CN104659973B - Apparatus for detecting rotating speed and position of aircraft permanent magnet synchronous motor - Google Patents

Abstract

An aviation permanent magnet synchronous motor speed and position detection device, including a disk, a side permanent magnet, a first Hall position sensor, a second Hall position sensor, a PCB board, a single-chip microcomputer and a third Hall position sensor. The disk is installed on the rotor of the permanent magnet synchronous motor and rotates together with the rotor, and the PCB board is fixed on the end cover of the motor. Side permanent magnets are arranged on the outer side of the disk, and the N poles and S poles of the side permanent magnets are installed 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 board. The second Hall position sensor and the third Hall position sensor are arranged close to the permanent magnet on the side. The detection of the motor position is realized by the second Hall position sensor and the third Hall position sensor. The electrical angle of the two Hall position sensors is 120° The motor speed position detection device proposed by the present invention has the advantages of simple structure, small size, light weight, flexible and convenient installation, and can realize mechatronics when installed in the motor.

Description

Aeronautical permanent magnet synchronous motor speed and position detection device

Technical field: The present invention is a detection device for a motor, especially a detection device for the speed and position of an aviation permanent magnet synchronous motor.

Background technology: Modern general-purpose high-power permanent magnet synchronous motor frequency converters often need to adapt to different types of motors. Hall elements are used as the means of motor position detection. It is necessary to comprehensively consider the installation position of Hall elements on the motor stator. Traditionally, manual The detection method is not only low in efficiency and poor in accuracy, but can no longer meet the requirements of intelligent and efficient systems. The detection of the rotor position of the traditional permanent magnet synchronous motor is based on manual detection. Due to the randomness of the Hall element installation, this detection method cannot correctly position the rotor of the permanent magnet synchronous motor, which reduces the efficiency of the motor during work. The temperature of the motor winding rises rapidly, and the long-term operation even burns the motor coil. With the development of the permanent magnet synchronous motor servo system towards intelligence, it is necessary to study an automatic detection method to replace the traditional synchronous motor rotor position measurement method, and realize the automatic detection of the synchronous motor rotor position technology to achieve the advantages of high execution efficiency, intelligence, and high precision. It has high practical value.

Permanent magnet synchronous motors are widely used. Among them, surface mount permanent magnet motors have become one of the main drive motors in industrial automation, home appliances, automobiles and other industries due to their low production cost and reliable process. However, in actual use, whether it is a permanent magnet brushless DC motor or a permanent magnet synchronous motor, it needs a position detection device to provide the motor driver with a position signal of the rotor, so the accuracy and reliability of the position detection device has become a key factor for the motor. The key to system reliability. Usually, in practical applications, when the detection accuracy or installation space is not considered, a resolver is often used as a position and speed detection device. However, the detection accuracy of this position and speed detection device is not high, and the resolver needs to be installed on the motor rotor. Therefore, in the application field of permanent magnet motors, the Hall position sensor is often used as the detection element of position and speed.

Modern permanent magnet synchronous AC servo systems generally use encoders as rotor position detection devices. Photoelectric encoders are divided into incremental and absolute. Compared with absolute encoders, incremental encoders have the advantages of low cost, simple wiring, and high reliability, and are widely used in various industrial occasions. Since the digital control processor can only accumulate and count the pulses sent by the incremental encoder, and calculate the current rotor position according to the count value and the initial value, the accuracy of the initial positioning value is the premise to ensure the normal and stable operation of the vector control.

The inspection is a necessary step for the servo system to be equipped with a motor. With the development of the permanent magnet synchronous motor servo system towards intelligence, an automatic detection method is needed to replace the traditional manual Hall detection method. The automatic detection of the installation position of the Hall element has the advantages of high execution efficiency, intelligence, and high precision. High practical value. The development of the existing detection system based on the Hall position sensor in my country is still immature, and the permanent magnet is often lengthened in the device, such as a motor rotor disclosed in Chinese Patent Publication No. CN1856924A, and a motor rotor disclosed in Chinese Patent Publication No. Outer rotor permanent magnet motor shell structure; it is a magnetic ring that is separately installed by the detection system to provide position signals, such as a motor disclosed in Chinese Patent Publication No. CN101243598A, and a motor rotor position and speed disclosed in Chinese Patent Publication No. CN 201860242U The detection device makes the magnetization direction of the permanent magnet itself perpendicular to the detection surface of the Hall element. Today, with the high price of permanent magnets, increasing the amount of permanent magnets to provide position detection signals will undoubtedly greatly increase the cost, and installing or increasing the length of permanent magnets will increase the axial space, which is not conducive to the optimization of the motor structure.

Summary of the invention: Due to the many drawbacks and deficiencies of the detection of motor speed and position that have been disclosed at home and abroad, the present invention provides a speed and position detection device for aviation permanent magnet synchronous motors based on Hall elements.

