CN102355182A - Method for detecting position of hub motor of CT (computed tomography) machine based on magnetic ring and Hall sensors - Google Patents
Method for detecting position of hub motor of CT (computed tomography) machine based on magnetic ring and Hall sensors Download PDFInfo
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- CN102355182A CN102355182A CN2011102876810A CN201110287681A CN102355182A CN 102355182 A CN102355182 A CN 102355182A CN 2011102876810 A CN2011102876810 A CN 2011102876810A CN 201110287681 A CN201110287681 A CN 201110287681A CN 102355182 A CN102355182 A CN 102355182A
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Abstract
The invention relates to a method for detecting the position of a hub motor of a CT (computed tomography) machine based on a magnetic ring and Hall sensors. The method comprises the following steps that: when the hub motor of the CT machine operates, linear Hall sensors detect a position detection ring driven by a rotor of the hub motor of the CT machine, and electromagnetic induction is generated between the linear Hall sensors and the position detection ring so as to generate a Hall potential, wherein the linear Hall sensors comprise an absolute position sensor and a relative position sensor; the measured Hall potential and a normalized value are compared in a comparator, then a comparison result is outputted, and whether the hub motor of the CT machine runs to an accurate position is judged according to the comparison result; and when the hub motor of the CT machine starts up, the absolute position sensor enters into a detection state after carrying out positioning and rotating speed control on the initial position of the motor, and the relative position sensor controls the current phase change of the motor. By using the method provided by the invention, the influence of position errors caused by magnetic asymmetry and magnetic field intensity problems generated in the manufacturing and operating processes of a magnetic steel of the hub motor of the CT machine is greatly weakened, thereby improving the position precision of the motor.
Description
Technical field
The present invention relates to motor position and detect applied technical field, particularly relate to a kind of method for detecting position of the CT wheel hub motor based on magnet ring and Hall element.
Background technology
Along with industrial develop rapidly, more and more higher to the position detection accuracy requirement of machine operation.At present; On position probing, use wider have coding type transducer, grating sensor, magnetic induction sensor etc.; But because Costco Wholesale is high; The external interference influence is big; Manufacturing, mounting process require high factor, simultaneously, and in motor operation course; Since motor make and work in the magnetic field intensity that exists excessive or too small, magnetic is asymmetric etc. cause motor position inaccurate, sensitivity is low etc., detect for the motor exact position to control to have brought great challenge with rotating speed.
The CT machine to the On-line Control of its motor speed and position, is that to guarantee that the CT machine can form images when doing diagnosis to the patient clear, accurate in running, avoids taking place the mistaken diagnosis phenomenon.
In the CT machine course of work; Rotary speed is extremely important and must a consider technological parameter; The precision of rotating speed and the stable correctness and the accuracy of judging pathology that is directly connected to the imaging of CT machine; Therefore when the CT machine is worked; To the accurate measurement and the control of wheel hub motor rotating speed on the CT machine, seem particularly important.
Summary of the invention
Technical problem to be solved by this invention provides a kind of method for detecting position of the CT wheel hub motor based on magnet ring and Hall element, can be more accurately, more delicately the dynamo-electric seat in the plane of CT is put and rotating speed detects.
The technical solution adopted for the present invention to solve the technical problems is: the method for detecting position that a kind of CT wheel hub motor based on magnet ring and Hall element is provided; Comprise Hall element and position probing ring; Said Hall element is a linear hall sensor, and said position probing ring and CT wheel hub rotor fix; Described method for detecting position may further comprise the steps: CT wheel hub motor is in service; Linear hall sensor detects the position probing ring that CT wheel hub rotor drives; Be divided into absolute position transducer and relative position sensor, and electromagnetic induction takes place with it, produce Hall voltage; Measured Hall voltage and standard value compare in comparator, and the output comparative result is judged CT wheel hub motor through comparative result and whether run to accurate position; During CT wheel hub electric motor starting, absolute position transducer positions and rotating speed control back entering detected state the commutation of relative position sensor control current of electric to the initial position of motor.
Said Hall element is a linear hall sensor, is divided into absolute position transducer and relative position sensor, and the relative position sensor of three commutator effects is separated by 120 ° and is placed, and absolute position transducer aligns with initial position.
Said position probing ring is absolute position detection ring and relative position detection ring, and relative position detection ring positional precision as requested magnetizes and is corresponding number of pole-pairs, and wherein the absolute position detection ring has only a pair of magnetic pole.
