CN102545524B - Rotor position detection device for permanent magnet motor - Google Patents
Rotor position detection device for permanent magnet motor Download PDFInfo
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- CN102545524B CN102545524B CN2012100328322A CN201210032832A CN102545524B CN 102545524 B CN102545524 B CN 102545524B CN 2012100328322 A CN2012100328322 A CN 2012100328322A CN 201210032832 A CN201210032832 A CN 201210032832A CN 102545524 B CN102545524 B CN 102545524B
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- 230000000630 rising effect Effects 0.000 description 8
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Abstract
The invention discloses a rotor position detection device for a permanent magnet motor. The rotor position detection device comprises a Hall position sensor, a permanent magnet, a rotor core and a stator core, wherein the permanent magnet, the rotor core and the stator core form the permanent magnet motor; the permanent magnet is positioned between the rotor core and the stator core, and is connected with the rotor core; the Hall position sensor is arranged above the upper surface of the permanent magnet; a certain space is reserved between the Hall position sensor and the upper surface of the permanent magnet; the axis of the Hall position sensor forms an included angle Theta with the upper surface of the permanent magnet; the detection surface of the Hall position sensor faces the upper surface of the permanent magnet; a magnetization lining plate is arranged on the back surface of the Hall position sensor; the Hall position sensor is connected with a printed circuit board (PCB) through a non-magnetization bracket; the PCB is connected with the stator core through a PCB bracket; and a signal wire and a power cord of the Hall position sensor are electrically connected with a preposed processing circuit on the PCB. The device has the characteristics of simple and rational structure, high sensing capability and wide application range.
Description
Technical field
The present invention relates to the detecting apparatus for rotor position of a kind of magneto, particularly a kind of magneto.
Background technology
The surface-adhered type magneto, owing to having the lower and process of cost of manufacture, has become one of main drive motors of present industrial automation and household electrical appliances, automobile and other industries.But, no matter be permanent-magnet brushless DC electric machine or permagnetic synchronous motor, it all needs a position detecting device to provide rotor-position signal for driver, thereby the accuracy of position detecting device and reliability become the key of system reliability.
Do not consider cost or needing the precision of very high degree of precision to drive occasion, usually adopt photoelectric encoder or resolver as position detecting device, but the cost of these two kinds of position detecting devices is higher, has sometimes even surpassed the cost price of magneto itself.Thereby usually adopt hall position sensor as position detecting element in low-cost application.
Existing detection system based on hall position sensor is usually by lengthening permanent magnet, in disclosed a kind of motor rotor on November 1st, 2006, and Chinese patent literature CN 201813240U was on 09 22nd, 2010 disclosed a kind of shell structure of external rotor permanent magnet motors as Chinese patent literature CN 1856924A; Perhaps, detection system is installed separately the magnet ring that position signalling is provided, as Chinese patent literature CN 101243598A in disclosed a kind of motor on August 13rd, 2008, and Chinese patent literature CN 201860242U is in the checkout gear of on 06 08th, 2011 disclosed a kind of motor rotor position and speed, and makes the detection faces of the magnetizing direction of permanent magnet perpendicular to Hall element itself.In permanent magnet price surging today, provide position detection signal can significantly increase cost undoubtedly by increasing the permanent magnet consumption, and install separately or increase permanent magnet length and will increase axial space, be unfavorable for the optimization of electric machine structure.
Summary of the invention
Purpose of the present invention aims to provide a kind of detecting apparatus for rotor position of simple and reasonable, magneto that sensing capability is strong, applied widely, to overcome weak point of the prior art.
Press the detecting apparatus for rotor position of a kind of magneto of this purpose design, comprise hall position sensor and the permanent magnet, rotor core and the stator core that form magneto, permanent magnet is between rotor core and stator core, permanent magnet and rotor core join, its architectural feature is the top that hall position sensor is arranged on the upper surface of permanent magnet, is reserved with certain space between the upper surface of hall position sensor and permanent magnet.