In order to achieve the above object, the technical solution adopted in the present invention is: the aviation permanent magnet synchronous motor speed and position detection device, comprising disk, side permanent magnet, the first Hall position sensor, the second Hall position sensor, PCB board, single-chip microcomputer and Third hall position sensor. The disk is installed on the rotor of the permanent magnet synchronous motor and rotates together with the rotor, and the PCB board is fixed on the end cover of the motor. Side permanent magnets are arranged on the outer side of the disk, and the N poles and S poles of the side permanent magnets are installed 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 board. The second Hall position sensor and the third Hall position sensor are arranged close to the permanent magnet on the side. The detection of the motor position is realized by the second Hall position sensor and the third Hall position sensor. The electrical angle of the two Hall position sensors is 120° (its mechanical angle α=120°/P, where P is the number of magnetic pole pairs), the installation mechanical angle of the second Hall position sensor and the third Hall position sensor relative to the disk α=120°/P, where P is the number of magnetic pole pairs, the second Hall position sensor and the third Hall position sensor output a high level under the N-pole permanent magnet, and output a low level under the S-pole permanent magnet. The first Hall position sensor is located between the second Hall position sensor and the third Hall position sensor. On the surface of the disk corresponding to the first Hall position sensor, there is an S pole on the side close to the disk and an N pole on the side away from the disk. The permanent magnets of the two poles have the same size as the side permanent magnets, and there is a gap between the first Hall position sensor and the permanent magnets. The detection surface of the first Hall position sensor faces the lower surface of the magnetic disk.

Preferably, the first Hall position sensor is a bipolar latch type Hall position sensor.

The motor rotation speed position detection device proposed by the invention has the advantages of simple structure, small size, light weight, flexible and convenient installation, and can realize mechatronics when installed in the motor. The integration of the speed detection device and the position signal detection device can detect the position signal and the speed signal at the same time, and the reliability and accuracy of the signal output are guaranteed through the single-chip microcomputer. The output of the Hall position sensor is increased before The processing circuit is installed, and an isolated post-processing circuit is added to the signal output of the single-chip microcomputer, which improves the anti-electromagnetic interference ability of the signal, ensures the correctness of the signal, and provides correct commutation information for the logic switch circuit.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a working flow chart of the present invention.

Fig. 3 is a combination diagram of Hall sensor output waveforms in the present invention;

Fig. 4 is the circuit diagram of the pin arrangement of the single-chip microcomputer chip in the present invention.

Figure 5 is a program flow chart of the microcontroller.

detailed description:

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1: The speed and position detection device of the aviation permanent magnet synchronous motor can realize the detection of the motor position and speed at the same time, including the disk 1, the side permanent magnet 2, the first Hall position sensor 3, and the second Hall position sensor 4. PCB board 5, single chip microcomputer 6 and third Hall position sensor 10. The disk 1 is installed on the rotor 9 of the permanent magnet synchronous motor, and rotates together with the rotor 9, and the PCB board 5 is fixed on the motor end cover 8 . The outer side of the disk 1 is equipped with side permanent magnets 2, the N poles and S poles of the side permanent magnets 2 are installed alternately, the first Hall position sensor 3, the second Hall position sensor 4, the single chip microcomputer 6 and the third Hall position sensor 10 Set on the PCB board 5 . The second Hall position sensor 4 and the third Hall position sensor 10 are arranged close to the side permanent magnet 2. The detection of the motor position is realized by the second Hall position sensor 4 and the third Hall position sensor 10. The two Hall positions The electrical angle of the sensor is 120°, its mechanical angle α=120°/P, where P is the number of magnetic pole pairs, and the installation mechanical angle α of the second Hall position sensor 4 and the third Hall position sensor 10 relative to the magnetic disk 1= 120°/P, where P is the number of magnetic pole pairs, the second Hall position sensor 4 and the third Hall position sensor 10 output a high level under the N-pole permanent magnet, and output a low level under the S-pole permanent magnet. The first Hall position sensor 3 is between the second Hall position sensor 4 and the third Hall position sensor 10. On the surface of the magnetic disk 1 corresponding to the first Hall position sensor 3, there is an S pole close to the magnetic disk 1 side. 1. The permanent magnet with N pole on the side away from the magnetic disk 1 has the same size as the permanent magnet 2 on the side, and there is a gap between the first Hall position sensor 3 and the permanent magnet. The detecting surface of the first Hall position sensor 3 faces the lower surface of the magnetic disk 1 . The output terminal interface 7 is also provided on the PCB board 5 .

As shown in Figure 2: the two-way motor position detection signals are filtered and reshaped and then input to the single-chip microcomputer. After calculation, the single-chip microcomputer outputs the motor position signal as shown in Figure 3. The motor position signal is output from the motor port after optical isolation; the motor speed The detection signal is input to the single-chip microcomputer after being filtered and shaped, and the differential signal of the motor speed is output after calculation by the single-chip computer, and the differential signal of the motor speed is output from the motor port after being photoelectrically isolated.