Said standard value is through measuring motor position detection ring accurate position Hall voltage; Be stored in the memory data storehouse of digital signal processor DSP; Position according to rotor in the motor operation course is loaded in the comparator of corresponding standard value in advance; Compare with position probing ring actual measurement Hall voltage then, digital signal processor DSP judges through the signal of comparator output whether motor arrives accurate position.
Said absolute position transducer causes the change of Hall voltage through the magnetic pole N utmost point to the transformation of the S utmost point, thereby causes the saltus step of comparator output valve through the detection to the absolute position detection ring, to confirm CT machine rotor initial position.
Beneficial effect
The present invention compared with prior art has following advantage and good effect owing to adopted above-mentioned technical scheme: the present invention relatively locatees and detects motor speed through the numerical value of linear hall sensor and position probing ring electromagnetic induction generation Hall voltage with standard value.Through standard value that records in advance and the comparison of surveying the Hall voltage value; Guaranteed that position signalling is consistent with absolute fix, weakened greatly motor make and work in the magnetic field intensity that exists excessive or too small, magnetic is asymmetric etc. cause motor position inaccurate, sensitivity is low etc.After motor operated in detected state, the motor speed control system will be revised the rotating speed of each commentaries on classics of motor, in order to avoid the CT machine rotating speed deviation occurs when operation, caused imaging inaccurate.Characteristics such as therefore, have the control precision height through the CT wheel hub motor high precision position detection method based on magnet ring and Hall element, response speed is fast, and stability is strong.
Description of drawings
Fig. 1 is that motor position of the present invention detects schematic diagram;
Fig. 2 is a motor position layout of the present invention.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in the restriction scope of the present invention.Should be understood that in addition those skilled in the art can do various changes or modification to the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Shown in Fig. 1-2, the present invention relates to a kind of method for detecting position of the CT wheel hub motor based on magnet ring and Hall element, this method is realized by the high precision position detection device of position probing ring and Hall element.Comprise Hall element and position probing ring, said Hall element is a linear hall sensor, and said position probing ring and CT wheel hub rotor fix; May further comprise the steps: CT wheel hub motor is in service, and linear hall sensor detects the position probing ring that CT wheel hub rotor drives, and is divided into absolute position transducer and relative position sensor, and electromagnetic induction takes place with it, produces Hall voltage; Measured Hall voltage and standard value compare in comparator, and the output comparative result is judged CT wheel hub motor through comparative result and whether run to accurate position; During CT wheel hub electric motor starting, absolute position transducer positions and rotating speed control back entering detected state the commutation of relative position sensor control current of electric to the initial position of motor.After the present invention adopts this method to detect; Weakened greatly because the influence of the site error that magnetic is asymmetric, the magnetic field intensity problem causes that the dynamo-electric machine magnet steel of CT produces in making and working; Improved the positional precision of motor, detected but need in advance the position detection ring to be carried out Hall voltage.
Its concrete steps comprise:
(1) the motor position detection ring is installed on the rotor of wheel hub motor, and corresponding position transducer is installed on frame;
(2) through to the measuring of the accurate position of motor position detection ring Hall voltage, be stored in the memory data storehouse of digital signal processor (DSP);
(3) start the CT machine, in comparator, load appropriate numerical value, control motor simple operation;
(4) position transducer detects electromagnetic signal, and the absolute position detection ring is detected, and changes to the S utmost point through the magnetic pole N utmost point and causes the change of Hall voltage, thereby cause the saltus step of comparator output valve, to confirm whether the CT machine rotor reaches initial position; If reach the position location, then according to the position of rotor in the motor operation course in advance standard value be loaded into corresponding standard value control motor in the comparator and accurately move; If reach position location and rotating speed requirement then begin to get into next step, the CT machine begins to get into detected state, otherwise CT wheel hub motor continues operation and keep detected state to wait for;
(5) relative position sensor of Control current commutation compares through Hall voltage and the standard value that detection obtains; Calculate the mechanical angle that CT machine rotor relative positioning position turns over; And judge that CT machine rotating speed and angular displacement are whether in the error range that the CT machine is allowed; If would get into next step, otherwise keep detected state;
(6) the motor speed control system is controlled motor speed, makes its stabilization of speed in the speed error scope that the CT machine is allowed.
