CN103545990A - Motor closed-loop feedback device - Google Patents
Motor closed-loop feedback device Download PDFInfo
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- CN103545990A CN103545990A CN201310482683.4A CN201310482683A CN103545990A CN 103545990 A CN103545990 A CN 103545990A CN 201310482683 A CN201310482683 A CN 201310482683A CN 103545990 A CN103545990 A CN 103545990A
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Abstract
The invention provides a motor closed-loop feedback device which comprises a motor, a sensor and a magnet. The sensor is disposed on the end cover of the motor. The magnet is disposed on the shaft of the motor. The end face, close to the sensor, of the magnet is designed into a spiral face. During operation, the magnet can rotate along the motor shaft, and the distance from the spiral face to the sensor changes along with the rotation. The motor closed-loop feedback device is simple in structure, low in manufacturing cost, high in precision, good in dynamic response and high in stability.
Description
Technical field
The invention belongs to motor closed-loop control system technical field, be specifically related to a kind of closed-loop feedback arrangement of motor.
Background technology
Motor closed-loop control system technology is widely used, and mainly three parts, consists of: controller, power driving device, feedback device and motor.Encoder is also a kind of closed-loop feedback arrangement.
Encoder converts the signal of telecommunication to angular displacement or straight-line displacement, and the former is called code-disc, and the latter is called yardstick.According to playback mode encoder, can be divided into contact and contactless two kinds; According to operation principle encoder, can be divided into increment type and absolute type two classes.Incremental encoder is to convert displacement to the periodic signal of telecommunication, then this signal of telecommunication is transformed into count pulse, represents the size of displacement by the number of pulse.The corresponding definite digital code in each position of absolute type encoder, so its indicating value is only relevant with the initial sum final position of measuring, and irrelevant with the pilot process of measuring.
On market, common motor closed-loop feedback arrangement has two kinds now:
The one, photoelectric type, is used optical code disk, has logical, the dark groove of annular on it, has photoelectric emission and receiving device to read, and when code-disc rotates along with motor shaft, logical local light can transmissive, and dark place is just light tight.Receiving device just can produce pulse signal like this.According to pulse signal, can calculate angular displacement.While being used for having the environment of dust, must seal, otherwise have ash to get lodged in just impact use on code-disc.
The 2nd, magneto-electric, is fixed on rotation together on motor shaft magnetic material, produces rotating magnetic field, utilizes the variation of sensor sensing rotating magnetic field can calculate angular displacement.Current product structure is complicated, and cost is very high.
Summary of the invention
The object of the present invention is to provide a kind of motor closed-loop feedback arrangement, solved problems of the prior art, simple in structure, be easy to manufacture, production cost is low; Precision is high, and dynamic response is good, and stability is high; Can allow certain manufacture and alignment error and not affect use.
To achieve these goals, technical scheme of the present invention is as follows:
A closed-loop feedback arrangement, it comprises motor, transducer and magnet; Described sensor setting is on electric motor end cap, and described magnet is arranged on the axle of motor, and magnet is arranged to helicoid near the end face of transducer, and during work, magnet can rotate along with motor shaft, and helicoid changes along with rotation to the distance of transducer.
In one embodiment of the invention, described sensor setting is on electric motor end cap, near magnet helicoid one end.
In one embodiment of the invention, described magnet is arranged on the axle of motor, can rotate along with motor shaft.
In one embodiment of the invention, one of them end face of described magnet is set to helicoid.
In one embodiment of the invention, described transducer can arrange two or more, forms a differential structure.
Motor closed-loop feedback arrangement of the present invention, principle is to utilize sensor sensing magnetic field intensity, when changing magnet to the distance of transducer, sensor sensing to magnetic field intensity can change, the variable quantity of magnetic field intensity and magnet are to the distance wired sexual intercourse of transducer, by measuring magnetic field intensity, just can know the position of magnet.
On electric motor end cap, be provided with one or more transducers, be provided with magnet on motor shaft, magnet is set to helicoid near an end face of transducer, in helicoid 360 degree, is just in time one-period.
When magnet rotates with motor shaft, because the end surface of magnet is helicoid, 360 degree inner helical surfaces are just in time one-period, the axial distance that namely on helicoid, unspecified angle corresponds to transducer is all unique, rotation along with motor shaft, helicoid is continually varying to the distance of transducer, measure magnetic field intensity, just can know the circumference angle position of magnet, and magnet is fixed on motor shaft, in system, set the corresponding relation of motor shaft circumference angle position and magnetic field intensity, when magnet rotates, just can converse the angular displacement of motor shaft, realize object of the present invention.
