CN104659973B - 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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- CN104659973B CN104659973B CN201510051223.5A CN201510051223A CN104659973B CN 104659973 B CN104659973 B CN 104659973B CN 201510051223 A CN201510051223 A CN 201510051223A CN 104659973 B CN104659973 B CN 104659973B
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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 detection means of motor, especially a kind of aircraft permanent magnet synchronous motor rotating speed and
Position detecting device.
Background technology:Modern Universal high-power permagnetic synchronous motor converter often will adapt to different types of motor, adopts
The means being detected as motor position with Hall element, need to consider the installation position on motor stator of Hall element
Put, not only efficiency is low for conventionally employed manual detection method, low precision has been unable to intelligent, the efficient requirement of adaptive system.Pass
The method that the detection of system permanent-magnet synchronous motor rotor position is all based on manual detection, the randomness installed due to Hall element,
Permanent-magnetic synchronous motor rotor can not be properly positioned by this kind of detection method, and efficiency reduces in the course of the work to make motor, electricity
Machine winding temperature rises rapidly, and long-play even makes motor coil burn.With PMSM Servo System towards
Intelligent development, a kind of automatic detection means of research replace conventional synchronization motor rotor position assay method, realize automatic detection
Synchronous motor rotor position technology is to have very high practical value to reach the advantages of execution efficiency height, intellectuality, high precision.
Permagnetic synchronous motor application relatively broad, wherein surface-adhered type magneto due to have cost of manufacture relatively low with
And the feature of process, have become as one of current industrial automation and household electrical appliances, the main motor of automobile and other industries.But
It is, in actual use, either permanent-magnet brushless DC electric machine or permagnetic synchronous motor, it is required for a position detection dress
Being set to motor driver provides the position signalling of rotor, therefore the accuracy of position detecting device and reliability become electronic
The key of machine system functional reliability.Generally in actual applications, accuracy of detection or the occasion of installing space are not considered, usually
Using rotary transformer as position and speed detector, but, the accuracy of detection of this position and speed detector is not
Height, and rotary transformer needs to be installed on rotor, and higher with the axiality requirement of rotor, therefore, thus
Usually adopt hall position sensor as the detecting element of position and rotating speed in the application of magneto.
Modern permanent magnet synchronous AC servosystem typically adopts encoder as detecting apparatus for rotor position.Photoelectric encoder
It is divided into increment type and absolute type, and incremental encoder, compared with absolute type encoder, has low cost, wiring simply, reliably
The advantages of property is high, is widely used in all types of industries occasion.Incremental encoder can only be sent due to digital control processor
Pulse carries out accumulated counts, calculates current rotor position according to count value and initial value, therefore, the accurate journey of initial alignment value
Degree is to ensure that the premise that vector controlled normal table runs.
Detection becomes servosystem and is equipped with the step that motor is subjected to.With PMSM Servo System towards intelligence
Energyization develops, and needs a kind of automatic detection means to replace Traditional Man Hall detection method, automatic detection Hall element installation position
Put technology with its execution efficiency height, intellectuality, precision height etc. a little, there is very high practical value.China existing based on suddenly
The detecting system exploitation of your position sensor is still immature, and in a device often through lengthening permanent magnet, such as Chinese patent is open
A kind of number motor rotor disclosed in CN1856924A, and a kind of outer disclosed in China Patent Publication No. CN 201813240U
Rotor permanent magnet motor housing structure；It is the separately installed magnet ring that position signalling is provided of detecting system, such as China Patent Publication No. CN
A kind of motor disclosed in 101243598A, and a kind of rotor disclosed in China Patent Publication No. CN 201860242U
Position and the detection means of speed, make the detection faces perpendicular to Hall element for the magnetizing direction of permanent magnet itself.In permanent magnet valency
Lattice surging today, provide position detection signal undoubtedly cost can be significantly increased by increasing permanent magnet consumption, and individually
Installing or increase permanent magnetism body length will increase axial space, be unfavorable for the optimization of electric machine structure.
