CN104659973A - Apparatus for detecting rotating speed and position of aircraft permanent magnet synchronous motor - Google Patents
Apparatus for detecting rotating speed and position of aircraft permanent magnet synchronous motor Download PDFInfo
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- CN104659973A CN104659973A CN201510051223.5A CN201510051223A CN104659973A CN 104659973 A CN104659973 A CN 104659973A CN 201510051223 A CN201510051223 A CN 201510051223A CN 104659973 A CN104659973 A CN 104659973A
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Abstract
An apparatus for detecting the rotating speed and the position of an aircraft permanent magnet synchronous motor comprises a magnetic disk, a side permanent magnet, a first hall position sensor, a second hall position sensor, a PCB, a single chip microcomputer and a third hall position sensor, wherein the magnetic disk is mounted on a rotor of the permanent magnet synchronous motor and rotates with the rotor; the PCB is fixed on an end cover of the motor; the side permanent magnet is mounted on the outer side of the magnetic disk and the N pole and S pole of the side permanent magnet are mounted alternately; the first hall position sensor, the second hall position sensor, the single chip microcomputer and the third hall position sensor are arranged on the PCB. The second hall position sensor and the third hall position sensor are close to the side permanent magnet; the position of the motor is detected by the second hall position sensor and the third hall position sensor; the electrical angle between two hall position sensors is 120 DEG. The apparatus for detecting the rotating speed and the position of the motor, provided by the invention has the advantages of being simple in structure, small in size, light in weight, flexible and convenient to mount, capable of realizing mechanical-electrical integration when being mounted in the motor, and the like.
Description
Technical field: the present invention is a kind of checkout gear of motor, especially a kind of aircraft permanent magnet synchronous machine rotating speed and position detecting device.
Background technology: modern Universal high-power permagnetic synchronous motor frequency converter often will adapt to dissimilar motor, adopt the means that Hall element detects as motor position, need the installation site on motor stator considering Hall element, tradition adopts manual detection method, and not only efficiency is low, low precision, can not the requirement of intelligent, the high efficiency of adaptive system.The detection of tradition permanent-magnet synchronous motor rotor position is all the method based on manual detection, due to the randomness that Hall element is installed, permanent-magnetic synchronous motor rotor can not correctly be located by this kind of detection method, make motor efficiency reduction in the course of the work, motor winding temperature rises rapidly, and long-play even makes motor coil burn.Along with PMSM Servo System is towards intelligent development, a kind of detection means automatically of research replaces conventional synchronization motor rotor position assay method, and to reach, execution efficiency is high, intelligent, precision advantages of higher has very high practical value to realize automatically detecting synchronous motor rotor position technology.
Permagnetic synchronous motor application is comparatively extensive, and wherein surface-adhered type magneto is owing to having the lower and process of cost of manufacture, has become one of the main drive motors of current industrial automation and household electrical appliances, automobile and other industries.But, in actual use, no matter be permanent-magnet brushless DC electric machine or permagnetic synchronous motor, it all needs a position detecting device to provide the position signalling of rotor for motor driver, and therefore the accuracy of position detecting device and reliability become the key of electric motor system functional reliability.Usually in actual applications, do not consider the occasion of accuracy of detection or installing space, usually adopt resolver as position and speed detector, but, the accuracy of detection of this position and speed detector is not high, and resolver needs to be installed on rotor, and requires higher with the axiality of rotor, therefore, in the application of magneto, thus usually adopt hall position sensor as the detecting element of position and rotating speed.
Modern permanent magnet synchronous AC servo system generally adopts encoder as detecting apparatus for rotor position.Photoelectric encoder is divided into increment type and absolute type, and incremental encoder is compared with absolute type encoder, has that cost is low, wiring is simple, high reliability, is widely used in all types of industries occasion.Accumulated counts is carried out in the pulse that can only send incremental encoder due to digital control processor, calculates current rotor position according to count value and initial value, and therefore, the levels of precision of initial alignment value is the prerequisite ensureing that vector control normal table runs.
