CN105305892A - Permanent magnet motor - Google Patents

Permanent magnet motor Download PDF

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Publication number
CN105305892A
CN105305892A CN201510664411.5A CN201510664411A CN105305892A CN 105305892 A CN105305892 A CN 105305892A CN 201510664411 A CN201510664411 A CN 201510664411A CN 105305892 A CN105305892 A CN 105305892A
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Prior art keywords
rotor
computing circuit
magnetic induction
induction density
stator coil
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CN201510664411.5A
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CN105305892B (en
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白坤
李国民
陆锦锦
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Huazhong University of Science and Technology
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DONGGUAN SYGOLE DIGITAL TECHNOLOGY Co Ltd
Huazhong University of Science and Technology
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Priority to CN201510664411.5A priority Critical patent/CN105305892B/en
Priority to PCT/CN2015/094318 priority patent/WO2017063244A1/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Abstract

The invention discloses a permanent magnet motor. The permanent magnet motor comprises a stator coil and a rotor. The permanent magnet motor further comprises a computation module; the computation module comprises a magnetic field sensor, a first computation circuit and a second computation circuit which are connected with one another sequentially; the magnetic field sensor is arranged in the stator coil and is used for detecting magnetic induction intensity B0, and inputting B0 to the first computation circuit; the first computation circuit is used for acquiring magnetic induction intensity BPM generated by the rotor for the magnetic field sensor through B0, and inputting BPM to the second computation circuit; the second computation circuit is used for acquiring the position of the rotor through BPM; and the state signal of the rotor is the velocity v, acceleration a or inertial force Fi of the rotor. The invention also discloses a stator coil and a computation module used for the permanent magnet motor. With the permanent magnet motor of the invention adopted, the position of the rotor in the motor can be measured effectively and accurately, and precise control on the motor can be further realized.

Description

A kind of magneto
Technical field
The invention belongs to motor control technology field, more specifically, relate to a kind of magneto.
Background technology
In the closed loop control process of magneto, the status signals such as the position of the necessary rotor of measurement in real time and rotating speed.For multi-freedom electric motor system, existing method of measurement is that dependence is moved by the multiple degree of freedom of outer connection mechanism decoupling zero and uses single shaft encoder to measure respectively.The motion of mechanical decoupling mechanism meeting limiting motor itself, and deadweight and the friction of whole system can be increased, thus had a strong impact on dynamic property and the stability of motor and kinematic system, in use for some time, it is a serious problems that the positional precision that mechanical wear causes declines simultaneously.The transducer (as obliquity sensor, gyroscope or magnetic field sensor) of contact is because will be fixed on motor movement part, first can influential system inertial properties, secondly and power supply and Signal transmissions make mover with wire or bridgt circuit, have impact on motor dynamics performance, and feedback accuracy is not high yet.
Compare the metering system of conventional contact, contactless method of measurement comprises optics, vision, based on magnetic field method and indirectly sensorless detection technology because the dynamic characteristic that can not affect motor and total system is more satisfactory metering system.But the sensor technology depending on optics and vision is higher to the requirement of light in environment, and sensorless detection technology can provide rotor-position more accurately when middle and high speed, but along with the reduction of speed, the testing result of this method is poor with regard to reliability.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of magneto, in the stator coil of magneto, embed magnetic field sensor, thus the measurement realized motor rotor position and control.
For achieving the above object, according to the present invention, provide a kind of magneto, comprise stator coil and rotor, also comprise computing module, described computing module comprises the magnetic field sensor, the first computing circuit and the second computing circuit that are connected successively; Described magnetic field sensor is arranged in stator coil, for detecting total magnetic induction density B 0, and by total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described rotor pM, and by magnetic induction density B that described rotor produces described magnetic field sensor pMinput to described second computing circuit; Described second computing circuit is used for passing through B pM, obtain the position of described rotor.
Preferably, magneto as claimed in claim 1, is characterized in that, described stator coil is M, and described magnetic field sensor is N number of, M > N>=2, and M and N is positive integer; Described N number of magnetic field sensor is arranged in N number of described stator coil respectively, N number of described stator coil is arranged at the diverse location in the period of motion of described rotor respectively, the magnetic induction density B that the described rotor that described first computing circuit obtains produces described N number of magnetic field sensor pMbe respectively B pM-1, B pM-2to B pM-N.