Feature of the present invention can be consulted the detailed description of the graphic and following better execution mode of this case and be obtained and be well understood to.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of motor closed-loop feedback arrangement of the present invention;
Fig. 2 is the planar structure schematic diagram of motor closed-loop feedback arrangement of the present invention.
Fig. 3 is the planar structure schematic diagram that two transducers are set of motor closed-loop feedback arrangement of the present invention
Embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with specific embodiment, further set forth the present invention.
Frame mode:
Referring to Fig. 1---3, motor closed-loop feedback arrangement, magnet 6 is arranged on motor shaft 2, can rotate together along with motor shaft 2; On motor 1, be provided with erection column 4, transducer 3 is fixed on erection column 4.
Application principle:
Application principle is transducer 3 induced field intensity, when change magnet 6 arrives the distance of transducer 3, the magnetic field intensity that transducer 3 senses can change, the variable quantity of magnetic field intensity and magnet 6 are to the distance wired sexual intercourse of transducer 3, by measuring magnetic field intensity, just can know the position of magnet 6.
Operation principle:
Because the end face of magnet 6 is set to helicoid 5, helicoid 5 is just in time one-period in 360 degree, the axial distance that namely on helicoid 5, unspecified angle corresponds to transducer 3 is all unique, when motor shaft 2 band moving magnet 6 rotation, the helicoid 5 of magnet 6 is continuous continually varyings to the distance of transducer 3, therefore the magnetic field intensity that transducer 3 senses is also continuous continually varying, and 360 degree internal magnetic field intensity levels are not identical.Measure magnetic field intensity and just can draw the absolute angular position of motor shaft 2 by converting.Carry out the object of motor closed-loop feedback arrangement of the present invention.
Differential structure:
As Fig. 3, a plurality of transducers 3 are set and are distributed in magnet 6 around, can form a differential structure, usually, two transducers just can reach Cui effect; All the sensors 3 is set simultaneously consistent along the axial height of motor shaft 2.The helicoid 5 that shares same magnet 6 due to a plurality of transducers 3 carrys out measurement of inductance, and when magnet 3 rotates a circle, the curve shape of the magnetic field intensity that a plurality of transducers 3 are measured is identical, and just phase place is different; This curve model can be stored in system in advance, is made as the curve of theoretical magnetic field intensity.
During real work, the real-time difference of relatively calculating the current measured value of each transducer and theoretical curve model relevant position, processes by software, just can realize:
(1), by multiple spot measured value, relatively calculate, know the correctness of each transducer measured value, and can know the deviation of concrete which sensor measurement is how many.Thereby can ignore, in magnet batch production, magnetize intensity inequality or product in use for some time, the impact of the factors such as magnet demagnetization; These factors only can cause all the sensors measured value with respect to theoretical curve, to do whole skew.
(2), part manufacture, alignment error, such as axiality etc., can not affect the use of this feedback device.The magnetic field intensity measuring only arrives the distance dependent of transducer 3 with the helicoid 5 of magnet 6, if actual range is different from theoretical value, each transducer measured value also only can be done whole skew with respect to theoretical curve.
Motor closed-loop feedback arrangement advantage of the present invention:
(1) simple in structure, effectively reduce manufacturing cost.
(2) precision is high, and dynamic response is good, and line number is high, can meet various use occasions.Such as using on the motors such as various servo, steppings.
(3) stability is high, is not subject to the interference of environment for use.
(4) be easy to manufacture, can allow certain part foozle, alignment error.
(5) magnetize in magnet batch production intensity inequality or use after a period of time, magnet demagnetization etc. can not affect use.
Thereby realize object of the present invention.
More than show and described basic principle of the present invention, principal character and advantage of the present invention.If those skilled in the art does simple modification or replacement to foregoing invention content, such change can not be thought to depart from the scope of the present invention, all like this to the apparent modification of those skilled in the art by within being included in the scope of claim of the present invention.
Claims (5)
1. a motor closed-loop feedback arrangement, it comprises motor, transducer and magnet; Described sensor setting is on electric motor end cap, and described magnet is arranged on the axle of motor, and magnet is arranged to helicoid near the end face of transducer, and during work, magnet can rotate along with motor shaft, and helicoid changes along with rotation to the distance of transducer.
