CN105490461A - Corner detection device and detection method for motor - Google Patents
Corner detection device and detection method for motor Download PDFInfo
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- CN105490461A CN105490461A CN201510989412.7A CN201510989412A CN105490461A CN 105490461 A CN105490461 A CN 105490461A CN 201510989412 A CN201510989412 A CN 201510989412A CN 105490461 A CN105490461 A CN 105490461A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention provides a corner detection device and detection method for a motor. The corner detection device for the motor comprises a current sensor, a pre-amplifying module, an adaptive band-pass filter module, a sine wave pulse conversion module and a voltage conversion module, wherein the current sensor, the pre-amplifying module, the adaptive band-pass filter module and the sine wave pulse conversion module are sequentially connected with one another. The detection method provided by the invention comprises four main steps. The corner detection device and detection method have the beneficial technical effects the algorithm is simple in flow and easy to achieve; the structure is simple; the used electronic unit is common and relatively low in cost; and the corner detection device used for a brushed direct current motor which is low in cost and wide in application definitely has good practical value and a broad market prospect once industrialization is achieved.
Description
Technical field
Patent of the present invention belongs to analysis and survey control technology field, particularly relate to a kind of motor corner estimation unit designed based on electric machine structure feature, be specially adapted to brush direct current motor roll angle inspection, realize the motor roll angle inspection of low cost, high integration, be specially motor rotation angle detecting apparatus and detection method.
Background technology
Along with the development of electronic technology, motor application industrially gets more and more, and is concerned about that maximum is rotating speed and the motor corner of motor in motor use procedure, calculates required precision also uprise gradually the angle position precision of motor and motor speed.Mainly contain with this patent Patents: patent No. ZL200880117106.2, authorize publication number CN101868696A, disclosed rotation angle detecting sensor scheme, is mainly used for DC brushless motor, and the attachment device added for roll angle inspection, structure and trace routine are comparatively complicated.And patent No. ZL201320413074.9, authorize publication number CN203427881U, disclosed rotation angle detecting apparatus, is mainly used for the outer corner measurement of steering column, and is only innovate in detection architecture, and the reading of corner is entirely by existing rotary angle transmitter.Therefore, present stage is detected for angle position and substantially all uses transducer, detects comparatively accurately but is increased physical dimension, adding number of components and use cost, simultaneously along with increasing of transducer in control system also can cause information redundancy.So in recent years, motor roll angle inspection is study hotspot both domestic and external always, and also start as far back as twentieth century end the research carrying out this direction abroad, common detection method has back electromotive force method, stator inductance method, fly-wheel diode method etc.And these detection methods are all applicable to permagnetic synchronous motor, and shorter mention is to the angle detection method of brush direct current motor.Have brushless motor due to comparatively cheap cost, the scope of application is very wide, if can will obtain good practical value and wide market by good estimation motor corner rotating speed.In order to keep the characteristic of the cheap use cost of brush direct current motor and obtain comparatively accurate corner and rotating speed, the invention provides a set of technical scheme of head it off.
Summary of the invention
Patent of the present invention is integrated level, reduction module cost in order to improve motor roll angle inspection module, to provide a kind of corner and the rotational speed devices that are detected brush direct current motor when ensureing precision by the attributive character of application of motor own, in addition also fill up the blank of brush direct current motor corner method of estimation.
The key technology that the present invention improves is current signal process and software antidote, to ensure signal transacting effect, to improve corner and Rotating speed measring precision.Particular content of the present invention is:
Motor rotation angle detecting apparatus, comprises current sensor 3, pre-amplifying module 4, self-adaptive band-pass filter module 5, sinusoidal wave pulse modular converter 6, voltage transformation module 8.Wherein, current sensor 3, pre-amplifying module 4, self-adaptive band-pass filter module 5, sinusoidal wave pulse modular converter 6 are connected successively.
The feeder ear of voltage transformation module 8 to be held with getting of pre-amplifying module 4 respectively, an end of getting for self-adaptive band-pass filter module 5 is connected.
Described current sensor 3 is for detecting the current signal passed through in electric machine rotation process.
Described pre-amplifying module 4 is responsible for the current signal that current sensor 3 detects to amplify, and obtains ac signal.
Described self-adaptive band-pass filter module 5 is responsible for the ac signal exported through pre-amplifying module 4 to carry out self-adaptive band-pass filter, obtains sinusoidal wave current signal.
The sinusoidal wave current signal that described sinusoidal wave pulse modular converter 6 is responsible for self-adaptive band-pass filter module 5 to export is converted into pulse wave signal.
Described voltage transformation module 8 is responsible for providing ± the voltage of 5V to pre-amplifying module 4 and self-adaptive band-pass filter module 5.
Furtherly, an industrial computer is provided with.The signal output part of the signal output part of current sensor 3, the signal input part of self-adaptive band-pass filter module 5, sinusoidal wave pulse modular converter 6 is connected with industrial computer respectively.
By industrial computer, optimum configurations is carried out to self-adaptive band-pass filter module 5.