Preferably, described magneto also comprises the 3rd computing circuit; Described 3rd computing circuit is connected with the second computing circuit, for the position by described rotor, obtains the status signal of described rotor.
As further preferably, described magneto also comprises controller and coil drive module; Described controller is connected with described 3rd computing circuit, for the status signal of described rotor is inputed to described controller; Described controller is used for providing drive singal according to the status signal of described rotor, and described drive singal is inputed to described coil drive module; Described coil drive module is used for described drive singal to be converted to target current, and described target current is inputted described stator coil, thus realizes the control to motor.
As further preferably, described controller is used for the status signal according to described rotor, to the current actuating force signal F of described motor wadjust, obtain the target drives force signal of described motor, and described target drives force signal is inputed to described coil drive module; Described coil drive module is used for described target drives force signal to be converted to target current, and described target current is inputted described stator coil, thus realizes the control to motor.
Preferably, described magneto also comprises the 4th computing circuit, and described 4th computing circuit is used for the magnetic induction density B by described rotor pM, obtain the current actuating force F of described motor w.
According to the present invention, additionally provide a kind of stator coil for above-mentioned magneto, described stator coil inside is provided with computing module, and described computing module comprises magnetic field sensor, and described magnetic field sensor is for detecting total magnetic induction density B 0.
Preferably, described computing module also comprises the first computing circuit; Described magnetic field sensor is connected with described first computing circuit, by described total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described motor rotor pM.
As further preferably, described computing module also comprises A/D converter and filter, described A/D converter and described filter are connected between magnetic field sensor and the first computing circuit successively, described A/D converter is used for the analog signal of described magnetic flux density to be converted to digital signal, and described filter is used for filtering noise signal.
As further preferably, described computing module also comprises the second computing circuit, and described second computing circuit is connected with the first computing circuit, and by the magnetic induction density B of described rotor pM, obtain the position of described motor rotor, the position of described rotor is the Relative position vector R of rotor and magnetic field sensor, or the absolute position vectors P of rotor.
According to the present invention, additionally provide a kind of computing module for above-mentioned magneto, comprise the magnetic field sensor and the first computing circuit that are connected successively; Described magnetic field sensor, for being arranged in the stator coil of motor, detects total magnetic induction density B 0, and by described total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described motor rotor pM.
Preferably, described computing module also comprises the second computing circuit, and described second computing circuit is connected with the first computing circuit, for the magnetic induction density B by described rotor pM, obtain the position of described rotor.
According to the present invention, additionally provide a kind of method of measurement of above-mentioned magneto rotor position, comprise the following steps:
(1) magnetic field sensor detects the total magnetic field B obtaining stator coil position 0, B 0deduct the magnetic induction density B that stator coil produces eM, obtain the magnetic induction density B that rotor produces pM;
B eMcomputational methods be,
B E M = Σ μ 0 4 π ∫ v J × D D 3 d v ... ... ( 1 )
Wherein, J is stator coil current density vectors (namely the current flow i of stator coil is divided by the cross-sectional area S of coil), μ 0for the magnetic permeability of vacuum, D is the relative position of magnetic field sensor and stator coil, and v is the volume of stator coil;
(2) Relative position vector R and the B of magnetic field sensor and rotor pMthere is following fit correlation:
B P M = Σ μ 0 4 π ∫ v - ( ▿ · M ) R R 3 d v + μ 0 4 π ∫ s ( M · n ) R R 3 d s ... ... ( 2 )
Wherein, M is rotor polarization intensity, and n is rotor surface unit normal vector, and v is rotor volume, and s is rotor surface area;
According to formula 2, B can be passed through pMcalculate R, then calculate the absolute position vectors P of motor rotor according to R; Or directly according to the conversion relation of R and P, set up P and B pMfitting function, directly by B pMcalculate P.
(3) according to P, calculate the status signal of rotor, the status signal of described rotor is the speed v of rotor, acceleration a or inertia force F i; Wherein, v= △p/ △t, a= △v/ △t, F i=ma, t are the time, and m is the quality of rotor.
