CN103731077B - The checkout gear of motor rotor position and rotating speed and method - Google Patents
The checkout gear of motor rotor position and rotating speed and method Download PDFInfo
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- CN103731077B CN103731077B CN201410027236.4A CN201410027236A CN103731077B CN 103731077 B CN103731077 B CN 103731077B CN 201410027236 A CN201410027236 A CN 201410027236A CN 103731077 B CN103731077 B CN 103731077B
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Abstract
The invention provides the checkout gear of a kind of motor rotor position and rotating speed, comprise the position transducer rotor be fixedly installed in the rotating shaft of rotor, described position transducer rotor comprises the permanent magnet that can produce sine space magnetic field, described checkout gear also comprises 3 linear hall elements for detecting described sine space magnetic field be arranged on motor stator, each described linear hall element with the mode of mutual deviation 120 degree of electrical degrees be distributed in the plane vertical with described rotating shaft with described rotating shaft for the center of circle circumferentially.Present invention also offers the detection method of a kind of motor rotor position and rotating speed, the magnitude relationship of the magnitude of voltage exported according to 3 linear hall elements judges current which the electrical degree interval be in the electrical degree cycle, then according to described magnitude of voltage and described electrical degree interval computation the position of rotor.The present invention can low cost and high accuracy, the position realizing rotor with high reliability and velocity measuring.
Description
Technical field
The present invention relates to electric machines test field, particularly the checkout gear of a kind of motor rotor position and rotating speed and method.
Background technology
At present, electric bicycle, Self-balancing electronic two wheeler, the wheelbarrow with equilibrium function and electric automobile etc. are all using motor as major impetus output device, the cost of these applications is lower, but to the precision of motor rotor position sensor and the requirement of reliability higher.
In prior art, the position detecting device of brushless, permanently excited direct current motor has: discrete Hall element, photoelectric encoder and resolver.Discrete Hall element provides six positions an electrical degree cycle, and positional precision is low, adopts this position detecting device, and motor torque ripple is large, Accuracy of Velocity Calculation is low.Although photoelectric encoder positional precision is high, expensive, and affect comparatively large by applied environment, improper and electric automobiles that cost low high to reliability requirement.Resolver reliability and position detection accuracy are all very high, and its same price is expensive, and decoding algorithm is complicated, need to adopt hardware chip decoding, although circuit is simple, but decoding chip is expensive.
Summary of the invention
The object of the invention is to, provide a kind of low cost and the checkout gear of precision and the high motor rotor position of reliability and rotating speed and method.
For this reason, the invention provides the checkout gear of a kind of motor rotor position and rotating speed, comprise the position transducer rotor be fixedly installed in the rotating shaft of rotor, described position transducer rotor comprises the permanent magnet that can produce sine space magnetic field, described checkout gear also comprises 3 linear hall elements for detecting described sine space magnetic field be arranged on motor stator, each described linear hall element with the mode of mutual deviation 120 degree of electrical degrees be distributed in the plane vertical with described rotating shaft with described rotating shaft for the center of circle circumferentially.
Further, the radius of described circumference is that the magnetic field intensity that described linear hall element can be made to detect is less than the numerical value of the maximum magnetic field strength that it can be responded to and is greater than predetermined value.
Preferably, described permanent magnet has two to pole.
Preferably, described permanent magnet is the alternatively distributed four tile type Nd-Fe-B magnet steels of magnetic pole.
Present invention also offers a kind of motor rotor position of checkout gear based on described motor rotor position and rotating speed and the detection method of rotating speed, judge that current which electrical degree be in the electrical degree cycle is interval according to the first magnitude of voltage, magnitude relationship between the second magnitude of voltage and third voltage value that in described 3 linear hall elements, the first linear hall element of adjacent layout, the second linear hall element and third linear Hall element export respectively successively, then according to described magnitude of voltage and described electrical degree interval computation the position of rotor.
