CN104034463A - High-linearity segmented-excitation type torque sensor - Google Patents
High-linearity segmented-excitation type torque sensor Download PDFInfo
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- CN104034463A CN104034463A CN201410258858.8A CN201410258858A CN104034463A CN 104034463 A CN104034463 A CN 104034463A CN 201410258858 A CN201410258858 A CN 201410258858A CN 104034463 A CN104034463 A CN 104034463A
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Abstract
The invention discloses a high-linearity segmented-excitation type torque sensor. The high-linearity segmented-excitation type torque sensor mainly comprises a sensor shaft, an inner ring iron core, a first-section excitation winding, a compensation winding, an outer ring iron core, an output winding and a second-section excitation winding, wherein the first-section excitation winding and the compensation winding are fixed in the inner ring iron core, the two windings are orthogonal in the space; the second-section excitation winding and the output winding are fixed in the outer ring iron core; the two windings are also orthogonal in the space; during the working of the sensor, the two sections of excitation windings are serially connected, a sine alternating voltage is charged, when the sensor shaft is stressed by the action of a load torque, the positions of the second-section excitation winding and the output winding in the space are changed relative to the case of no action of the load torque initially, the output winding generates an induced electromotive force corresponding to the load torque through electromagnetic coupling, and the induced electromotive force generated by the output winding and the load torque can be in a highly linear corresponding relationship by reasonably adjusting the numbers of turns of the two sections of excitation windings, and the number of turns of the output winding.
Description
Technical field
The present invention relates to a kind of New-type Torque Sensor, relate to more specifically a kind of high linearity segmentation excitation type torque sensor based on magneto-electric induction principle.
Background technology
Along with the various needs of continuous progress and the production development of science and technology, torque measurement technology obtains a wide range of applications in a plurality of fields such as industry, Aero-Space, agricultural, military affairs.For example, in plastic shell low voltage breaker intelligent observing and controlling system, adopt torque sensor to detect in real time motor shaft output torque, when screwdriver is to nut lock to a certain extent time, the instantaneous increase of moment of torsion, Torque sensor detects this step signal, controls motor stalling.
At present in torque measurement, transmit the application of class torque sensor very extensive, transmit class torque sensor and can be divided into optical profile type, photo-electric, magneto-electric, strain-type, condenser type etc. by the producing method of torque signal, wherein on market, more ripe torque sensor is mainly magneto-electric and strain-type.The essence of Torque sensor output signal is the dephased angular displacement signal of two-way tool, signal is carried out obtaining torque information after combined treatment, it is non-contacting sensor, without wearing and tearing, without friction, can be used for long-term measurement, weak point is that volume is large, be difficult for to install, and German HBM company, Japan are little wildly surveys device and all there is production in Chinese western Hunan instrucment and meter plant, strain gauge torque transducer be take resistance strain gage as sensitive element, as the T1 of German HBM company, T2, T4 series torque sensor, the JN338 series sensor of Beijing San Jing group etc., they install four precise resistance/strain sheets on rotating shaft or the elastic shaft that is connected in series with rotating shaft, and connect into Hui Sidun electric bridge, moment of torsion makes the microdeformation of axle cause that strain resistance changes, signal and the moment of torsion of electric bridge output are proportional, sensor can be measured Static and dynamic torque, high-frequency percussion and vibration information, there is the little advantage such as lightweight of volume, weak point be the transmission of signal be easily disturbed and loss larger, it is not very high causing measuring accuracy.
Summary of the invention
The invention provides a kind of new construction high linearity segmentation excitation type torque sensor, mainly comprise sensor axis, interior ring iron core, first paragraph field winding, compensation winding, outer shroud iron core, second segment field winding and output winding.First paragraph field winding and compensation winding are fixed in interior ring iron core, and two phase windings are quadrature spatially, and second segment field winding and output winding are fixed in outer shroud iron core, and two phase windings are also quadrature spatially.