Detecting becomes servo system and is equipped with the step that motor must experience.Along with PMSM Servo System is towards intelligent development, a kind of detection means is automatically needed to replace Traditional Man Hall detection method, automatic detection Hall element installation site technology is high, intelligent with its execution efficiency, precision is a little high, has very high practical value.China's existing detection system based on hall position sensor exploitation is still immature, in a device often through lengthening permanent magnet, a kind of motor rotor disclosed in China Patent Publication No. CN1856924A, and a kind of shell structure of external rotor permanent magnet motor disclosed in China Patent Publication No. CN 201813240U; That detection system installs separately the magnet ring providing position signalling, a kind of motor disclosed in China Patent Publication No. CN 101243598A, and the checkout gear of a kind of motor rotor position and speed disclosed in China Patent Publication No. CN 201860242U, make the detection faces of magnetizing direction perpendicular to Hall element of permanent magnet itself.In today that permanent magnet price is surging, provide position detection signal significantly can increase cost undoubtedly by increasing 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: with not enough, the invention provides a kind of aircraft permanent magnet synchronous machine rotating speed based on Hall element and position detecting device between current domestic and international disclosed many drawbacks for motor speed position probing.
For achieving the above object, the technical solution used in the present invention is: aircraft permanent magnet synchronous machine rotating speed and position detecting device, comprise disk, side permanent magnet, the first hall position sensor, the second hall position sensor, pcb board, single-chip microcomputer and the 3rd hall position sensor.Disk is arranged on the rotor of permagnetic synchronous motor, rotates together with rotor, and pcb board is fixed on electric motor end cap.Side permanent magnet is equipped with in the outside of disk, and permanent magnet N pole, side and S pole are alternately installed, and the first hall position sensor, the second hall position sensor, single-chip microcomputer and the 3rd hall position sensor are arranged on pcb board.Second hall position sensor and the 3rd hall position sensor are pressed close to side permanent magnet and are arranged, the detection of motor position is realized by the second hall position sensor and the 3rd hall position sensor, the electrical degree of two hall position sensors (its mechanical angle α=120 °/P that is 120 °, wherein P is magnetic pole logarithm), second hall position sensor and the 3rd hall position sensor are relative to the installation machinery angle [alpha]=120 °/P of disk, wherein P is magnetic pole logarithm, second hall position sensor and the 3rd hall position sensor export high level under the permanent magnet of N pole, output low level under the permanent magnet of S pole.First hall position sensor is between the second hall position sensor and the 3rd hall position sensor, the surface corresponding to the first hall position sensor at disk is equipped with one piece press close to disk side and be S pole, be the permanent magnet of N pole away from disk side, its size is identical with side magnet size, leaves gap between the first hall position sensor and permanent magnet.The detection faces of the first hall position sensor is towards the lower surface of disk.
Preferably, the first described hall position sensor is a bipolarity latch Hall position transducer.
Motor speed position detecting device proposed by the invention has that structure is simple, volume is little, lightweight, convenient and flexible installation, be arranged in motor and can realize the advantages such as electromechanical integration.Speed detector and position signalling checkout gear be integrated into one, can simultaneously detection position signal and tach signal, by single-chip microcomputer to signal, ensure that the reliability that signal exports and accuracy, preposing signal process circuit is added in the output of hall position sensor, and the postpositive disposal circuit of band isolation has been added at the fes signal output of single-chip microcomputer, improve the anti-electromagnetic interference capability of signal, ensure that the correctness of signal, simultaneously for logic switching circuit provides correct commutation information.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is workflow diagram of the present invention.
Fig. 3 is Hall element output waveform constitutional diagram in the present invention;
Fig. 4 is that in the present invention, the pin of singlechip chip arranges circuit diagram.
Fig. 5 is the program flow diagram of single-chip microcomputer.
Embodiment:
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention carry out clear, intactly describe, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1: aircraft permanent magnet synchronous machine rotating speed and position detecting device, the detection of motor position and rotating speed can be realized simultaneously, comprise disk 1, side permanent magnet 2, first hall position sensor 3, second hall position sensor 4, pcb board 5, single-chip microcomputer 6 and the 3rd hall position sensor 10.Disk 1 is arranged on the rotor 9 of permagnetic synchronous motor, and rotate together with turn 9 sons, pcb board 5 is fixed on electric motor end cap 8.Side permanent magnet 2 is equipped with in the outside of disk 1, and the N pole of side permanent magnet 2 and S pole are alternately installed, and the first hall position sensor 3, second hall position sensor 4, single-chip microcomputer 6 and the 3rd hall position sensor 10 are arranged on pcb board 5.Second hall position sensor 4 and the 3rd hall position sensor 10 are pressed close to side permanent magnet 2 and are arranged, the detection of motor position is realized by the second hall position sensor 4 and the 3rd hall position sensor 10, the electrical degree of two hall position sensors is 120 °, its mechanical angle α=120 °/P, wherein P is magnetic pole logarithm, second hall position sensor 4 and the 3rd hall position sensor 10 are relative to the installation machinery angle [alpha]=120 °/P of disk 1, wherein P is magnetic pole logarithm, second hall position sensor 4 and the 3rd hall position sensor 10 export high level under the permanent magnet of N pole, output low level under the permanent magnet of S pole.First hall position sensor 3 is between the second hall position sensor 4 and the 3rd hall position sensor 10, the surface corresponding to the first hall position sensor 3 at disk 1 is equipped with one piece to press close to disk 1 side and be S pole, be the permanent magnet of N pole away from disk 1 side, its size and side permanent magnet 2 measure-alike, leave gap between the first hall position sensor 3 and permanent magnet.The detection faces of the first hall position sensor 3 is towards the lower surface of disk 1.Pcb board 5 is also provided with output interface 7.