With angular displacement absolute measurement precision be ± 1 ' CT wheel hub motor be example, satisfy according to the electromechanics angular displacement:
ε＝ψ·ρ
ε′＝K·ε
Wherein, ψ is that the corresponding comparator signal of relative position sensor changes corresponding mechanical angle displacement; θ is the mechanical angle displacement that the corresponding comparator of relative position sensor signal changes one-period; α is an electrical degree; P is a relative position detection ring number of pole-pairs, and ρ is the linear hall sensor control precision, and ε is the theoretical position precision; ε ' is the physical location precision, and K is a coefficient of safety.
Linear hall sensor satisfies:
U＝KIB
Wherein, U is a Hall voltage, and K is the sensitivity of Hall material, and B puts magnet ring magnetic flux density for institute's location, and I is a current strength, and R is a Hall coefficient, and d is the thickness of Hall material.
Get K=2 according to actual engine request, ρ=1%, ε '=1 ' time, calculating and answering power taking machine number of pole-pairs is 72 pairs.It is thus clear that on the basis that the transducer control precision does not promote, relative position detection ring number of pole-pairs is many more, the angular displacement precision of motor is also just high more; The Hall voltage and the standard value that adopt the linear hall sensor detection to obtain compare at present, have improved the control precision of linear hall sensor, so the angular displacement precision of motor significantly improves.After rotor rotates a circle, can utilize angular displacement and the speed of relation through closed-loop control adjustment motor between CT wheel hub motor absolute position detection ring and the absolute position transducer, improved the positional precision of CT wheel hub motor greatly.
Be not difficult to find; Compare with conventional detection; The maximum characteristics of the present invention are through standard value that records in advance and the comparison of surveying the Hall voltage value; Guaranteed that position signalling is consistent with absolute fix, weakened greatly motor make and work in the magnetic field intensity that exists excessive or too small, magnetic is asymmetric etc. cause motor position inaccurate, sensitivity is low etc.; Can detect the rotating speed of each commentaries on classics of wheel hub motor on the CT machine; And in time the rotating speed of each commentaries on classics is revised through the motor speed control system; The rotating speed that guarantees each commentaries on classics of wheel hub motor can both be in the error range of predetermined set; Thereby guaranteed the accuracy of CT machine imaging; Therefore; Characteristics such as the detection method that is used in installation absolute position transducer on the CT wheel hub motor outer shroud has the control precision height, and response speed is fast, and stability is strong.
Claims (5)
1. the method for detecting position based on the CT wheel hub motor of magnet ring and Hall element comprises Hall element and position probing ring, and said Hall element is a linear hall sensor, and said position probing ring and CT wheel hub rotor fix; It is characterized in that; Described method for detecting position may further comprise the steps: CT wheel hub motor is in service; Linear hall sensor detects the position probing ring that CT wheel hub rotor drives; Be divided into absolute position transducer and relative position sensor; And electromagnetic induction takes place with it, produce Hall voltage; Measured Hall voltage and standard value compare in comparator, and the output comparative result is judged CT wheel hub motor through comparative result and whether run to accurate position; During CT wheel hub electric motor starting, absolute position transducer positions and rotating speed control back entering detected state the commutation of relative position sensor control current of electric to the initial position of motor.
2. the method for detecting position of the CT wheel hub motor based on magnet ring and Hall element according to claim 1; It is characterized in that; Said Hall element is a linear hall sensor; Be divided into absolute position transducer and relative position sensor; The relative position sensor of three commutator effects is separated by 120 ° and is placed, and absolute position transducer aligns with initial position.
3. the method for detecting position of the CT wheel hub motor based on magnet ring and Hall element according to claim 1; It is characterized in that; Said position probing ring magnetizes and is absolute position detection ring and relative position detection ring; Relative position detection ring positional precision as requested magnetizes and is corresponding number of pole-pairs, and wherein the absolute position detection ring has only a pair of magnetic pole.
4. the method for detecting position of the CT wheel hub motor based on magnet ring and Hall element according to claim 1; It is characterized in that; Said standard value is by measuring motor position detection ring accurate position Hall voltage; Be stored in the memory data storehouse of digital signal processor DSP; Position according to rotor in the motor operation course is loaded in the comparator of corresponding standard value in advance; Compare with position probing ring actual measurement Hall voltage then, digital signal processor DSP judges by the signal of comparator output whether motor arrives accurate position.