Further, current which the electrical degree interval be in the electrical degree cycle of described judgement specifically comprises: when the second magnitude of voltage is less than or equal to the first magnitude of voltage and the first magnitude of voltage is less than third voltage value, and described electrical degree interval is the first interval; When the second magnitude of voltage is less than or equal to third voltage value and third voltage value is less than the first magnitude of voltage, described electrical degree interval is the second interval; When third voltage value is less than or equal to the second magnitude of voltage and the second magnitude of voltage is less than the first magnitude of voltage, described electrical degree interval is the 3rd interval; When third voltage value is less than or equal to the first magnitude of voltage and the first magnitude of voltage is less than the second magnitude of voltage, described electrical degree interval is the 4th interval; When the first magnitude of voltage is less than or equal to third voltage value and third voltage value is less than the second magnitude of voltage, described electrical degree interval is the 5th interval; When the first magnitude of voltage is less than or equal to the second magnitude of voltage and the second magnitude of voltage is less than third voltage value, described electrical degree interval is the 6th interval.
Preferably, the position θ of rotor according to following formulae discovery
e:
θ
e=θ
x+ KV
e, wherein, θ
xfor the initial position in described electrical degree interval, its value is as follows:
the inverse of the magnitude of voltage corresponding to the maximum magnetic field strength that K detects for described linear hall element, V
efor the effective voltage value in described electrical degree interval, its value is as follows:
Preferably, the position θ of rotor according to following formulae discovery
e:
θ
e=θ
x+ arcsin (KV
e), wherein, θ
xfor the initial position in described electrical degree interval, its value is as follows:
the inverse of the magnitude of voltage corresponding to the maximum magnetic field strength that K detects for described linear hall element, V
efor the effective voltage value in described electrical degree interval, its value is as follows:
Further, the rotating speed of rotor described in the position calculation also comprising rotor according to two or more.
Preferably, the rotor position in k-1 moment is calculated
e, k-1with the rotor position in k moment
e,k, the time difference between k-1 moment and k moment is T, the rotating speed n of rotor according to following formulae discovery
k:
wherein, p is the number of pole-pairs of the permanent magnet of described position transducer rotor.
The checkout gear of motor rotor position of the present invention and rotating speed, adopts linear hall element as detection means, reduces device cost, simplify manufacturing process, improve reliability simultaneously than the checkout gear of prior art; Detection method based on this device carries out decoding process by software to the voltage that linear hall element exports, and substantially increases the accuracy of detection of rotor-position and speed.
Accompanying drawing explanation
Fig. 1 is the schematic diagram preferred embodiment of the checkout gear of motor rotor position of the present invention and rotating speed;
Fig. 2 is the schematic diagram of the permanent magnet of the position transducer rotor preferred embodiment of the checkout gear of motor rotor position of the present invention and rotating speed;
Fig. 3 is the schematic diagram of the base of the position transducer rotor preferred embodiment of the checkout gear of motor rotor position of the present invention and rotating speed;
Fig. 4 is the voltage oscillogram that the linear hall element preferred embodiment of the checkout gear of motor rotor position of the present invention and rotating speed exports;
Fig. 5 is the flow chart preferred embodiment of the detection method of motor rotor position of the present invention and rotating speed;
Fig. 6 is the interval schematic diagram of electrical degree preferred embodiment of the detection method of motor rotor position of the present invention and rotating speed;
Fig. 7 is the schematic diagram of the curve approximation preferred embodiment of the detection method of motor rotor position of the present invention and rotating speed.
Description of reference numerals:
1 position transducer rotor 2 motor stator
31 first linear hall element 32 second linear hall elements
33 third linear Hall element 4 bases
Embodiment
Below in conjunction with the drawings and specific embodiments, the checkout gear of motor rotor position of the present invention and rotating speed and method are described in further detail, but not as a limitation of the invention.