Preferably, after step (3), also comprise step (4): the drive singal obtaining described motor according to the status signal of described rotor, and described drive singal is converted to target current, then described target current is inputted described stator coil, thus realize the control to motor.
Preferably, described step (3) also comprises, and passes through B pMand current flow, obtain the current actuating force signal F of described motor w.
As further preferably, described step (4) is: according to the status signal of described rotor, to the current actuating force signal F of described motor wadjust, obtain the target drives force signal of described motor, described target drives force signal is converted to target current signal, and inputs described stator coil, thus realize the control to motor.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial effect:
1, installation magnetic field sensor is embedded in the stator coils, replace in prior art and embed transducer in the rotor to measure the method for rotor-position, reduce the quality of rotor, thus reduce the inertia force of rotor and required actuating force, improve the dynamic property of motor;
2, optical pickocff is not relied on, to ambient light no requirement (NR), even if also can realize in the environment of dust;
3, utilize the magnetic field sensor be arranged in different stator coil, make the detection of rotor-position more accurate;
4, by the magnetic flux density that rotor produces, directly calculate the actuating force that motor is current, thus drive singal is adjusted, achieve the efficient control to motor.
Accompanying drawing explanation
Fig. 1 is that magneto of the present invention is inner single to permanent magnet and coil (PM-EM) unit relative position and stressed schematic diagram;
Fig. 2 is magneto partial structurtes schematic diagram of the present invention;
Fig. 3 is the inner connection diagram of magneto of the present invention;
Fig. 4 is stator coil structure schematic diagram of the present invention;
Fig. 5 is the two-freedom planar motor system model structural representation of embodiment 1;
The distribution of electromagnetic force schematic diagram that Fig. 6 is the Magnetic Induction Density Distribution of embodiment 1 and electric current when being 1A;
In all of the figs, identical Reference numeral is used for representing identical element or structure, wherein: 1-is provided with the stator coil of computing module, and 1a-stator coil, 1b-computing module, 2-rotor permanent magnet, 3-motor stator.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each execution mode of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
The invention discloses a kind of method of measurement of magneto rotor position, comprise the following steps:
Step one: according to formula B P M = Σ μ 0 4 π ∫ v - ( ▿ · M ) R R 3 d v + μ 0 4 π ∫ s ( M · n ) R R 3 d s ... ... (2) magnetic induction density B that rotor produces, is set up pMwith the fit correlation of the Relative position vector R of magnetic field sensor and rotor; Wherein, μ 0for the magnetic permeability of vacuum, get 4 π × 10 -7h/m, M are rotor polarization intensity, and n is rotor surface unit normal vector, and v is rotor volume, and s is rotor surface area;
In cartesian coordinate system, R can be decomposed into component x, y, z, by function (2), creates target function (3)
G=(Bx (R)-Bx') 2+ (By (R)-By') 2+ (Bz (R)-Bz') 2or g=|Bx (R)-Bx'|+|By (R)-By'|+|Bz (R)-Bz'| ... (3)
Wherein, Bx, By and Bz are respectively B pMcomponent in the x, y, z-directions, then when g gets (x, y, z) value of minimum value, be the Relative position vector R of rotor and magnetic field sensor, add the absolute position of magnetic field sensor, namely can obtain the absolute position vectors P of rotor; Or directly P is substituted into function (2), set up P and B pMfitting function.
Meanwhile, the current actuating force F of motor can also be set up wwith B pMfitting function, concrete grammar is as follows:
Due to single as follows to the electromagnetic actuation force expression formula between permanent magnet (PM)-coil (EM) in electric system:
F＝-i∫ vB PM×dl……(4)
Wherein, i is coil institute galvanization size, and dl is the direction of the winding current, and v is the volume of coil.In natural system of coordinates, electromagnetic actuation force F is made up of normal component and tangential component, wherein, only has the tangential component F along stator movement course bearing tfor useful effect power, as shown in Figure 1.