During working sensor, two sections of field winding serial connections, pass into sinusoidal alternating voltage, during non-loaded torsional interaction, the axis of the axis of first paragraph field winding and second segment field winding position is spatially identical, compensate the axis of winding also identical with the axis of output winding position spatially, the pulsating magnetic flux that field winding produces is with output winding without linkage, and the induction electromotive force of exporting winding is zero; Sensor axis is subject to load torque and does the used time, second segment field winding reversed certain space angle with output winding simultaneously, there is change in initial position during non-loaded torsional interaction relatively, the pulsating magnetic flux that now field winding produces and output winding linkage, through electromagnetic coupled, output winding produces the induction electromotive force corresponding with load torque, by the number of turn of two sections of field windings of reasonable adjusting and the number of turn of output winding, can be so that the induction electromotive force that output winding produces and load torque be the linear relationship of height.
Object of the present invention takes following technical proposals to realize:
A high linearity segmentation excitation type torque sensor, mainly comprises sensor axis, interior ring iron core, first paragraph field winding, compensation winding, outer shroud iron core, output winding and second segment field winding;
Left end and sensor axis that interior ring is unshakable in one's determination are fixed, and interior ring right-hand member unshakable in one's determination is contacted and can rotate relative to sensor axis with sensor axis by bearing;
Right-hand member and the sensor axis of outer shroud iron core are fixed, and the left end of outer shroud iron core contacts and can internally encircle mutually unshakable in one's determination rotation by bearing and interior ring iron core;
Interior ring iron core is provided with slot for winding, and first paragraph field winding and compensation winding embed in interior ring slot for winding unshakable in one's determination, and the axis of first paragraph field winding is spatially orthogonal with the axis of compensation winding;
Outer shroud iron core is provided with slot for winding, and second segment field winding and output winding embed in outer shroud slot for winding unshakable in one's determination, and the axis of second segment field winding is spatially orthogonal with the axis of output winding;
During non-loaded torsional interaction, spatially position is identical for the axis of the axis of first paragraph field winding and second segment field winding, and spatially position is identical with the axis of exporting winding for the axis of compensation winding.
The first paragraph field winding embedding in interior ring iron core is that series system is connected with the second segment field winding embedding in outer shroud iron core, passes into sinusoidal voltage during work:
Embed the direct short circuit of two ends extension line of the compensation winding in interior ring iron core;
The number of turn of second segment field winding is identical with the number of turn of output winding.
Ratio between the number of turn of the number of turn of first paragraph field winding and output winding is between 0.56-0.59.
Structure described above, novel high linearity segmentation excitation type torque sensor of the present invention, its principle of work is:
After first paragraph field winding and second segment field winding serial connection, pass into sinusoidal voltage, and then produce the time dependent impulsive magnetic field of magnetic potential amplitude, via outer shroud iron core, air-gap and the interior ring closed-loop path that forms unshakable in one's determination.Sensor axis one end is fixed, the other end loads moment of torsion, when load torque is zero, there is not deformation in sensor axis, remain unchanged with the fixing interior ring initial position unshakable in one's determination and outer shroud iron core in sensor axis two ends respectively, be fixed on interior ring first paragraph field winding unshakable in one's determination and the output winding that is fixed on outer shroud iron core, its initial position is 90 ° of mutual deviations spatially, be fixed on second segment field winding and the output winding of outer shroud iron core, its initial position is 90 ° of mutual deviations spatially, the axis of the axis of first paragraph field winding and second segment field winding position is spatially identical, compensate the axis of winding also identical with the axis of output winding position spatially, now excitatory magnetic field is d-axis magnetic field, with output winding without interlinkage, the induction electromotive force that output winding produces is zero, when load torque is non-vanishing, sensor axis generation deformation, second segment field winding and output winding reversed certain space angle simultaneously, initial position changes relatively, the excitatory magnetic field that field winding produces and output winding interlinkage, output winding produces corresponding induction electromotive force, and this induction electromotive force is corresponding with the load torque that sensor axis loads.