Angle between the axis of described hall position sensor and the upper surface of permanent magnet is θ.
The detection faces of described hall position sensor is towards the upper surface of permanent magnet.
The back side of described hall position sensor is provided with the magnetic conduction liner plate.
Described hall position sensor joins by not magnetic conduction support and pcb board, and pcb board joins by pcb board support and stator core.
The holding wire of described hall position sensor and power line are electrically connected to the preposing signal process circuit on pcb board.
Described stator core is positioned at the inboard of rotor core, and the inwall of permanent magnet and rotor core joins; Perhaps, rotor core is positioned at the inboard of stator core, and the periphery of permanent magnet and rotor core is joined.
Described hall position sensor is unipolarity or the bipolarity hall position sensor of latch-type.
After the present invention adopts above-mentioned technical scheme, (magnetizing direction and magnetic line of force closing direction are not same concepts for the upper surface of hall position sensor and permanent magnet and magnetizing direction, but magnetizing direction is identical with magnetic line of force closing direction herein) be the angle theta setting, this angle theta can be drawn by FEM (finite element) calculation; The magnetic conduction liner plate that is arranged on the hall position sensor back side is used for further guiding the trend of end stray field, can strengthen the sensing capability of hall position sensor to stray field.
When the change in location of rotor core, hall position sensor sense permanent magnet upper surface magnetic field variation and be translated into the signal of telecommunication, amplify and steady phase by the preposing signal process circuit on pcb board, then offer controller and carry out associative operation.
The present invention had both gone for external rotor surface-adhered type magneto, go for again inner rotor face mounted type magneto, can also be applicable to terres rares magneto or non-terres rares magneto, it has the characteristics simple and reasonable, that sensing capability is strong, applied widely.
Description of drawings
Fig. 1 is the broken section structural representation of first embodiment of the invention.
Fig. 2 is the dotted line place structure for amplifying schematic diagram in Fig. 1.
Fig. 3 is the design flow diagram of the setting angle of the hall position sensor in the present invention.
Fig. 4 is that the axle of hall position sensor is looked the installation site schematic diagram
Fig. 5 looks the installation site schematic diagram for the axle of the hall position sensor after simplifying.
Fig. 6 is the schematic diagram that concerns of three-phase hall sensor signal and three-phase back electromotive force
Fig. 7 is the three-phase hall sensor signal after simplifying and the phase relation schematic diagram of three-phase back electromotive force.
Fig. 8 is the broken section structural representation of second embodiment of the invention.
Fig. 9 is the dotted line place structure for amplifying schematic diagram in Fig. 8.
In figure: 1 is permanent magnet, and 2 is rotor core, and 3 is stator core, 4 is hall position sensor, and 5 is the magnetic conduction liner plate, and 6 are magnetic conduction support not, 7 is pcb board, and 71 is the pcb board support, and 8 is coil windings, 41 is A phase hall position sensor, 42 is B phase hall position sensor, and 43 is C phase hall position sensor, and the Hall_A in figure is A phase hall position sensor, Hall_B is B phase hall position sensor, and Hall_C is C phase hall position sensor.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
The first embodiment
Referring to Fig. 1-Fig. 7, the detecting apparatus for rotor position of this magneto, comprise hall position sensor 4 and the permanent magnet 1, rotor core 2 and the stator core 3 that form magneto, permanent magnet 1 is between rotor core 2 and stator core 3, permanent magnet 1 joins with rotor core 2, hall position sensor 4 is arranged on the top of the upper surface of permanent magnet 1, is reserved with certain space between the upper surface of hall position sensor 4 and permanent magnet 1.The size in this space is determined by signal strength signal intensity and the safe distance in real work of hall position sensor 4.
In the present embodiment, magneto is external rotor surface-adhered type magneto, and stator core 3 is positioned at the inboard of rotor core 2, and permanent magnet 1 joins with the inwall of rotor core 2.