2. motor closed-loop feedback arrangement according to claim 1, is characterized in that, described sensor setting is on electric motor end cap, near magnet helicoid one end.
3. motor closed-loop feedback arrangement according to claim 1, is characterized in that, described magnet is arranged on the axle of motor, can rotate along with motor shaft.
4. motor closed-loop feedback arrangement according to claim 1, is characterized in that, one of them end face of described magnet is set to helicoid.
5. motor closed-loop feedback arrangement according to claim 1, is characterized in that, described transducer can arrange two or more, forms a differential structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310482683.4A CN103545990A (en) | 2013-10-05 | 2013-10-05 | Motor closed-loop feedback device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310482683.4A CN103545990A (en) | 2013-10-05 | 2013-10-05 | Motor closed-loop feedback device |
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| CN103545990A true CN103545990A (en) | 2014-01-29 |
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| CN201310482683.4A Pending CN103545990A (en) | 2013-10-05 | 2013-10-05 | Motor closed-loop feedback device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963833A (en) * | 2014-05-14 | 2014-08-06 | 嘉兴海格力思电子科技有限公司 | Power-assisted steering system of electric pallet truck |
| CN104089646A (en) * | 2014-06-30 | 2014-10-08 | 三一汽车制造有限公司 | Detection system and method used for detecting parameters of rotating body |
| CN105790511A (en) * | 2016-04-21 | 2016-07-20 | 东北大学 | Stepping motor control device and control method |
| CN105897091A (en) * | 2016-05-25 | 2016-08-24 | 北京先驱威锋技术开发公司 | Noise reduction apparatus and noise reduction method for liquid-feeding device |
| CN105915132A (en) * | 2016-07-06 | 2016-08-31 | 西安瑞日电子发展有限公司 | Magnetic closed-loop stepper motor controller |
| CN107401975A (en) * | 2016-05-18 | 2017-11-28 | 法国大陆汽车公司 | For carrying out the linear response formula position sensor of angular surveying to the mechanical part of rotation |
| CN109163676A (en) * | 2018-09-29 | 2019-01-08 | 中国煤炭科工集团太原研究院有限公司 | A kind of development machine suspending arm rotary angle detection method and device |
| CN111256580A (en) * | 2020-02-13 | 2020-06-09 | 维沃移动通信有限公司 | Electronic equipment and rotation angle detection method |
| CN111561899A (en) * | 2020-04-29 | 2020-08-21 | 维沃移动通信有限公司 | Folding angle detection method and electronic equipment |
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| DE20214511U1 (en) * | 2002-09-19 | 2004-02-19 | Kiekert Ag | Electric motor rotation counter has magnet sensor and Hall effect detector mounted on hollow motor end cover including motor connections |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963833A (en) * | 2014-05-14 | 2014-08-06 | 嘉兴海格力思电子科技有限公司 | Power-assisted steering system of electric pallet truck |
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| CN104089646A (en) * | 2014-06-30 | 2014-10-08 | 三一汽车制造有限公司 | Detection system and method used for detecting parameters of rotating body |
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| CN105790511A (en) * | 2016-04-21 | 2016-07-20 | 东北大学 | Stepping motor control device and control method |
| CN107401975A (en) * | 2016-05-18 | 2017-11-28 | 法国大陆汽车公司 | For carrying out the linear response formula position sensor of angular surveying to the mechanical part of rotation |
| CN105897091A (en) * | 2016-05-25 | 2016-08-24 | 北京先驱威锋技术开发公司 | Noise reduction apparatus and noise reduction method for liquid-feeding device |
| CN105915132A (en) * | 2016-07-06 | 2016-08-31 | 西安瑞日电子发展有限公司 | Magnetic closed-loop stepper motor controller |
| CN109163676A (en) * | 2018-09-29 | 2019-01-08 | 中国煤炭科工集团太原研究院有限公司 | A kind of development machine suspending arm rotary angle detection method and device |
| CN111256580A (en) * | 2020-02-13 | 2020-06-09 | 维沃移动通信有限公司 | Electronic equipment and rotation angle detection method |
| CN111256580B (en) * | 2020-02-13 | 2021-07-20 | 维沃移动通信有限公司 | Electronic equipment and rotation angle detection method |
| CN111561899A (en) * | 2020-04-29 | 2020-08-21 | 维沃移动通信有限公司 | Folding angle detection method and electronic equipment |
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Application publication date: 20140129 |