With reference to Fig. 1, it is the schematic diagram preferred embodiment of the checkout gear of motor rotor position of the present invention and rotating speed.In this embodiment, motor is two pairs of pole brushless DC motor.This checkout gear comprises the position transducer rotor 1 be fixedly installed in the rotating shaft of rotor and 3 linear hall elements 31,32,33 be arranged at for the sine space magnetic field of detection position rotor sensor 1 on motor stator 2.
Position transducer rotor 1 comprises the permanent magnet that can produce sine space magnetic field, and with reference to Fig. 2, this permanent magnet has two to pole, is preferably the alternatively distributed four tile type Nd-Fe-B magnet steels of magnetic pole.Permanent magnet adopts the radial parallel mode that magnetizes in Fig. 2 shown in arrow, and the mode that magnetizes is simple, and the design of this magnet structure and the mode of magnetizing ensure that the magnetic field space of position transducer rotor 1 is Sine distribution.Position transducer rotor 1 also comprises the base 4 be fixedly installed in the rotating shaft of rotor, as shown in Figure 3.Adopt the mode such as bonding to fix between permanent magnet with base 4, and by carving type groove and base cooperatively interacts, as shown in Figure 1, ensure that motor permanent magnet and base 4 when high-speed cruising fixedly secure.
As shown in Figure 1, in this embodiment, 3 linear hall elements 31,32,33 with the mode of mutual deviation 120 degree of electrical degrees be distributed in the plane vertical with rotating shaft with rotating shaft be the center of circle circumferentially.Preferably, linear hall element adopts the SS495A element of Honeywell Inc..3 linear hall elements are the first linear hall element 31, second linear hall element 32 and third linear Hall element 33 of adjacent layout successively.This preferred embodiment in, the position relationship of these 3 linear hall elements continues with reference to Fig. 1, the angle of the center of the center of the first linear hall element 31 and the line in the center of circle and the second linear hall element 32 and the line in the center of circle is 60 degree of mechanical angles, and the angle of the center of the center of third linear Hall element 33 and the line in the center of circle and the second linear hall element 32 and the line in the center of circle is also 60 degree of mechanical angles.
Because the position transducer rotor 1 in this execution mode has two to pole, electrical degree when it rotates a circle is 720 degree, the electrical degree difference 120 degree between the first linear hall element 31 therefore differing 60 degree of mechanical angles and the second linear hall element 32, between the second linear hall element 32 and third linear Hall element 33.Simultaneously, due to the mechanical angle difference 180+60 degree between the first linear hall element 31 and third linear Hall element 33, therefore its electrical degree difference 360+120 degree, namely differs 120 degree of electrical degrees between the first linear hall element 31 and third linear Hall element 33.Therefore, in this embodiment, mutual deviation 120 degree of electrical degrees between 3 linear hall elements.
When motor rotates, the waveform of 3 linear hall element 31,32,33 output voltages as shown in Figure 4, wherein V
maxfor the magnitude of voltage exported when maximum magnetic field strength being detected.Wherein V
1, V
2, V
3be respectively the output voltage of the first linear hall element 31, second linear hall element 32, third linear Hall element 33.
The amplitude of voltage signal is determined by the magnetic of permanent magnet and the locus of linear hall element.Linear hall element is to the choosing of radius of the distance in the center of circle and circumference, should ensure that magnetic field induces enough large voltage to ensure the sampling precision of voltage at linear hall element place, ensure that this magnetic field, place is less than the maximum field value that linear hall element can respond to again saturated to avoid.The maximum magnetic field strength that the linear hall element SS495A that this execution mode adopts can respond to is ± 800 Gausses, the output voltage of its correspondence is ± 2V, preferably, choose placement location and the radius of a circle of linear hall element, the voltage that the maximum field sensed to make linear hall element is corresponding is 1.8V, i.e. V
max=1.8V.