The upper surface of the permanent magnet 1 in Fig. 1-Fig. 2, the upper surface of the upper end of permanent magnet 1 namely, because the effect of the edge effect at motor edge will produce the brow leakage field, the magnetic line of force of this stray field is by air and the closed closed magnetic line of force that forms of rotor core 2, angle between this closed magnetic line of force and horizontal plane is θ, that is to say that the angle between the upper surface of the closed magnetic line of force and permanent magnet 1 is θ, therefore, the angle between the upper surface of the axis of hall position sensor 4 and permanent magnet 1 is θ.Angle theta draws by the field distribution of FEM (finite element) calculation brow leakage.
The detection faces of hall position sensor 4 is towards the upper surface of permanent magnet 1.The back side of hall position sensor 4, namely the another side of detection faces, be provided with magnetic conduction liner plate 5.
During installation, the installation site of hall position sensor 4 and angle guarantee by magnetic conduction support not 6, this not magnetic conduction support 6 be arranged on the pcb board 7 of horizontal positioned.Pcb board 7 is connected with stator core 3 by pcb board support 71, and then guarantees the position of whole detecting apparatus for rotor position.The detection faces of hall position sensor 4 is towards the upper surface of permanent magnet 1 and guarantee the setting of angle theta, be provided with magnetic conduction liner plate 5 at the back side of hall position sensor 4, be used for further guiding the trend of end stray field, make it more be conducive to the position probing of hall position sensor 4.
The holding wire of hall position sensor 4 and power line are electrically connected to the preposing signal process circuit on pcb board 7.Preposing signal process circuit comprises that mainly signal follows and amplifying circuit and protective circuit.
When the permanent magnetic material that adopts non-terres rares is made permanent magnet, often permanent magnet 1 is designed slightly longlyer than stator core 3, but whether use rare-earth permanent magnetic material not affect application of the present invention.
Angle theta is calculated by the design cycle shown in Fig. 3, and for different motor form and magnet steel mounting means, length, this angle theta is different.
Thereby in every kind of motor application, finite element simulation should be carried out in advance determine this angle theta, and guarantee when mounted the accurate of this angle theta as far as possible.As not having condition to carry out FEM (finite element) calculation, method is determined the angle theta that optimum signal intensity is corresponding by experiment.
Design cycle comprises the following steps:
The first step, set up motor end FEM (finite element) model; , according to Fig. 1-Fig. 2, should be the FEM (finite element) model of setting up the motor upper end here.
Second step, carry out finite element analysis computation.
In the 3rd step, analyze the brow leakage field distribution.
In the 4th step, find out leakage-flux density vector maximum.
The 5th step, position and the setting angle of design hall position sensor.
The axle of hall position sensor is looked installation site as shown in Figure 4, and this Fig. 4 is take the magneto of three-phase 12 utmost point 18 grooves as example, and the part that in Fig. 4, shade is filled is coil windings 8.
, for the installation site of outstanding hall position sensor 4, magnetic conduction liner plate 5, not magnetic conduction support 6, pcb board 7 and pcb board support 71 have been omitted in Fig. 4.Three-phase hall position sensor 4 is respectively A phase hall position sensor 41, B phase hall position sensor 42 and C phase hall position sensor 43.
When the axis of the axis of A phase hall position sensor 41 and A phase winding aligned, the axis of the axis of B phase hall position sensor 42, C phase hall position sensor 43 differed successively 120 ° of electrical degrees and aligns with the axis of B phase winding and the axis of C phase winding respectively.
The axis of so-called hall position sensor is exactly the center line (chain-dotted line in figure) of hall position sensor, and the axis of B phase hall position sensor 42 is the centre symmetry line of B phase winding place stator tooth, and the axis of C phase hall position sensor 43 is the centre symmetry line of C phase winding place stator tooth; Whether so-called alignment namely refers to two lines on installation site and overlaps, and Fig. 4 is for not overlapping, and Fig. 5 is for overlapping.
120 ° of mechanical angle α that electrical degree is corresponding, have α=360/m/p;
Wherein: m is the number of phases, and p is number of pole-pairs, in this example, m=3, p=6, therefore α=20 °.