The calculated signals of the signal fed back in conjunction with current sensor 3 by industrial computer, sinusoidal wave pulse modular converter 6 feedback obtains the corner numerical value of motor.
Furtherly, described current sensor 3 be single resistive current sensor, and carry out differential amplification by AD8206, the signal after differential amplification is current signal.Current sensor is mounted in the centre of H bridge, for detecting the electric current passed through in electric machine rotation process.
Furtherly, described pre-amplifying module (4) is two-stage amplification, and wherein, the multiplication factor that the first order is amplified is 201 times.The multiplication factor that the second level is amplified is 3 times.
Furtherly, described pre-amplifying module (4) comprises electric capacity C1, C2, C3, C4, resistance R1, R2, R3, R4, R5, R6, R7, R8 and chip TLC2272.
Wherein, by electric capacity C1, C3, C4, resistance R1, R3, R4, R5 and chip TLC2272 realize the function that the first order is amplified, and by electric capacity C2, C4, the amplifier of resistance R2, R6, R7, R8 and chip TLC2272 inside realizes the function of amplifying the second level.Furtherly, one end of pin 1 and the resistance R1 of chip TLC2272, one end of resistance R3, one end of electric capacity C2 are connected.The pin 2 of chip TLC2272 is connected with one end of the other end of resistance R1, resistance R4.The pin 3 of chip TLC2272 is connected with one end of one end of electric capacity C1, resistance R5.The other end of resistance R4 is connected with one end of electric capacity C3.The other end common ground of the other end of resistance R3, the other end of electric capacity C3, resistance R5.The pin 5 of chip TLC2272 is connected with the other end of one end of resistance R6, electric capacity C2.The pin 6 of chip TLC2272 is connected with one end of one end of resistance R2, resistance R7.The pin 7 of chip TLC2272 is connected with one end of the other end of resistance R2, resistance R8.The other end of resistance R7 is connected with one end of electric capacity C4.The other end common ground of the other end of electric capacity C4, the other end of resistance R6, resistance R8.
The signal output part of another termination current sensor 3 of electric capacity C1, sinusoidal wave pulse modular converter 6.The pin 4 of chip TLC2272 is connected with the negative pressure output of voltage transformation module 8.The pin 8 of chip TLC2272 is connected with the forward output of voltage transformation module 8.The pin 7 of chip TLC2272 is connected with self-adaptive band-pass filter module 5.
Furtherly, described self-adaptive band-pass filter module 5 is for the AC signal after amplification being carried out self-adaptive band-pass filter, filtering out desirable sinusoidal waveform.Self-adaptive band-pass filter module 5 comprises 1 piece of switch-capacitor filtering chip.
Furtherly, the switch-capacitor filtering chip in self-adaptive band-pass filter module 5 is filtering chip LTC1068-200.Containing resistance R9, R10, R11, R12, R15, R16, R17, R19, R20, R21, R22, R23 in self-adaptive band-pass filter module 5, electric capacity C7, C8.The pin 1 of filtering chip LTC1068-200 links together with one end of resistance R9, one end of resistance R16, one end of resistance R11.The pin 1 of filtering chip LTC1068-200 links together with the other end of resistance R12.The pin 1 of filtering chip LTC1068-200 links together with one end of the other end resistance R10 of resistance R16.The pin 4 of filtering chip LTC1068-200 is connected with the pin 5 of filtering chip LTC1068-200.The pin 6 of filtering chip LTC1068-200 is connected with one end of the pin 8 of filtering chip LTC1068-200, electric capacity C7.The pin 7 of filtering chip LTC1068-200 and one end common ground of resistance R19.The pin 9 of filtering chip LTC1068-200 and the other end common ground of electric capacity C7.The pin 10 of filtering chip LTC1068-200 is connected with one end of the pin 11 of filtering chip LTC1068-200, resistance R21.The pin 12 of filtering chip LTC1068-200 is connected with one end of resistance R22.The pin 13 of filtering chip LTC1068-200 is connected with one end of resistance R23.The pin 14 of filtering chip LTC1068-200 links together with the other end of resistance R21, the other end of resistance R22, the other end of resistance R23, the other end of resistance R9.The pin 15 of filtering chip LTC1068-200 is connected with the pin 16 of filtering chip LTC1068-200.One end common ground of the pin 19 of filtering chip LTC1068-200, pin 20, pin 22, electric capacity C8.The pin 23 of filtering chip LTC1068-200 is connected with one end of the other end of electric capacity C8, resistance R19.The pin 24 of filtering chip LTC1068-200 is connected with one end of the other end of resistance R19, resistance R20.The pin 25 of filtering chip LTC1068-200 is connected with the other end of resistance R20.The pin 26 of filtering chip LTC1068-200 is connected with one end of one end of resistance R17, resistance R9.The pin 27 of filtering chip LTC1068-200 is connected with one end of resistance R15.The pin 28 of filtering chip LTC1068-200 is connected jointly with the other end of the other end of resistance R10, resistance R15, the other end of resistance R17.