Waveform according to Fig. 4, can be divided into 6 interval I ~ VI 360 degree of electrical degree cycles, and as shown in Figure 6, each interval and concrete criteria for classifying thereof are as shown in the first row of table 1 and secondary series:
Table 1 electrical degree interval and characteristic thereof
| First interval I | V 2≤V 1<V 3 | V 1=V maxsinθ |
| Second interval II | V 2≤V 3<V 1 | V 3=-V maxsinθ |
| 3rd interval III | V 3≤V 2<V 1 | V 2=V maxsinθ |
| 4th interval IV | V 3≤V 1<V 2 | V 1=-V maxsinθ |
| 5th interval V | V 1≤V 3<V 2 | V 3=V maxsinθ |
| 6th interval VI | V 1≤V 2<V 3 | V 2=-V maxsinθ |
In table 1, the magnitude of voltage that in each interval, size is placed in the middle is shown in the 3rd list, wherein θ ∈ [-30 °, 30 °).
According to above-mentioned characteristic, the output voltage of 3 linear hall elements is decoded, the position of rotor can be obtained.Concrete grammar is, as shown in Figure 5, first according to the magnitude relationship of the magnitude of voltage of 3 linear hall elements outputs, according to the interval division criterion described by table 1 first row and secondary series, judge that current which electrical degree be in the electrical degree cycle is interval, again according to the position of magnitude of voltage and electrical degree interval computation rotor, then according to the rotating speed of the position calculation rotor of two or more rotor.
Particularly, after judging current residing electrical degree interval, according to the position θ of following formulae discovery rotor
e:
The initial position in table 2 electrical degree interval
| Electrical degree is interval | Initial position θ x(unit: degree) |
| First interval I | 0 |
| Second interval II | 60 |
| 3rd interval III | 120 |
| 4th interval IV | 180 |
| 5th interval V | 240 |
| 6th interval VI | 300 |
V
efor the magnitude of voltage that size in the output voltage values of 3 linear hall elements in electrical degree interval, place is placed in the middle, its value is as shown in table 3:
The magnitude of voltage placed in the middle in table 3 electrical degree interval
| Electrical degree is interval | Magnitude of voltage V placed in the middle e |
| First interval I | V 1 |
| Second interval II | -V 3 |
| 3rd interval III | V 2 |
| 4th interval IV | -V 1 |
| 5th interval V | V 3 |
| 6th interval VI | -V 2 |
As shown in Figure 7, there is θ ≈ sin θ approx when θ is low-angle, in the above-mentioned methods, θ ∈ [-30 °, 30 °), belong to low-angle, therefore can carry out approximate sin θ with θ.Such as in the first interval I, magnitude of voltage V placed in the middle
e=V
1=V
maxsin θ ≈ V
maxθ, in the second interval II, magnitude of voltage V placed in the middle
e=-V
3=-V
maxsin θ ≈-V
maxθ, other electrical degree intervals are similar.
Carry out approximate sin θ with θ, the calculating to arcsin () function when can simplify position calculation, thus greatly reduce amount of calculation.Therefore, preferably, according to the position θ of following formulae discovery rotor
e:
Further, the method also comprises the rotating speed of the position calculation rotor according to two or more rotor.Preferably, with sampling period T, the output voltage of linear hall element is sampled, and calculate rotor in the position in each sampling time according to the sampled value of voltage, utilize the rotor position in wherein k-1 moment
e, k-1with the rotor position in k moment
e,k, the rotating speed n of rotor can be calculated according to following formula
k:
wherein, p is the number of pole-pairs of position transducer rotor.
Above embodiment is only illustrative embodiments of the present invention, can not be used for limiting the present invention, and protection scope of the present invention is defined by the claims.Those skilled in the art can in essence of the present invention and protection range, and make various amendment or equivalent replacement to the present invention, these are revised or be equal to replacement and also should be considered as dropping in protection scope of the present invention.