Content of the invention：Between domestic and international at present disclosed many drawbacks for the detection of motor speed position and not
Foot, the invention provides a kind of aircraft permanent magnet synchronous motor rotating speed based on Hall element and position detecting device.
For achieving the above object, the technical solution used in the present invention is：Aircraft permanent magnet synchronous motor rotating speed and position detection
Device, including disk, side permanent magnet, the first hall position sensor, the second hall position sensor, pcb board, single-chip microcomputer and
Three hall position sensors.Disk is arranged on the rotor of permagnetic synchronous motor, rotates together with rotor, and pcb board is fixed on electricity
On generator terminal lid.Equipped with side permanent magnet, side permanent magnet N pole replaces installation with S pole in the outside of disk, the first hall position sensor,
Second hall position sensor, single-chip microcomputer and the 3rd hall position sensor are arranged on pcb board.Second hall position sensor
Press close to permanent magnet setting in side with the 3rd hall position sensor, the second hall position sensor and the are passed through in the detection of motor position
Three hall position sensors realizing, the electrical angle of two hall position sensors be 120 ° (its mechanical angle α=120 °/P,
Wherein P is magnetic pole logarithm), the second hall position sensor and the 3rd hall position sensor are with respect to the installation mechanical angle of disk
Degree α=120 °/P, wherein P are magnetic pole logarithm, and the second hall position sensor and the 3rd hall position sensor are in N pole permanent magnet
Lower output high level, exports low level under the permanent magnet of S pole.First hall position sensor is in the second hall position sensor
With the 3rd between hall position sensor, magnetic is pressed close to equipped with one piece in the surface that disk corresponds to the first hall position sensor
Disk side is S pole, is the permanent magnet of N pole away from disk side, its size is identical with side magnet size, the first hall position sensor
Gap is left and permanent magnet between.The detection faces of the first hall position sensor are towards the lower surface of disk.
Preferably, the first described hall position sensor is a bipolarity latch Hall position sensor.
Motor speed position detecting device proposed by the invention has that structure is simple, small volume, lightweight, flexible for installation
Conveniently, it is arranged on the advantages of can achieve electromechanical integration in motor.Collection by speed detector and position signalling detection means
Become to one, can test position signal and tach signal simultaneously, by single-chip microcomputer to signal it is ensured that signal output can
By property and accuracy, increased preposing signal process circuit, and the fes signal output in single-chip microcomputer in the output of hall position sensor
Added the postpositive disposal circuit with isolation, improve the anti-electromagnetic interference capability of signal it is ensured that the correctness of signal, simultaneously for
Logic switching circuit provides correct commutation information.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the workflow diagram of the present invention.
Fig. 3 is Hall element output waveform constitutional diagram in the present invention；
Fig. 4 is the pin setting circuit diagram of singlechip chip in the present invention.
Fig. 5 is the program flow diagram of single-chip microcomputer.
Specific embodiment：
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
As shown in Figure 1：Aircraft permanent magnet synchronous motor rotating speed and position detecting device, can realize motor position simultaneously and turn
The detection of speed, including disk 1, side permanent magnet 2, the first hall position sensor 3, the 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, turns together with turning 9 sons
Dynamic, pcb board 5 is fixed on electric motor end cap 8.The outside of disk 1 replaces peace equipped with side permanent magnet 2, the N pole of side permanent magnet 2 with S pole
Dress, the first hall position sensor 3, the 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, motor position
The detection put is realized by the second hall position sensor 4 and the 3rd hall position sensor 10, two hall position sensings
The electrical angle of device is 120 °, and its mechanical angle α=120 °/P, wherein P are magnetic pole logarithm, the second hall position sensor 4 and the
With respect to the installation machinery angle [alpha]=120 °/P of disk 1, wherein P is magnetic pole logarithm to three hall position sensors 10, the second Hall
Position sensor 4 and the 3rd hall position sensor 10 export high level under the permanent magnet of N pole, export low under the permanent magnet of S pole
Level.First hall position sensor 3 is between the second hall position sensor 4 and the 3rd hall position sensor 10,
Disk 1 correspond to the first hall position sensor 3 surface on equipped with one piece press close to disk 1 side be S pole, away from disk 1 side be N
The permanent magnet of pole, its size is equivalently-sized with side permanent magnet 2, leaves gap between the first hall position sensor 3 and permanent magnet.