Due to B pMonly relevant with the Relative position vector R of stator coil with magnetic field sensor, then can arrange η, ζ, σ are the variable relevant to R, arrange f (η, ζ, σ), make
F t＝-i[f η(η,ζ,σ)e η+f ζ(η,ζ,σ)e ζ]……(5)
Wherein, different according to the motor degree of freedom, the variable relevant to R may be 2 or 3.
For whole electric system, comprise multiple rotor permanent magnet and coil (PMs-EMs), motor actuating force can be expressed as multipair useful effect power sum, that is:
F W = - Σ j = 1 N E i j R j [ Σ k = 1 N P ( f η ( η , ζ , σ ) e η + f ζ ( η , ζ , σ ) e ζ ) ] ... ... ( 6 )
Wherein, i jfor j coil institute galvanization size, N pfor permanent magnet number, N efor coil count, R jfor Relative position vector R between multipair stator coil and rotor permanent magnet being converted into the transformation matrix of world coordinate system (i.e. the absolute position P of rotor).
One and B can be found pMrelevant closed function [K] carrys out matching R j [ Σ k = 1 N P ( f η ( η , ζ , σ ) e η + f ζ ( η , ζ , σ ) e ζ ) ] , Make [ u ] = i 1 ... i j ... i N E T Time, then F w=[K] [u] ... (7)
Different according to the degree of freedom of motor, the approximating method of closed function is also different.Single-degree-of-freedom motor can use one-dimensional functions to carry out matching, as modes such as fitting of a polynomial, Gauss curve fitting, Fourier's matchings; Multiple degrees of freedom can use interpolation or neural network functional relation.
Step 2: when motor runs, measure according to the above position of functional relation to rotor set up, its concrete grammar is as follows:
(1) magnetic field sensor detects and obtains total magnetic induction density B 0, the first computing circuit B 0deduct the magnetic induction density B that stator coil produces eM, obtain the magnetic induction density B that rotor produces pM;
B eMcomputational methods be,
B E M = Σ μ 0 4 π ∫ v J × D D 3 d v ... ... ( 1 )
Wherein, J is stator coil current density vectors (i.e. current i t1divided by the cross-sectional area S of coil c), μ 0for the magnetic permeability of vacuum, D is the relative position of magnetic field sensor and stator coil, and v is the volume of stator coil.If motor has multiple stator coil, B eMfor the magnetic flux density sum that all stator coils produce, but in actual measurement process, only need according to system accuracy requirement, select the several adjacent stators coils to magnetic field sensor detects influence of magnetic field effect maximum to calculate;
(2) second computing circuits, by function (3), calculate the absolute position P of rotor;
In the period of motion of a motor, rotor likely produces identical B in different positions pMvalue, namely according to fitting function 3, may have different R to separate.Therefore the diverse location be arranged at 2 to dozens of magnetic field sensor in the rotor period of motion is needed, with the B tried to achieve according to different first computing circuit pM-1, B pM-2and B pM-N, thus determine the Relative position vector R of multiple magnetic field sensor and rotor 1, R 2to R n, then obtain P; Or by P and B pM-1, B pM-2to B pM-Nfitting function, directly obtain P.
By the absolute position vectors R of electric mover and the electric current of coil, the actuating force F that motor is current can be calculated w; Or by fitting function as neural net matching, directly according to B pMthe current actuating force F of motor is obtained with coil current w.The feature of these two kinds of computational methods is: if pass through B pMcalculate the actuating force F that motor is current w, need to set up fitting function such as neural net and simulate; But when actual motion, directly pass through B pMcalculate F w, arithmetic speed can be faster.And obtained by position P, do not need the simulation process of above-mentioned fitting function, but need after calculating electric mover position P, then obtain through further analyzing and processing, arithmetic speed has certain delay.
(3) according to v= △p/ △t, a= △v/ △t, F i=ma, wherein, t is the time, and m is the quality of rotor, and the 3rd computing circuit, by the absolute position vectors P of rotor, obtains the status signal of rotor, as speed v, the acceleration a or inertia force F of rotor i;
(4) according to the status signal in step (3) and the given working signal of system, the actuating force F as current in motor to drive singal wadjust, thus realize the control to motor, according to the difference of motor control method, working signal may be voltage signal, rate signal or position signalling.