In order to reduce the distribution angle of hall position sensor 4, and then reduce not volume and the cost of magnetic conduction support 6, magnetic conduction liner plate 5 and pcb board 7,
Can C phase hall position sensor 43 be arranged on the geometric center lines of A phase hall position sensor 41, B phase hall position sensor 42 according to the three-phase symmetrical principle, and with the hall position sensor 180 ° of installations of reversing up and down.When hall position sensor did not reverse installation, resulting C phase position signal was just anti-phase.Hall position sensor is the element of a squarish, and its geometric center lines is exactly to cross the line of the central point formation of hall position sensor from the central point in whole motor cross section (axle center), as passing the chain-dotted line of hall position sensor in Fig. 4 and Fig. 5.
As shown in Figure 6, at this moment, the rising edge of each phase hall sensor signal coincides with the positive going zeror crossing point of three-phase phase back electromotive force the relation of three-phase hall sensor signal and three-phase back electromotive force.
, for the simplification of director demon, can be exactly 30 ° of electrical degrees of rising edge hysteresis back electromotive force zero-crossing of hall position sensor 4 when hall position sensor is installed.It is that 30 ° of electrical degrees are carried out corresponding winding is open-minded that the normal square wave brushless electric machine that uses hall position sensor is controlled, and is generally to make the rising edge of hall position sensor and back electromotive force zero-crossing overlap.And in the ordinary course of things, the rising edge that uses the hall position sensor signal as corresponding windings to open signal the easiest, therefore can guarantee when mounted 30 ° of mechanical angles corresponding to electrical degree of rising edge hysteresis back electromotive force zero-crossing of hall position sensor, it is exactly the β angle of back, so just need not to adopt delay procedure (complexity that increases like this, likely increase cost) in controller.
As shown in Figure 7, so control switch circuit turn-on direct according to rising edge need not delaying time of controller and trigger.This moment installation site as shown in Figure 5,30 ° of mechanical angle β that electrical degree is corresponding, have β=30/p.
Above-mentioned angle theta is the angle between hall position sensor and stator core upper surface (axial slices), the setting angle that belongs to hall position sensor, and α and β are the angles from the axis projection direction, mechanical angle α and β and angle theta on same plane, do not have direct relation.
During control, adopt the control mode of common brshless DC motor, does not install at the β angle if lag behind, after in control pillar, employing detects the signal rising edge of hall position sensor, (this time becomes according to existing rotating speed (being also to draw from the calculated signals of hall position sensor) time corresponding to 30 ° of electrical degrees of time delay, so the rotating speed difference will ceaselessly become, if it is inaccurate that rotating speed detects, this calculating will have error, cause current fluctuation, worsen motor performance).If adopted hysteresis β angle to install, just can be directly according to the rising edge of the signal of hall position sensor, carry out the conducting of corresponding windings, control facilitate accurate.
The second embodiment
Referring to Fig. 8-Fig. 9, in the present embodiment, magneto is inner rotor face mounted type magneto, and rotor core 2 is positioned at the inboard of stator core 3, and permanent magnet 1 joins with the periphery of rotor core 2.
In fact, position probing principle of the present invention is mainly for the brow leakage field, thereby which kind of magneto there is no obvious differentiation for.All the other are not stated part and see the first embodiment, no longer repeat.
Claims (7)
1. the detecting apparatus for rotor position of a magneto, comprise hall position sensor (4) and the permanent magnet (1), rotor core (2) and the stator core (3) that form magneto, permanent magnet (1) is positioned between rotor core (2) and stator core (3), permanent magnet (1) joins with rotor core (2), it is characterized in that hall position sensor (4) is arranged on the top of the upper surface of permanent magnet (1), be reserved with certain space between the upper surface of hall position sensor (4) and permanent magnet (1);
Angle between the upper surface of the axis of described hall position sensor (4) and permanent magnet (1) is θ;
θ is the angle between the upper surface of the magnetic line of force of stray field of permanent magnet (1) end and permanent magnet (1).