The detection of the motor position is realized in this way: the second Hall position sensor 4 and the third Hall position sensor 10 have an electrical angle difference of 120°, when the second Hall position sensor 4 and the third Hall position sensor 10 are permanently connected at the N pole Under the magnet, the Hall position sensor outputs a high level. After the microcontroller receives the Hall position sensor high level signal, the microcontroller outputs a high level at the output terminals corresponding to HA and HB, and at the same time outputs a low level at the corresponding output terminal of HC. Level, as shown in the 120°～180° section in Figure 3; as the motor rotates, when the second Hall position sensor 4 is under the N pole and the third Hall position sensor 10 is under the S pole, the second Hall position sensor Hall position sensor 4 outputs a high level, while the third Hall position sensor 10 outputs a low level, the microcontroller outputs a high level at the output terminal corresponding to HA, and at the same time outputs a low level at the corresponding output terminals of HB and HC Level, as shown in the 60°～120° section in Figure 3, and when the third Hall position sensor 10 jumps from high level to low level, the timer starts counting, when the timer calculates that the motor has turned 120° At the electrical angle, the corresponding HC output terminal of the microcontroller jumps from low level to high level, as shown in the 0°~60° section in Figure 3; when the second Hall position sensor 4 is switched from the N pole to the S pole , the second Hall position sensor 4 outputs low level, and the third Hall position sensor 10 is still under the S pole. At this time, the output terminal corresponding to HC of the single chip microcomputer keeps high level, and the HB and HC terminals output low level, as shown in the figure As shown in the 300°～360° section in 3; as the motor rotates, the third Hall position sensor 10 is switched from the S pole down to the N pole down, and the third Hall position sensor 10 outputs a high level, corresponding to the output of the HB terminal of the single chip microcomputer High level, as shown in the 240 ° ~ 300 ° segment in Figure 3, the third time when the Hall position sensor 10 is switched from low level to high level, the timer is enabled, and when the timer calculates that the motor has turned 120 ° Angle, switch the output level of the microcontroller HC from low level to high level, as shown in the 180°-240° section in Figure 3.

The detection method of the motor speed: the detection of the motor speed is realized through the first Hall position sensor, the first Hall position sensor is a bipolar latch type Hall position sensor, that is, when the printing Hall position sensor passes through the permanent When the N pole of the magnet, output a pulse signal. The disk corresponding to the first Hall position sensor is inlaid with a permanent magnet with the N pole facing outward. When the first Hall position sensor passes the permanent magnet, the first Hall position sensor outputs a pulse signal to the single-chip microcomputer, the single-chip microcomputer receives the signal, the single-chip microcomputer starts the timer, and the timer starts counting, when the next pulse signal is received , the timer ends. The motor speed can be obtained by counting the time of the timer. The calculation formula is: n=60/T, where n is the motor speed in r/min, and T is the timer time in s.

The chip pin circuit of the single-chip microcomputer is shown in Figure 4. GPIOA0 is the signal input interface of the second Hall position sensor. The signal input interface of the Hall position sensor, the output signal of the third Hall position sensor is filtered and shaped, and then input to the single chip microcomputer through the GPIOA1 port of the microcontroller; GPIOA2 is the signal input interface of the first Hall position sensor, the first Hall position sensor After filtering and shaping, the output signal is input to the microcontroller through the GPIOA2 port of the microcontroller; the GPIOA3, GPIOA4 and GPIOA5 ports are the signal output terminals of HA, HB and HC respectively. GPIOB3, GPIOB4 and GPIOB5 are the output ends of the motor speed signal.

As shown in Figure 5: at the beginning of the program, first initialize the relevant registers of the single-chip microcomputer, and then start to detect the Hall signal, calculate the position and speed of the motor according to the Hall signal, output the motor position and speed signal through the IO port of the single-chip microcomputer, and return to the Hall Signal Detection.

Claims (2)

1. An aviation permanent magnet synchronous motor speed and position detection device, characterized in that it includes a disk, a side permanent magnet, a first Hall position sensor, a second Hall position sensor, a PCB board, a single-chip microcomputer and a third Hall position sensor; The disk is installed on the rotor of the permanent magnet synchronous motor and rotates together with the rotor. The PCB board is fixed on the motor end cover; side permanent magnets are installed on the outside of the disk, and the N poles and S poles of the side permanent magnets are installed alternately. The first Hall position The sensor, the second Hall position sensor, the single chip microcomputer and the third Hall position sensor are set on the PCB; the second Hall position sensor and the third Hall position sensor are set close to the side permanent magnet, and the motor position is detected through the second Hall position sensor. The electrical angle of the two Hall position sensors is 120°, and its mechanical angle α=120°/P, where P is the number of magnetic pole pairs, the second Hall position sensor and The installation mechanical angle of the third Hall position sensor relative to the disk is α=120°/P, where P is the number of magnetic pole pairs, and the second Hall position sensor and the third Hall position sensor output a high level under the N-pole permanent magnet , output a low level under the S-pole permanent magnet; the first Hall position sensor is between the second Hall position sensor and the third Hall position sensor, and a piece is installed on the surface of the disk corresponding to the first Hall position sensor The permanent magnet with the S pole on the side close to the disk and the N pole on the side away from the disk has the same size as the side permanent magnet. There is a gap between the first Hall position sensor and the permanent magnet. The detection surface of the first Hall position sensor towards the bottom surface of the disk. 2. The airborne permanent magnet synchronous motor speed and position detection device according to claim 1, characterized in that: said first Hall position sensor is a bipolar latch type Hall position sensor.