Function (7) gives the actuating force forward model of motor, when given actuating force, creates the optimization solution of motor coil electric current, also referred to as the inversion model of actuating force, as shown in function (8):
u＝[K] T([K][K] T) -1F w……8
By this model, the actuating force signal F current to motor can be utilized wadjustment, thus directly the operating current of stator coil to be adjusted.
Present invention also offers a kind of motor, said method is utilized to realize the measurement of rotor-position and the control of motor, this comprises stator coil and rotor, also comprises computing module, and described computing module comprises the magnetic field sensor, the first computing circuit and the second computing circuit that are connected successively; Described magnetic field sensor is arranged in stator coil, for detecting total magnetic induction density B 0, and by total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described rotor pM, and by the magnetic induction density B of described rotor pMinput to described second computing circuit; Described second computing circuit is used for passing through B pM, obtain the position P of described rotor.
In two dimension or multidimensional electric system, stator coil is generally tens of to hundreds of, and magnetic field sensor is at least two, needs to be arranged at the diverse location in the period of motion of rotor, jointly determines motor position P, as shown in Figure 2.When the quantity of stator coil is M, when the quantity of magnetic field sensor is N number of, M > N>=2, and M and N is positive integer; Described N number of magnetic field sensor is arranged in different described stator coils respectively, the magnetic induction density B of the described rotor that described first computing circuit obtains pMbe respectively B pM-1, B pM-2to B pM-N.Second computing circuit then passes through B pM-1, B pM-2to B pM-N, obtain rotor-position P, first can calculate the Relative position vector R of N number of magnetic field sensor and rotor respectively, then calculate the absolute position vectors P of rotor, or first directly set up B in advance pM-1, B pM-2to B pM-Nwith the fitting function of P, then obtain P by fitting function.
Described magneto can also comprise the 3rd computing circuit, controller and coil drive module; Described second computing circuit, the 3rd computing circuit are connected successively with controller, and the 3rd computing circuit is used for the position by described rotor, obtains the status signal of described rotor; Described controller is for receiving the status signal of described rotor, and according to the status signal of described rotor and system given working signal, drive singal (rate signal, dtc signal, position signalling etc. as rotor) is adjusted, again described drive singal is inputted described coil drive module, described coil drive module is used for target current drive singal being converted to input stator coil, thus realizes the control to motor.
Described magneto can also comprise the 4th computing circuit, and described 4th computing circuit is used for passing through B pMwith the current flow of stator coil, obtain the current actuating force signal F of described motor w.Now, described controller may be used for the status signal according to described rotor, to current actuating force signal F wadjust, obtain the target drives force signal of described motor, and described target drives force signal is inputed to described coil drive module; Described coil drive module is used for described target drives force signal to be converted to target current, and described target current is inputted described stator coil, thus realizes the control to motor.
The inside connection diagram of above-mentioned motor as shown in Figure 3, magnetic field sensor is arranged in different stator coils, first computing circuit, the second computing circuit, the 3rd computing circuit and the 4th computing circuit both can be arranged among stator coil, also can be arranged at outside stator coil, thus the position of motor rotor is measured or further controls, as shown in Figure 4.
Embodiment 1
Two-freedom (x as shown in Figure 5, y) planar motor system model, be made up of as mover as stator and a circular coil winding six permanent magnets, the size of permanent magnet (PM) and stator coil (EM) as shown in following table one, wherein a orepresent diameter, l represents height a irepresent the internal diameter of stator coil, d represents the internal diameter of stator coil, M 0represent the magnetization of permanent magnet, μ 0represent the magnetic permeability of vacuum, each permanent magnet is at a distance of 5mm, and with the locus of one of them stator coil for O point, rotor plane of movement is in space that xoy plane sets up plane coordinate system, then x, y are the locus of rotor in plane coordinate system.
Table 1
According to the parameter of electric machine in table 1, calculate single to the Magnetic Induction Density Distribution between PM-EM and distribution of electromagnetic force respectively, matching is carried out to it, directly obtains three axle magnetic flux density fitting function Bx (x, y), By (x around permanent magnet, y) with Bz (x, y), and electric current is 1A time driving force distributed function F x (x, y), Fy (x, y), respectively as shown in Fig. 6 a-Fig. 6 e.