Now second segment field winding turns over certain space angle with respect to initial position, there is quadrature axis component in the pulsating magnetic flux that second segment field winding produces, due to the direct short circuit of compensation winding, and the impedance of compensation winding is very little, according to Lenz law, compensation winding produces the magnetic field with this quadrature axis magnetic field antagonism, and the magnetic field while guaranteeing working sensor only has d-axis magnetic field substantially.
For the induction electromotive force that sensor output winding is produced becomes linear relationship highly with load torque, the number of turn of second segment field winding is identical with the number of turn of output winding, and the number of turn ratio of the number of turn of first paragraph field winding and output winding should be between 0.56-0.59.
Structure described above, the novel high linearity segmentation excitation type torque sensor that the present invention utilizes electromagnetic induction principle to form, sensor axis one end is fixed, one end and load are coaxially installed, load torque can be converted to electric signal output, and the electric signal that produces of output winding and load torque are highly corresponding linear relationship.
Accompanying drawing explanation
Fig. 1 is the structural representation of high linearity segmentation excitation type torque sensor of the present invention;
Fig. 2 is the cut-open view of the A-A face of Fig. 1;
Fig. 3 is the fundamental diagram that torque sensor of the present invention is implemented torque measurement;
Fig. 4 compensates the fundamental diagram of winding in Fig. 2.
Embodiment
Below in conjunction with accompanying drawing, further describe the architectural feature of torque sensor of the present invention.
Fig. 1 is the structural representation of torque sensor of the present invention, comprises sensor axis 1, bearing 2, interior ring iron core 3, first paragraph field winding winding 4, compensation winding 5, outer shroud iron core 6, second segment field winding 7, output winding 8 and bearing 9.
Interior left end and the sensor axis 1 that encircles iron core 3 fixed, and the right-hand member of interior ring unshakable in one's determination 3 is contacted and can rotate relative to sensor axis 1 with sensor axis 1 by bearing 2.
The right-hand member of outer shroud iron core 6 and sensor axis 1 are fixing, and the left end of outer shroud iron core 6 contacts and can internally encircle mutually unshakable in one's determination 3 by bearing 9 with interior ring unshakable in one's determination 3 and rotates.
Interior ring unshakable in one's determination 3 is provided with slot for winding, and first paragraph field winding 4 and compensation winding 5 embed in interior ring 3 slot for windings unshakable in one's determination.
Outer shroud iron core 6 is provided with slot for winding, and second segment field winding 7 and output winding 8 embed in the slot for winding of outer shroud iron core 6.
Embed first paragraph field winding 4 in interior ring unshakable in one's determination 3 and embed second segment field winding 7 in outer shroud iron core 6 for series system is connected, during work, passing into sinusoidal voltage.
Embed the direct short circuit of two ends extension line of the compensation winding 5 in interior ring unshakable in one's determination 3.
The number of turn that embeds second segment field winding 7 in outer shroud iron core 6 is identical with the number of turn that embeds the output winding 8 in outer shroud iron core 6.
The ratio that embeds the number of turn of the first paragraph field winding 4 in interior ring unshakable in one's determination 3 and embed between the number of turn of the output winding 8 in outer shroud iron core 6 is between 0.56-0.59.
The material of sensor axis 1 is the materials such as carbon steel or alloy steel; Interior ring unshakable in one's determination 3 and outer shroud iron core 6 are laminated and are formed by the fe-Ni soft magnetic alloy sheet of high magnetic permeability or the punching of high magnetic conductivity siliconized plate; First paragraph field winding 4, compensation winding 5, second segment field winding 7 and output winding 8 are straight weldering based polyurethane enamel insulated round copper wire.
Fig. 2 is the cut-open view of the A-A face of Fig. 1, comprises sensor axis 1, interior ring iron core 3, first paragraph field winding winding 4, compensation winding 5, outer shroud iron core 6, second segment field winding 7 and output winding 8.
Interior ring unshakable in one's determination 3 is provided with slot for winding, and first paragraph field winding 4 and compensation winding 5 embed in interior ring 3 slot for windings unshakable in one's determination, and the axis of first paragraph field winding 4 is spatially orthogonal with the axis of compensation winding 5.