As shown in Figure 2: two-way motor position detection signal is input to single-chip microcomputer after filter shape, single-chip microcomputer as calculated after, export motor position signal as shown in Figure 3, motor position signal exports from motor port after Phototube Coupling; Motor speed detection signal is input to single-chip microcomputer after filter shape, and output motor rotational speed difference signal after single-chip microcomputer calculates, motor speed differential wave exports from motor port after Phototube Coupling.
The detection of motor position is achieved in that the second hall position sensor 4 and the 3rd hall position sensor 10 differ 120 ° of electrical degrees, when the second hall position sensor 4 and the 3rd hall position sensor 10 are under the permanent magnet of N pole, hall position sensor exports high level, after single-chip microcomputer receives hall position sensor high level signal, single-chip microcomputer exports a high level at the output of corresponding HA and HB, export a low level at the corresponding output of HC, as shown in 120 ° ~ 180 ° sections in Fig. 3 simultaneously, along with electric machine rotation, when the second hall position sensor 4 N extremely under, 3rd hall position sensor 10 is when S extremely descends, second hall position sensor 4 exports a high level, and the 3rd hall position sensor 10 exports a low level, single-chip microcomputer exports a high level at the output of corresponding HA, export a low level at the corresponding output of HB and HC simultaneously, as shown in 60 ° ~ 120 ° sections in Fig. 3, and when jumping to low level when the 3rd hall position sensor 10 from high level, timer starts timing, when timer calculating motor turns over 120 ° of electrical degrees, the corresponding HC output of single-chip microcomputer by low transition to high level, as shown in 0 ° ~ 60 ° sections in Fig. 3, when the second hall position sensor 4 by N pole be transformed into S extremely descend time, second hall position sensor 4 output low level, 3rd hall position sensor 10 also S extremely under, now the corresponding HC output of single-chip microcomputer keeps high level to become, HB and HC holds output low level, as shown in 300 ° ~ 360 ° sections in Fig. 3, along with electric machine rotation, 3rd hall position sensor 10 by S be transformed into extremely down N extremely under, 3rd hall position sensor 10 exports high level, corresponding single-chip microcomputer HB end exports high level, and as shown in 240 ° ~ 300 ° sections in Fig. 3, the 3rd when hall position sensor 10 is switched to high level by low level, enable timer, when timer calculate motor turn over 120 ° of electrical degrees time, single-chip microcomputer HC output level is switched to high level by low level, as shown in 180 ° ~ 240 ° sections in Fig. 3.
The detection method of motor speed: the detection of motor speed is realized by the first hall position sensor, first hall position sensor is a bipolarity latch Hall position transducer, namely when printing hall position sensor is through the N pole of permanent magnet, a pulse signal is exported.Disk corresponding to the first hall position sensor studs with N pole-face permanent magnet outwardly.When the first hall position sensor is through this permanent magnet, the first hall position sensor exports a pulse signal to single-chip microcomputer, and single-chip microcomputer receives this signal, single-chip microcomputer starts timer, timer starts timing, and when receiving next pulse signal, timer timing terminates.Timing motor speed can be obtained by the timing time of timer.Its computing formula is: n=60/T, and wherein n is motor speed, and unit is r/min, T is timer time, and unit is s.
As shown in Figure 4, GPIOA0 is the signal input interface of the second hall position sensor to singlechip chip pin circuitry, and the output signal of the second hall position sensor, after filter shape, is input to single-chip microcomputer via single-chip microcomputer GPIOA0 port; GPIOA1 is the signal input interface of the 3rd hall position sensor, and the output signal of the 3rd hall position sensor, after filter shape, is input to single-chip microcomputer via single-chip microcomputer GPIOA1 port; GPIOA2 is the signal input interface of the first hall position sensor, and the output signal of the first hall position sensor, after filter shape, is input to single-chip microcomputer via single-chip microcomputer GPIOA2 port; GPIOA3, GPIOA4 and GPIOA5 port is respectively HA, the signal output part of HB and HC.GPIOB3, GPIOB4 and GPIOB5 are the outputs of motor speed signal.