When motor runs, the concrete grammar of detection rotor position is as follows:
(1) the magnetic flux density value B that detects of Hall element 0, and this signal is inputted the first computing circuit; Pass through B 0=B pM+ B eMand obtain the magnetic induction density B that rotor produces pM, and this signal is inputted the second computing circuit;
(2) fitting function obtained according to step one creates new function g=(Bx (x, y)-Bx') 2+ (By (x, y)-By') 2+ (Bz (x, y)-Bz') 2, the second computing circuit utilizes Unconstrained Optimization Algorithms, and calculate the minimum value min.f=0 of new function f, position (x, y) is now the current spatial location of rotor, and the second computing circuit inputs the 3rd computing circuit (x, y);
(3) the 3rd computing circuits, by motor rotor position (x, y), calculate motor rotor speed, acceleration or inertia force signal, input control device; Above-mentioned signal adjusts by controller compared with the working signal of stator coil and to the operating current of stator coil, thus realizes the control to this motor.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a magneto, comprises stator coil and rotor, it is characterized in that, also comprise computing module, and described computing module comprises the magnetic field sensor, the first computing circuit and the second computing circuit that are connected successively; Described magnetic field sensor is arranged in stator coil, for detecting total magnetic induction density B 0, and by total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described rotor pM, and by the magnetic induction density B of described rotor pMinput to described second computing circuit; Described second computing circuit is used for passing through B pM, obtain the position of described rotor.
2. magneto as claimed in claim 1, is characterized in that, described stator coil is M, and described magnetic field sensor is N number of, M > N>=2, and M and N is positive integer; Described N number of magnetic field sensor is arranged in N number of described stator coil respectively, the magnetic induction density B of the described rotor that described first computing circuit obtains pMbe respectively B pM-1, B pM-2to B pM-N.
3. magneto as claimed in claim 1, is characterized in that, also comprise the 3rd computing circuit; Described 3rd computing circuit is connected with the second computing circuit, for the position by described rotor, obtains the status signal of described rotor.
4. magneto as claimed in claim 3, is characterized in that, also comprise controller and coil drive module; Described controller is connected with described 3rd computing circuit, for the status signal of described rotor is inputed to described controller; Described controller is used for providing drive singal according to the status signal of described rotor, and described drive singal is inputed to described coil drive module; Described coil drive module is used for described drive singal to be converted to target current, and described target current is inputted described stator coil, thus realizes the control to motor.
5. magneto as claimed in claim 1, is characterized in that, also comprise the 4th computing circuit, and described 4th computing circuit is used for the magnetic induction density B by described rotor pM, obtain the current actuating force F of described motor w.
6. one kind for the stator coil as magneto as described in any one in claim 1-5, it is characterized in that, described stator coil inside is provided with computing module, and described computing module comprises magnetic field sensor, and described magnetic field sensor is for detecting total magnetic induction density B 0.
7. stator coil as claimed in claim 6, it is characterized in that, described computing module also comprises the first computing circuit; Described magnetic field sensor is connected with described first computing circuit, by described total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described motor rotor pM.
8. stator coil as claimed in claim 7, it is characterized in that, described computing module also comprises the second computing circuit, and described second computing circuit is connected with the first computing circuit, and by the magnetic induction density B of described rotor pM, obtain the position of described motor rotor.
9. for a computing module for magneto as claimed in claim 1, it is characterized in that, comprise the magnetic field sensor and the first computing circuit that are connected successively; Described magnetic field sensor, for being arranged in the stator coil of motor, detects total magnetic induction density B 0, and by described total magnetic induction density B 0input to described first computing circuit; Described first computing circuit is used for by described total magnetic induction density B 0, obtain the magnetic induction density B of described motor rotor pM.
10. computing module as claimed in claim 9, it is characterized in that, also comprise the second computing circuit, described second computing circuit is connected with the first computing circuit, for the magnetic induction density B by described rotor pM, obtain the position of described rotor.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107036599A (en) * 2017-04-20 2017-08-11 西北工业大学 Permanent magnet synchronous motor rotor position detection method based on MEMS inertia devices

Citations (4)

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