Outer shroud iron core 6 is provided with slot for winding, and second segment field winding 7 and output winding 8 embed in the slot for winding of outer shroud iron core 6, and the axis of second segment field winding 7 is spatially orthogonal with the axis of output winding 8.
During non-loaded torsional interaction, spatially position is identical for the axis of the axis of first paragraph field winding 4 and second segment field winding 7, and spatially position is identical with the axis of exporting winding 8 for the axis of compensation winding 5.
The principle of work that high linearity segmentation excitation type torque sensor of the present invention is implemented torque measurement is as shown in Figure 3: the two ends of first paragraph field winding 4 are respectively L
1and L
2, first paragraph field winding 4 use L
1-L
2represent, the two ends of compensation winding 5 are respectively C
1and C
2, compensation winding 5 use C
1-C
2represent, second segment field winding 7 two ends be respectively L
3and L
4,, second segment field winding 7 use L
1-L
2represent, output winding 8 two ends be respectively R
1and R
2, output winding 8 use R
1-R
2represent.
First paragraph field winding L
1-L
2with second segment field winding L
3-L
4pass into alternating current U
fafter, produce respectively pulsating magnetic flux Φ
1with pulsating magnetic flux Φ
2, via interior ring iron core 3, air-gap and outer shroud unshakable in one's determination 6, form closed magnetic circuits.When sensor axis is subject to load torque, do not do the used time, the sectional view of sensor and corresponding circuit interconnect pattern as shown in Fig. 3 (a), pulsating magnetic flux Φ
1with pulsating magnetic flux Φ
2all with output winding R
1-R
2, compensation winding C
1-C
2without linkage, output winding R
1-R
2the induction electromotive force e producing
o=0, compensation winding C
1-C
2the induction electromotive force e producing
cmagnetic flux Φ in=0, Fig. 3 (a) is pulsating magnetic flux Φ
1with pulsating magnetic flux Φ
2resultant flux.
When sensor axis is subject to load torque, do the used time, the sectional view of sensor and corresponding circuit interconnect pattern, as shown in Fig. 3 (b), are exported winding R
1-R
2initial position in Fig. 3 (a) produces corresponding angular displacement counterclockwise relatively, and this angular displacement and institute's loading moment of torsion exist one-to-one relationship, output winding R
1-R
2axis and first paragraph field winding L
1-L
2the angle of axis is 90-θ, exports winding R
1-R
2the induction electromotive force e producing
o≠ 0.In addition second segment field winding L,
3-L
4turn over equally counterclockwise θ angle, second segment field winding L
3-L
4the pulsating magnetic flux Φ producing
2there is quadrature axis component, due to compensation winding C
1-C
2directly short circuit, and compensation winding C
1-C
2impedance very little, according to Lenz law, compensation winding C
1-C
2the magnetic flux that induction current produces substantially can be by second segment field winding L
3-L
4the pulsating magnetic flux Φ producing
2quadrature axis component offset, therefore, magnetic flux during working sensor can be similar to thinks to only have d-axis magnetic flux Φ.
According to the law of electromagnetic induction, d-axis pulsating magnetic flux Φ is at first paragraph field winding L
1-L
2the effective value E of the induction electromotive force of middle generation
lfor:
E
L＝4.44fW
fΦ (1)
In formula, f is alternating voltage U
ffrequency, W
ffor first paragraph field winding L
1-L
2the number of turn.
In like manner, d-axis pulsating magnetic flux Φ is at second segment field winding L
3-L
4the effective value E of middle generation induction electromotive force
mfor:
E
m＝4.44fW
mΦcosθ＝kE
L cosθ (2)
W in formula
mfor second segment field winding L
3-L
4the number of turn, k=W
f/ W
mfor first paragraph field winding L
1-L
2the number of turn and second segment field winding L
3-L
4the ratio of the number of turn.