2. the detecting apparatus for rotor position of magneto according to claim 1, is characterized in that the upper surface of the detection faces of described hall position sensor (4) towards permanent magnet (1).
3. the detecting apparatus for rotor position of magneto according to claim 2, is characterized in that the back side of described hall position sensor (4) is provided with magnetic conduction liner plate (5).
4. the detecting apparatus for rotor position of magneto according to claim 3, it is characterized in that described hall position sensor (4) joins by magnetic conduction support (6) not and pcb board (7), pcb board (7) joins by pcb board support (71) and stator core (3).
5. the detecting apparatus for rotor position of magneto according to claim 4, is characterized in that the holding wire of described hall position sensor (4) and power line are electrically connected to the preposing signal process circuit on pcb board (7).
According to claim 1 to 5 arbitrary described magneto detecting apparatus for rotor position, it is characterized in that described stator core (3) is positioned at the inboard of rotor core (2), the inwall of permanent magnet (1) and rotor core (2) joins; Perhaps, rotor core (2) is positioned at the inboard of stator core (3), and permanent magnet (1) joins with the periphery of rotor core (2).
7. the detecting apparatus for rotor position of magneto according to claim 6, is characterized in that described hall position sensor (4) is the unipolarity of latch-type or bipolarity hall position sensor.
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| CN2012100328322A CN102545524B (en) | 2012-02-14 | 2012-02-14 | Rotor position detection device for permanent magnet motor |
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| CN2012100328322A CN102545524B (en) | 2012-02-14 | 2012-02-14 | Rotor position detection device for permanent magnet motor |
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| CN103825408A (en) | 2014-02-28 | 2014-05-28 | 深圳市大疆创新科技有限公司 | Motor, cloud deck using the motor and shooting device using the cloud deck |
| CN104377931B (en) * | 2014-11-26 | 2018-03-09 | 朱福善 | A kind of composition and driving method of trigger-type brushless, permanently excited direct current motor |
| CN104659973B (en) * | 2015-01-30 | 2017-02-22 | 沈阳航空航天大学 | Apparatus for detecting rotating speed and position of aircraft permanent magnet synchronous motor |
| CN109423831B (en) * | 2017-08-31 | 2023-12-15 | 上海海尔洗涤电器有限公司 | three-Hall logic positioning detection method and device and washing machine |
| CN107910989B (en) * | 2017-11-16 | 2024-06-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor rotor detection assembly and motor |
| CN108063523B (en) * | 2017-12-19 | 2024-10-29 | 深圳市哈博森科技有限公司 | Tripod head motor and rotor position angle detection method thereof |
| CN109842245B (en) * | 2019-01-22 | 2024-08-16 | 宁波拓普集团股份有限公司 | Permanent magnet motor rotor position measuring device and method |
| CN111112785B (en) * | 2020-01-17 | 2021-02-12 | 浙江大学 | A permanent magnet motor outer rotor NdFeB permanent magnet brazing combined flexible fixture |
| CN112383202A (en) * | 2020-12-02 | 2021-02-19 | 江苏苏美达五金工具有限公司 | Hall sensor of direct-current permanent magnet brushless motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293484A (en) * | 1999-10-15 | 2001-05-02 | 雅马哈发动机株式会社 | Detecting apparatus for rotor position of motor |
| CN202524270U (en) * | 2012-02-14 | 2012-11-07 | 美的威灵电机技术（上海）有限公司 | Rotor position detection device for permanent magnet motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1968173B1 (en) * | 2007-03-06 | 2010-02-24 | ebm-papst St. Georgen GmbH & Co. KG | Electronically commutatable external rotor motor with a conductor board |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293484A (en) * | 1999-10-15 | 2001-05-02 | 雅马哈发动机株式会社 | Detecting apparatus for rotor position of motor |
| CN202524270U (en) * | 2012-02-14 | 2012-11-07 | 美的威灵电机技术（上海）有限公司 | Rotor position detection device for permanent magnet motor |
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