}U in the formula _a, U _b, U _cFor the need that calculate add to the three-phase voltage of motor, in the electric current loop block diagram, correspond to U _{The a_ duty ratio}, U _{The b_ duty ratio}, U _{The c_ duty ratio}θ in the formula _eElectrical degree for motor.

Figure 32 is the block diagram of pwm signal generation module.The three-phase voltage duty ratio that the pwm signal generation module calculates according to electric current loop, and the control cycle and the Dead Time of control program setting produce six road pwm signals, pass to IPM, six IGBT of control IPM inside.Control cycle and Dead Time are to configure when writing control program, generally do not change in running program running process.The reason that the dead band is set is the inner same phase upper and lower bridge arm IGBT of IPM conducting simultaneously, and conducting simultaneously then can damage IGBT, therefore must have one to turn-off the dead band, guarantees not conducting simultaneously of same phase upper and lower bridge arm IGBT.

Figure 33 is the IPM schematic diagram.There are six power switch pipes (IGBT) IPM inside, and six IGBT can be divided into three groups, difference corresponding U, V, W three-phase, and each has two IGBT mutually, is referred to as upper and lower brachium pontis respectively.Voltage between the PN is the busbar voltage of controller, is input to the alternating current of controller, is direct current through over commutation, filtering transformation, and P, N are respectively galvanic both positive and negative polarity.Six road pwm signals that the pwm signal generation module produces are controlled six IGBT of IPM inside respectively.With U is example mutually, if PWM_U is a Continuity signal, then U goes up the brachium pontis conducting mutually, and the electromotive force that U exports mutually is the P electrode potential, if PWM_U (with what upward rule) is a Continuity signal, then U descends the brachium pontis conducting mutually, and the electromotive force that U exports mutually is the N electrode potential.When PWM_U and PWM_U (with going up line) be when turn-offing, electric current is mobile by fly-wheel diode.When the current direction motor, the fly-wheel diode of brachium pontis was from N utmost point flow direction motor under electric current passed through, and this moment, the electromotive force of U phase electromotive force output was the N electrode potential; When electric current when motor flows out, electric current flows to the P utmost point by the fly-wheel diode of last brachium pontis from motor, the electromotive force that this moment, U exported mutually is the P electrode potential.

Motor body and fan adopt of the prior art anyly all can.Do not repeat them here.

In addition, motor body of the present invention inside comprises three phase windings, and described each phase winding is connected end to end by the multistage winding and constituted, and all connects a control switch between the head of each section winding and the power supply of input.As 34 figure, be installation and the control schematic diagram of motor windings one embodiment.In this embodiment, each phase motor windings is made up of two sections windings, is composed in series one end to end mutually as L11 and L12, the head of L11 and L12 is connected control switch K3, K4 respectively, the other end of K3, K4 is connected in parallel, and links with V, in like manner, L21 is composed in series one mutually end to end with L22, the head of L21 and L22 is connected control switch K1, K2 respectively, and the other end of K1, K2 is connected in parallel, and links with U, L31 is composed in series one mutually end to end with L32, end to end series connection.The head of L31 and L32 is connected control switch K5, K6 respectively, and the other end of K5, K6 is connected in parallel, and links with W.

Have this multistage winding motor control as shown in figure 35, this figure only is a kind of situations of other parts of motor controller, certainly also comprises the various variant of aforesaid other parts of controller.

IPM receives behind the signal after the PWM modulation and exports U, V, and the W three-phase voltage is because voltage is to determine through the therefore amplitude of voltage of PMW modulation back output.

When load big to the bigger situation of torque request occasion under, (N is a coil turn because the big or small T of moment of torsion is proportional to NI, I is the electric current of flowing through coil) if N is less, to need a bigger electric current to satisfy the requirement of torque so, but be subjected to the restriction of the maximum current that machine winding coil can flow through, so this method may not reach the requirement of torque, the mode that therefore need take to increase coil turn satisfies the requirement of torque, switches subelement control switch K1 by the moment of torsion in the controller, K3, K5 makes them be in closure state, control switch K2, K4, K6 makes them be in off-state, this moment machine winding coil L11, L12, L21, L22, L3l, L32 are the energising operating state, and motor is in the back electromotive force of high winding state motor

(N is the number of turn of coil, and f is a rotor frequency,

Magnetic flux) increase, and U-E=IR+IX _lReduce, because current of electric I becomes positive correlation with (U-E),, can make the electric current that flows through winding coil maximum current like this less than machine winding coil so electric current reduces in the motor, and simultaneously because coil turn has obtained significant increase, so torque T increases the requirement that can reach load.

When not quite still requiring in the occasion of high speed in load, because speed is higher to be that frequency is bigger, therefore having produced bigger back electromotive force diminishes the difference of (U-E), so just caused electric current I in the motor reduce caused the decline of motor torque to suppress the high speed of motor, can take to reduce the mode of umber of turn in order better to guarantee the high speed of motor, switch the control of subelement by moment of torsion, make K switch 1, K3, K5 is in off-state, K switch 2, K4, K6 is in closure state, this moment motor windings L11, L21, in running order and the winding L 12 of L31, L22, L32 are not access in the machine operation circuit, by formula

As seen after coil turn reduces 1/2, reaching that same back electromotive force frequency f can double is that speed can increase on former basis and is twice, can have littler back electromotive force so under the condition of identical operating rate, reduce the control mode of coil turn, make Motor torque increase high speed performance better reach job requirement thereby obtain bigger electric current.