5. the method for detecting position of the CT wheel hub motor based on magnet ring and Hall element according to claim 1; It is characterized in that; Said absolute position transducer is through the detection to the absolute position detection ring; Change the change that causes Hall voltage to the S utmost point through the magnetic pole N utmost point; Thereby cause the saltus step of comparator output valve, to confirm CT machine rotor initial position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011102876810A CN102355182B (en) | 2011-09-26 | 2011-09-26 | Method for detecting position of hub motor of CT (computed tomography) machine based on magnetic ring and Hall sensors |
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| CN2011102876810A CN102355182B (en) | 2011-09-26 | 2011-09-26 | Method for detecting position of hub motor of CT (computed tomography) machine based on magnetic ring and Hall sensors |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102594231A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Brushless motor rotor position signal decoding module for automobile electric power steering system |
| CN105008003A (en) * | 2013-02-28 | 2015-10-28 | 舍弗勒技术股份两合公司 | Rotor position encoder for an electronically comutated electric machine having a reference encoder |
| CN105429531A (en) * | 2014-09-10 | 2016-03-23 | 奥迪股份公司 | Method for precise position determination |
| CN106849518A (en) * | 2017-02-17 | 2017-06-13 | 深圳市踏路科技有限公司 | A kind of high accuracy wheel hub motor |
| CN108318841A (en) * | 2018-02-27 | 2018-07-24 | 无锡微研精密冲压件有限公司 | A kind of easy impeller magnetism mistake proofing detection device |
| CN112615160A (en) * | 2020-12-10 | 2021-04-06 | 广州星博信息技术有限公司 | Radio frequency signal phase controller for 5G beam forming |
| CN115347742A (en) * | 2022-10-19 | 2022-11-15 | 常州市美特精密电机有限公司 | Direct current motor |
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| CN201557036U (en) * | 2009-09-25 | 2010-08-18 | 上海电驱动有限公司 | Chip-hall type hub motor |
| CN101877524A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Integrated hub motor and control method thereof |
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| CN101877524A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Integrated hub motor and control method thereof |
| CN201414063Y (en) * | 2009-05-25 | 2010-02-24 | 重庆大学 | Brushless direct current permanent magnet motor electromechanical integration structure for electric automobiles |
| CN201557036U (en) * | 2009-09-25 | 2010-08-18 | 上海电驱动有限公司 | Chip-hall type hub motor |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102594231A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Brushless motor rotor position signal decoding module for automobile electric power steering system |
| CN102594231B (en) * | 2012-02-16 | 2014-09-17 | 吉林大学 | Brushless motor rotor position signal decoding module for automobile electric power steering system |
| CN105008003A (en) * | 2013-02-28 | 2015-10-28 | 舍弗勒技术股份两合公司 | Rotor position encoder for an electronically comutated electric machine having a reference encoder |
| US10177638B2 (en) | 2013-02-28 | 2019-01-08 | Schaeffler Technologies AG & Co. KG | Rotor position encoder for an electronically commutated electric machine having a reference encoder |
| CN105429531A (en) * | 2014-09-10 | 2016-03-23 | 奥迪股份公司 | Method for precise position determination |
| CN105429531B (en) * | 2014-09-10 | 2019-07-19 | 奥迪股份公司 | Method for being accurately determined position |
| CN106849518A (en) * | 2017-02-17 | 2017-06-13 | 深圳市踏路科技有限公司 | A kind of high accuracy wheel hub motor |
| CN106849518B (en) * | 2017-02-17 | 2020-06-05 | 深圳市踏路科技有限公司 | Calibration method for hub motor signal detection device |
| CN108318841A (en) * | 2018-02-27 | 2018-07-24 | 无锡微研精密冲压件有限公司 | A kind of easy impeller magnetism mistake proofing detection device |
| CN112615160A (en) * | 2020-12-10 | 2021-04-06 | 广州星博信息技术有限公司 | Radio frequency signal phase controller for 5G beam forming |
| CN112615160B (en) * | 2020-12-10 | 2021-10-26 | 深圳鼎信通达股份有限公司 | Radio frequency signal phase controller device for 5G beam forming |
| CN115347742A (en) * | 2022-10-19 | 2022-11-15 | 常州市美特精密电机有限公司 | Direct current motor |
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