The detection faces of the first hall position sensor 3 are towards the lower surface of disk 1.Output end interface 7 is additionally provided with pcb board 5.
As shown in Figure 2：It is input to single-chip microcomputer, single-chip microcomputer is computed after the filtered shaping of two-way motor position detection signal
Afterwards, export motor position signal as shown in Figure 3, motor position signal exports from motor port after Phototube Coupling；Motor turns
It is input to single-chip microcomputer after the filtered shaping of fast detection signal, output motor rotating speed differential wave after calculating through single-chip microcomputer, motor turns
Fast differential wave exports from motor port after Phototube Coupling.
The detection of motor position is realized in：Second hall position sensor 4 and the 3rd hall position sensor 10
120 ° of electrical angles of difference, 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 in corresponding HA and
The outfan of HB exports a high level, and the corresponding outfan in HC exports a low level simultaneously, 120 °～180 ° in such as Fig. 3
Shown in section；With motor rotate, when the second hall position sensor 4 N extremely under, the 3rd hall position sensor 10 S extremely under
When, the second hall position sensor 4 exports a high level, and the 3rd hall position sensor 10 exports a low level, single
Piece machine exports a high level in the outfan of corresponding HA, and the corresponding outfan in HB and HC exports a low level simultaneously, such as
In Fig. 3 shown in 60 °～120 ° sections, and when the 3rd hall position sensor 10 jumps to low level from high level, intervalometer
Start timing, when intervalometer calculates motor and turns over 120 ° of electrical angles, the corresponding HC outfan of single-chip microcomputer is by low transition to height
Level, as shown in 0 °～60 ° sections in Fig. 3；When the second hall position sensor 4 is transformed into S by N pole and extremely descends, the second Hall position
Put sensor 4 output low level, the 3rd hall position sensor 10 also S extremely under, now the corresponding HC outfan of single-chip microcomputer keeps
High level becomes, HB and HC end exports low level, as shown in 300 °～360 ° sections in Fig. 3；Rotate with motor, the 3rd hall position
Sensor 10 by S be extremely transformed into down N extremely under, the 3rd hall position sensor 10 exports high level, the output of corresponding single-chip microcomputer HB end
High level, 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 intervalometer, when intervalometer is calculated motor and turns over 120 ° of electrical angles, by single-chip microcomputer HC outfan level by low level
It is switched to high 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, the
One hall position sensor is a bipolarity latch Hall position sensor, that is, when printing hall position sensor is through forever
During the N pole of magnet, export a pulse signal.One N pole-face court is studded with the disk corresponding to the first hall position sensor
Outer permanent magnet.When the first hall position sensor passes through this permanent magnet, the first hall position sensor exports a pulse
To single-chip microcomputer, single-chip microcomputer receives this signal to signal, and single-chip microcomputer starts intervalometer, and intervalometer starts timing, when receiving next
During individual pulse signal, intervalometer timing terminates.Motor speed can be obtained with timing by the timing time of intervalometer.It calculates public
Formula is：N=60/T, wherein n are motor speed, and unit is r/min, and T is timer time, and unit is s.
Singlechip chip pin circuitry as shown in figure 4, GPIOA0 is the signal input interface of the second hall position sensor,
After the filtered shaping of output signal of the second hall position sensor, it 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 is filtered whole
After shape, it is input to single-chip microcomputer via single-chip microcomputer GPIOA1 port；GPIOA2 is that the signal input of the first hall position sensor connects
Mouthful, after the filtered shaping of output signal of the first hall position sensor, it 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 outfan of motor speed signal.