Control switch among Figure 34 can adopt the electron electric power switch, as forms such as thyristor or IGBT.

Below only be a motor winding embodiment, the number of each phase winding is not limited to two, can be for a plurality of, because principle is identical, in this no longer repeat specification.

Above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that, still can make amendment and be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.

Claims

1. motor, comprise motor body, controller and magnetoelectric sensor, it is characterized in that, described magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, by the processing of controller, obtain angle or position that motor shaft rotates, and then realize accurate control motor;

Wherein, described magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator that 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 on the output shaft of motor, 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 described controller.

2. motor as claimed in claim 1, it is characterized in that, in described magnetoelectric sensor, on the stator corresponding to first magnetic steel ring angle between adjacent two magnetic induction parts, when m is 2 or 4, angle between every adjacent two magnetic induction parts is 90 °/N, and 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. motor as claimed in claim 1 is characterized in that, in described magnetoelectric sensor, the direct Surface Mount of described magnetic induction part is in inner surface of stator;

Described magnetoelectric sensor also comprises 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;

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 in the described magnetoelectric sensor is that Hall should be answered element.

4. motor as claimed in claim 1 is characterized in that, described motor body and controller integral setting.

5. motor as claimed in claim 1 is characterized in that described controller comprises shell and control module, and described shell covers on control module in the shell, and is fixed together by connector and motor;

Described magnetoelectric sensor is located in the shell, and between motor and control module or after being positioned at control module;

Described motor also comprises fan, is used for motor and controller are dispelled the heat;

Described fan is positioned at shell, and places away from the outermost end of the shell of motor or between any two parts of motor, control module and magnetoelectric sensor.

6. motor as claimed in claim 1, it is characterized in that, described control module comprises data processing unit, electric-motor drive unit and current sensor, described data processing unit receives the command signal of input, the motor input current signal of current sensor collection and the information of the representative motor angle that magnetoelectric sensor is exported, through data processing, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

7. motor as claimed in claim 6 is characterized in that, described data processing unit comprises machinery ring control sub unit, current loop control subelement, pwm control signal produces subelement and sensor signal is handled subelement;

Described sensor signal is handled the information that subelement receives the representative motor angle of described magnetoelectric sensor output, and the angle of motor is exported to machinery ring control sub unit; Described sensor signal is handled the detected current signal that subelement also receives described current sensor, through exporting to described current loop control subelement after the A/D sampling;

Described machinery ring control sub unit obtains current-order through computing, and exports to described current loop control subelement according to the command signal that receives and the rotational angle of motor shaft;

Described current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of the current sensor output of the current-order that receives through computing, and exports to described pwm control signal generation subelement;

Described pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with a definite sequence, acts on electric-motor drive unit respectively;

Described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

8. motor as claimed in claim 7, it is characterized in that, described sensor signal is handled the signal processing circuit that comprises magnetoelectric sensor in subelement or the magnetoelectric sensor, is used for obtaining according to the voltage signal of described magnetoelectric sensor the rotational angle of motor shaft, specifically comprises:

The A/D change-over circuit, the voltage signal that magnetoelectric sensor is sent carries out the A/D conversion, is digital signal with analog signal conversion;

Relativity shift angle θ ₁Counting circuit is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location checkout gear sends corresponding to the magnetic induction part of first magnetic steel ring ₁

Absolute offset values θ ₂Counting circuit 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.

9. motor according to claim 8 is characterized in that, also comprises:

Signal amplification circuit is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from magnetoelectric sensor being amplified;

Described relativity shift angle θ ₁Counting circuit comprises first combiner circuit and the first angle acquisition cuicuit, and described first combiner circuit 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 acquisition cuicuit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard standard angle kilsyth basalt ₁

Described relativity shift angle θ ₁Counting circuit also comprises temperature-compensation circuit, is used to eliminate the influence of the voltage signal that temperature sends magnetoelectric sensor;

The output of described first combiner circuit also comprises signal R;

Described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectifier 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 combiner circuit;

Described temperature-compensation circuit comprises a plurality of multipliers, each described multiplier will through A/D conversion, magnetoelectric sensor sends a voltage signal and output signal K multiply each other, the result after will multiplying each other exports to combiner circuit;

Described absolute offset values θ ₂Counting circuit comprises second combiner circuit and the second angle acquisition cuicuit, and described second combiner circuit 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 acquisition cuicuit 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

10. according to the arbitrary described motor of claim 1-9, it is characterized in that, also comprise:

Described motor body comprises three phase windings, and described each phase winding is connected end to end by the multistage winding and constituted, and all connects a control switch between the head of each section winding and the power supply of input; Described control switch is the electron electric power switch;

Described electron electric power switch is thyristor or IGBT.

Described data processing unit comprises that moment of torsion switches subelement, described square switches the torque of subelement according to the output of motor actual needs, select corresponding winding, and the output control command is controlled the combination of opening and closing of a plurality of control switchs in each winding respectively to the control switch of described motor.