Claims (5)
1. the detection method of a motor rotor position and rotating speed, it is based on the checkout gear of motor rotor position and rotating speed, the checkout gear of described motor rotor position and rotating speed comprises the position transducer rotor be fixedly installed in the rotating shaft of rotor, described position transducer rotor comprises the permanent magnet that can produce sine space magnetic field, described checkout gear also comprises 3 linear hall elements for detecting described sine space magnetic field be arranged on motor stator, each described linear hall element with the mode of mutual deviation 120 degree of electrical degrees be distributed in the plane vertical with described rotating shaft with described rotating shaft for the center of circle circumferentially, it is characterized in that,
Judge that current which electrical degree be in the electrical degree cycle is interval according to the first magnitude of voltage, magnitude relationship between the second magnitude of voltage and third voltage value that in described 3 linear hall elements, the first linear hall element of adjacent layout, the second linear hall element and third linear Hall element export respectively successively, the position of rotor according to described magnitude of voltage and described electrical degree interval computation again, wherein, current which the electrical degree interval be in the electrical degree cycle of described judgement specifically comprises:
When the second magnitude of voltage is less than or equal to the first magnitude of voltage and the first magnitude of voltage is less than third voltage value, described electrical degree interval is the first interval;
When the second magnitude of voltage is less than or equal to third voltage value and third voltage value is less than the first magnitude of voltage, described electrical degree interval is the second interval;
When third voltage value is less than or equal to the second magnitude of voltage and the second magnitude of voltage is less than the first magnitude of voltage, described electrical degree interval is the 3rd interval;
When third voltage value is less than or equal to the first magnitude of voltage and the first magnitude of voltage is less than the second magnitude of voltage, described electrical degree interval is the 4th interval;
When the first magnitude of voltage is less than or equal to third voltage value and third voltage value is less than the second magnitude of voltage, described electrical degree interval is the 5th interval;
When the first magnitude of voltage is less than or equal to the second magnitude of voltage and the second magnitude of voltage is less than third voltage value, described electrical degree interval is the 6th interval.
2. the detection method of motor rotor position according to claim 1 and rotating speed, is characterized in that, the position θ of rotor according to following formulae discovery
e:
θ
e＝θ
x+K·V
e，
Wherein,
θ
xfor the initial position in described electrical degree interval, its value is as follows:
The inverse of the magnitude of voltage corresponding to the maximum magnetic field strength that K detects for described linear hall element,
V
efor the effective voltage value in described electrical degree interval, its value is as follows:
3. the detection method of motor rotor position according to claim 1 and rotating speed, is characterized in that, the position θ of rotor according to following formulae discovery
e:
θ
e＝θ
x+arcsin(K·V
e)，
Wherein,
θ
xfor the initial position in described electrical degree interval, its value is as follows:
The inverse of the magnitude of voltage corresponding to the maximum magnetic field strength that K detects for described linear hall element,
V
efor the effective voltage value in described electrical degree interval, its value is as follows:
4. the detection method of motor rotor position according to claim 1 and rotating speed, is characterized in that, the rotating speed of rotor described in the position calculation also comprising rotor according to two or more.
5. the detection method of motor rotor position according to claim 4 and rotating speed, is characterized in that, calculates the rotor position in k-1 moment
e, k-1with the rotor position in k moment
e,k, the time difference between k-1 moment and k moment is T, the rotating speed n of rotor according to following formulae discovery
k:
Wherein, p is the number of pole-pairs of the permanent magnet of described position transducer rotor.
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| CN110501516B (en) * | 2018-05-16 | 2022-02-08 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Combined speed measuring system and method for ultra-high-speed linear motor |
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| CN111638453A (en) * | 2020-06-15 | 2020-09-08 | 哈尔滨理工大学 | Method for detecting rotating position and speed of magnetic field of servo synchronous motor |
| CN113853729A (en) * | 2020-08-26 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Method and device for measuring rotation angle of motor rotor, motor, cradle head and unmanned aerial vehicle |
| CN114865853B (en) * | 2022-04-12 | 2024-03-08 | 西北工业大学 | Method for detecting rotor angle of limited-angle motor |
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