As shown in Figure 5：Program starts first single-chip microcomputer related register to be initialized, and then starts to detect Hall letter
Number, the position of motor and the rotating speed of motor are calculated according to hall signal, by single-chip I/O mouth output motor position and rotating speed letter
Number, return hall signal detection.
Claims (2)
1. aircraft permanent magnet synchronous motor rotating speed and position detecting device it is characterised in that：Including disk, side permanent magnet, first suddenly
That position sensor, the second hall position sensor, pcb board, single-chip microcomputer and the 3rd hall position sensor；Disk is arranged on forever
On the rotor of magnetic-synchro motor, rotate together with rotor, pcb board is fixed on electric motor end cap；The outside of disk is equipped with side permanent magnetism
Body, side permanent magnet N pole replaces installation, the first hall position sensor, the second hall position sensor, single-chip microcomputer and with S pole
Three hall position sensors are arranged on pcb board；Second hall position sensor and the 3rd hall position sensor press close to side forever
Magnet is arranged, and the detection of motor position is realized by the second hall position sensor and the 3rd hall position sensor, two
The electrical angle of hall position sensor is 120 °, and its mechanical angle α=120 °/P, wherein P are magnetic pole logarithm, the second hall position
Sensor and the 3rd hall position sensor angle [alpha]=120 °/P mechanical with respect to the installation 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, defeated under the permanent magnet of S pole
Go out low level；First hall position sensor is between the second hall position sensor and the 3rd hall position sensor,
Disk corresponds to be pressed close to disk side equipped with one piece on the surface of the first hall position sensor and is S pole, is N pole away from disk side
Permanent magnet, its size is identical with side magnet size, leaves gap between the first hall position sensor and permanent magnet, and first suddenly
The detection faces of your position sensor are towards the lower surface of disk.
2. aircraft permanent magnet synchronous motor rotating speed as claimed in claim 1 and position detecting device it is characterised in that：Described
One hall position sensor is a bipolarity latch Hall position sensor.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN104659973A CN104659973A (en) | 2015-05-27 |
| CN104659973B true CN104659973B (en) | 2017-02-22 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120454B (en) * | 2016-11-28 | 2020-09-29 | 沈阳新松机器人自动化股份有限公司 | Angle detection method of incremental encoder |
| CN106655959A (en) * | 2017-03-07 | 2017-05-10 | 上海电机学院 | Method for measuring rotation speed of brushless direct-current motor |
| 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 |
| CN112117937B (en) * | 2020-09-08 | 2021-12-31 | 绍兴文理学院元培学院 | Permanent magnet synchronous motor control system and motor rotating speed measuring method |
| 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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| CN201608680U (en) * | 2010-01-13 | 2010-10-13 | 南通博比特软件有限公司 | Motor rotation detecting device |
| CN201860242U (en) * | 2010-11-10 | 2011-06-08 | 浙江方德机电制造有限公司 | Position and speed detection device for rotor of motor |
| CN102545524B (en) * | 2012-02-14 | 2013-11-20 | 美的威灵电机技术（上海）有限公司 | Rotor position detection device for permanent magnet motor |
| JP2014075889A (en) * | 2012-10-03 | 2014-04-24 | Asmo Co Ltd | Position detecting unit |
| KR101403460B1 (en) * | 2013-03-27 | 2014-06-05 | 한양대학교 산학협력단 | Permanent magnet type motor |
| CN103731077B (en) * | 2014-01-21 | 2016-04-27 | 上海新世纪机器人有限公司 | The checkout gear of motor rotor position and rotating speed and method |
| CN204442097U (en) * | 2015-01-30 | 2015-07-01 | 沈阳航空航天大学 | Aircraft permanent magnet synchronous machine rotating speed and position detecting device |
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