If the number of turn of output winding is all W
m, d-axis pulsating magnetic flux Φ is at output winding R
1-R
2the effective value E of middle generation induction electromotive force
ofor:
E
o＝4.44fW
mΦcos(90-θ)＝kE
Lsinθ (3)
Due to first paragraph field winding L
1-L
2with second segment field winding L
3-L
4series connection, if ignore the impedance of two sections of field windings, has according to Kirchhoff's second law:
U
f＝E
L+E
m＝E
L(1+kcosθ) (4)
Simultaneous formula (3) and formula (4) can obtain:
From formula (5), output winding R
1-R
2the effective value E of the induction electromotive force producing
othere is certain corresponding relation, i.e. E in the angular displacement producing with load torque
othere is certain corresponding relation with load torque.
The output characteristics of sensor is preferably linear, and ideal output characteristic is:
The angular displacement that load torque produces will be in the elastic range of sensor axis, and the number of degrees are less, and the angular displacement of now load torque and generation is linear relationship.Will be in order to reach the requirement of formula (6), process deduce mathematical, first paragraph field winding L
1-L
2the number of turn and output winding R
1-R
2the number of turn between ratio k=W
f/ W
mbetween 0.56-0.59, work as k=W
f/ W
m=0.57 o'clock, the maximum nonlinearity erron that torque sensor calibrating obtains was about 0.26%, can meet the requirement of torque measurement in Practical Project.
In torque sensor Fig. 2 of the present invention, compensate winding 5C
1-C
2principle of work as shown in Figure 4: sensor axis 1 is subject to load torque and does the used time, second segment field winding L
3-L
4with output winding R
1-R
2with respect to initial position, turn over angle θ, suppose first paragraph field winding L simultaneously
1-L
2with second segment field winding L
3-L
4certain moment exciting curent as shown in Figure 4, electric current is that left end flows to, right-hand member flows out, second segment field winding L
3-L
4the pulsating magnetic flux Φ producing
2there is quadrature axis component Φ
sq, according to Lenz law, compensation winding C
1-C
2middle meeting produces induction current as shown in Figure 4, and this induction current produces magnetic flux Φ
c, for offsetting second segment field winding L
3-L
4the pulsating magnetic flux Φ producing
2quadrature axis component Φ
sqthereby the magnetic flux while guaranteeing working sensor only has d-axis magnetic flux Φ substantially.
Claims (10)
1. a high linearity segmentation excitation type torque sensor, mainly comprises sensor axis, interior ring iron core, first paragraph field winding, compensation winding, outer shroud iron core, output winding and second segment field winding.
2. torque sensor according to claim 1, is characterized in that: interior ring left end unshakable in one's determination and sensor axis are fixed, and right-hand member is contacted and can rotate relative to sensor axis with sensor axis by bearing.
3. torque sensor according to claim 1, is characterized in that: outer shroud right-hand member unshakable in one's determination and sensor axis are fixed, and left end contacts and can internally encircle mutually unshakable in one's determination rotation by bearing and interior ring iron core.
4. torque sensor according to claim 1, it is characterized in that: interior ring iron core is provided with slot for winding, first paragraph field winding and compensation winding embed in interior ring slot for winding unshakable in one's determination, and the axis of first paragraph field winding is spatially orthogonal with the axis of compensation winding.
5. torque sensor according to claim 1, it is characterized in that: outer shroud iron core is provided with slot for winding, second segment field winding and output winding embed in outer shroud slot for winding unshakable in one's determination, and the axis of second segment field winding is spatially orthogonal with the axis of output winding.
6. torque sensor according to claim 1, it is characterized in that: during non-loaded torsional interaction, spatially position is identical for the axis of the axis of first paragraph field winding and second segment field winding, and spatially position is identical with the axis of exporting winding for the axis of compensation winding.
7. torque sensor according to claim 1, is characterized in that: the first paragraph field winding embedding in interior ring iron core is that series system is connected with the second segment field winding embedding in outer shroud iron core, passes into sinusoidal voltage during work.