As shown in Figure 5: program starts first to carry out initialization to single-chip microcomputer related register, then start to detect hall signal, calculate the position of motor and the rotating speed of motor according to hall signal, by single-chip I/O mouth output motor position and tach signal, return hall signal and detect.
Claims (2)
1. aircraft permanent magnet synchronous machine rotating speed and position detecting device, is characterized in that: comprise disk, side permanent magnet, the first hall position sensor, the second hall position sensor, pcb board, single-chip microcomputer and the 3rd hall position sensor, disk is arranged on the rotor of permagnetic synchronous motor, rotates together with rotor, and pcb board is fixed on electric motor end cap, side permanent magnet is equipped with in the outside of disk, and permanent magnet N pole, side and S pole are alternately installed, and the first hall position sensor, the second hall position sensor, single-chip microcomputer and the 3rd hall position sensor are arranged on pcb board, second hall position sensor and the 3rd hall position sensor are pressed close to side permanent magnet and are arranged, the detection of motor position is realized by the second hall position sensor and the 3rd hall position sensor, the electrical degree of two hall position sensors is 120 °, its mechanical angle α=120 °/P, wherein P is magnetic pole logarithm, second hall position sensor and the 3rd hall position sensor are relative to the installation machinery angle [alpha]=120 °/P of disk, wherein P is magnetic pole logarithm, second hall position sensor and the 3rd hall position sensor export high level under the permanent magnet of N pole, output low level under the permanent magnet of S pole, first hall position sensor is between the second hall position sensor and the 3rd hall position sensor, the surface corresponding to the first hall position sensor at disk is equipped with one piece press close to disk side and be S pole, be the permanent magnet of N pole away from disk side, its size is identical with side magnet size, leave gap between first hall position sensor and permanent magnet, the detection faces of the first hall position sensor is towards the lower surface of disk.
2. aircraft permanent magnet synchronous machine rotating speed as claimed in claim 1 and position detecting device, is characterized in that: the first described hall position sensor is a bipolarity latch Hall position transducer.
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| CN201510051223.5A CN104659973B (en) | 2015-01-30 | 2015-01-30 | Apparatus for detecting rotating speed and position of aircraft permanent magnet synchronous motor |
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Cited By (7)
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| CN106655959A (en) * | 2017-03-07 | 2017-05-10 | 上海电机学院 | Method for measuring rotation speed of brushless direct-current motor |
| CN108120454A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of angle detecting method of incremental encoder |
| CN109687650A (en) * | 2019-03-06 | 2019-04-26 | 中山市金马科技娱乐设备股份有限公司 | A kind of permanent magnet linear synchronous motor magnetic pole detection system |
| CN112117937A (en) * | 2020-09-08 | 2020-12-22 | 绍兴文理学院元培学院 | Permanent magnet synchronous motor control system and motor rotating speed measuring method |
| CN113726245A (en) * | 2021-07-28 | 2021-11-30 | 沈阳工程学院 | Redundancy control system and method suitable for surface-mounted permanent magnet synchronous motor |
| CN114089231A (en) * | 2021-11-02 | 2022-02-25 | 湖南大学 | Magnetic sensor module, printed permanent magnet synchronous motor and application method thereof |
| CN114234778A (en) * | 2021-12-15 | 2022-03-25 | 上海创米数联智能科技发展股份有限公司 | Bolt stroke detection device and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120454A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of angle detecting method of incremental encoder |
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| CN109687650A (en) * | 2019-03-06 | 2019-04-26 | 中山市金马科技娱乐设备股份有限公司 | A kind of permanent magnet linear synchronous motor magnetic pole detection system |
| CN112117937A (en) * | 2020-09-08 | 2020-12-22 | 绍兴文理学院元培学院 | Permanent magnet synchronous motor control system and motor rotating speed measuring method |
| CN113726245A (en) * | 2021-07-28 | 2021-11-30 | 沈阳工程学院 | Redundancy control system and method suitable for surface-mounted permanent magnet synchronous motor |
| CN113726245B (en) * | 2021-07-28 | 2024-01-02 | 沈阳工程学院 | Redundant control system and method suitable for surface-mounted permanent magnet synchronous motor |
| CN114089231A (en) * | 2021-11-02 | 2022-02-25 | 湖南大学 | Magnetic sensor module, printed permanent magnet synchronous motor and application method thereof |
| CN114234778A (en) * | 2021-12-15 | 2022-03-25 | 上海创米数联智能科技发展股份有限公司 | Bolt stroke detection device and method |
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