8. torque sensor according to claim 1, is characterized in that: the direct short circuit of two ends extension line that embeds the compensation winding in interior ring iron core.
9. torque sensor according to claim 1, is characterized in that: the number of turn that embeds the second segment field winding in outer shroud iron core is identical with the number of turn of output winding.
10. torque sensor according to claim 1, is characterized in that: embed the number of turn of the first paragraph field winding in interior ring iron core and the ratio that embeds between the number of turn of the output winding in outer shroud iron core is between 0.56-0.59.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258858.8A CN104034463B (en) | 2014-06-04 | 2014-06-04 | A kind of high linearity segmentation excitation type torque sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258858.8A CN104034463B (en) | 2014-06-04 | 2014-06-04 | A kind of high linearity segmentation excitation type torque sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104034463A true CN104034463A (en) | 2014-09-10 |
| CN104034463B CN104034463B (en) | 2016-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410258858.8A Expired - Fee Related CN104034463B (en) | 2014-06-04 | 2014-06-04 | A kind of high linearity segmentation excitation type torque sensor |
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| CN (1) | CN104034463B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105372006A (en) * | 2015-12-11 | 2016-03-02 | 赵浩 | Vibration torque sensor calibration device and calibration method |
| TWI577977B (en) * | 2016-01-11 | 2017-04-11 | Rotatech Int Corp | Magnetic torque sensing device for steering system |
| TWI701109B (en) * | 2017-10-27 | 2020-08-11 | 日商富士金股份有限公司 | Hand tools, screwdrivers and torque sensors used in them |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60122341A (en) * | 1983-12-07 | 1985-06-29 | Shibaura Eng Works Co Ltd | Washer type magnetic sensor |
| DE4229554A1 (en) * | 1992-09-04 | 1994-03-10 | Friedhelm Prof Dr Ing Milde | Shaft torque measurement for three=phase AC asynchronous induction electric motor - using terminal voltages and currents, stator winding resistance, pole-pair number, and analog computation using double integrator |
| CN101252306A (en) * | 2008-01-11 | 2008-08-27 | 东南大学 | Mixing exciter panel type eddy flow drive speed regulating device |
| CN103308226A (en) * | 2012-03-16 | 2013-09-18 | 株式会社捷太格特 | Stator of torque sensor |
| CN103968984A (en) * | 2014-05-13 | 2014-08-06 | 嘉兴学院 | Self-compensating brushless differential type torque sensor |
-
2014
- 2014-06-04 CN CN201410258858.8A patent/CN104034463B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60122341A (en) * | 1983-12-07 | 1985-06-29 | Shibaura Eng Works Co Ltd | Washer type magnetic sensor |
| DE4229554A1 (en) * | 1992-09-04 | 1994-03-10 | Friedhelm Prof Dr Ing Milde | Shaft torque measurement for three=phase AC asynchronous induction electric motor - using terminal voltages and currents, stator winding resistance, pole-pair number, and analog computation using double integrator |
| CN101252306A (en) * | 2008-01-11 | 2008-08-27 | 东南大学 | Mixing exciter panel type eddy flow drive speed regulating device |
| CN103308226A (en) * | 2012-03-16 | 2013-09-18 | 株式会社捷太格特 | Stator of torque sensor |
| CN103968984A (en) * | 2014-05-13 | 2014-08-06 | 嘉兴学院 | Self-compensating brushless differential type torque sensor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105372006A (en) * | 2015-12-11 | 2016-03-02 | 赵浩 | Vibration torque sensor calibration device and calibration method |
| CN105372006B (en) * | 2015-12-11 | 2017-11-28 | 嘉兴学院 | A kind of Vibration Torque sensor calibration apparatus and scaling method |
| TWI577977B (en) * | 2016-01-11 | 2017-04-11 | Rotatech Int Corp | Magnetic torque sensing device for steering system |
| TWI701109B (en) * | 2017-10-27 | 2020-08-11 | 日商富士金股份有限公司 | Hand tools, screwdrivers and torque sensors used in them |
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| CN104034463B (en) | 2016-03-23 |
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