The pin 21 of filtering chip LTC1068-200 is connected with ECU.
The other end of resistance R11 is connected with pre-amplifying module (4).
The other end of electric capacity C7 is connected with voltage transformation module 8.
Furtherly, sinusoidal wave pulse modular converter 6 is by resistance R13, R14, R18, and diode D1 and control chip U4 forms, for sine wave is converted into the impulse wave consistent with its cycle.
The model of control chip U4 is ICL7660.The pin 1 of control chip U4 is connected with one end of resistance R13.The pin 2 of control chip U4 is connected with one end of resistance R14, one end of resistance R18 respectively.The pin 3 of control chip U4 is connected with diode D1 negative pole.The other end of resistance R18, pin 4 ground connection of control chip U4.The pin 8 of control chip U4 is connected with the other end of resistance R13, the other end of resistance R14 respectively.
The pin 1 of control chip U4 is connected with ECU.Diode D1 positive pole is connected with self-adaptive band-pass filter module 5.The other end of resistance R13 is connected with voltage transformation module 8.
Described voltage transformation module 8 be for by 5V voltage transitions for-5V voltage, provide ± the voltage of 5V to pre-amplifying module and self-adaptive band-pass filter module, ensure that these two module work are normal.Voltage transformation module 8 comprises power supply chip U2, electric capacity C5, C6.The model of power supply chip U4 is LM393.The pin 2 of power supply chip U2 is connected with the pin 4 of power supply chip U2 through electric capacity C5.Pin 3 ground connection of power supply chip U2.The pin 5 of power supply chip U2 is through electric capacity C6 ground connection.The pin 5 of power supply chip U2 is negative pressure delivery outlet with the tie point of electric capacity C6, and is-5V.The pin 8 of power supply chip U2 is malleation delivery outlet, and connects the power supply of+5V.
Adopt the detection method of motor rotation angle detecting apparatus of the present invention, carry out as follows:
Step 1: sinusoidal wave pulse modular converter 6, self-adaptive band-pass filter module 5 are connected with ECU to be measured respectively.Current sensor 3, self-adaptive band-pass filter module 5, sinusoidal wave pulse modular converter 6 are connected with industrial computer respectively.Direct current machine Mathematical Modeling 1 is installed in industrial computer, counting corrects & counter module 2, corner turn count module 7.Wherein, direct current machine Mathematical Modeling 1 belongs to software, estimates desirable motor speed for ECU, exports the pwm signal with the proportional relation of rotating speed, to ensure that self-adaptive band-pass filter module 5 can normally work.
Described counter & counts rectification module 2 and belongs to software, comprises counter module and counting rectification module.The effect of counting rectification module is corrected by the distorted pulse waveform after pre-amplifying module 4, self-adaptive band-pass filter module 5 and sinusoidal wave pulse modular converter 6, counted after rectification by counter module pulse signals.
Described corner speed estimate module 7 belongs to software, detected the corner of motor by algorithm, by the numerical value of timing acquisition counter, and numerical value is multiplied by corner value corresponding to each pulse, then can obtain the increment of motor corner in this time period, thus estimate motor corner.
Step 2: start ECU, inputs the parameter of electric machine to direct current machine Mathematical Modeling 1, motor input voltage, PWM parameter, current sensor 3 detects the signal obtained.
Step 3: the result of calculation of direct current machine Mathematical Modeling 1 is passed to counting respectively and corrected & counter module 2 and self-adaptive band-pass filter module 5.
Step 4: the data that corner speed estimate module 7 combines counting rectification & counter module 2 and sinusoidal wave pulse modular converter 6 feedback obtain final result.
The technical solution adopted in the present invention is: gather the electric current of motor in operation process by current sensor, the electric current of collection is carried out the isolation of direct current signal and the amplification of AC signal by pre-amplifying module, the current fluctuation that can be 80mV by fluctuation amplitude by two-stage amplification is amplified to 5V, by self-adaptive band-pass filter module, the signal with clutter and interference is filtered subsequently, and the object of adaptive tracing is when motor does not operate under a constant rotational speed, also can obtain by filtering the ideal sine wave carrying out the necessary mechanical periodicity of roll angle inspection.Sine wave can be converted to the impulse wave consistent with its cycle by sinusoidal wave pulse modular converter by desirable sine wave, controller timing detects the pulse number gathered, and corner value quadrature corresponding with each pulse for pulse number just can be obtained the increment of motor corner in this time period, motor rotating angle increment is carried out superposition and can detect motor corner value.
The present invention includes software detecting method and hardware unit: software detecting method is direct current machine Mathematical Modeling 1, counter & counts rectification module 2, corner speed estimate module 7, as shown in Figure 2.Hardware unit comprises: current sensor 3, pre-amplifying module 4, self-adaptive band-pass filter module 5, sinusoidal wave pulse modular converter 6, voltage transformation module 8, overall detection system block diagram, as shown in Figure 1.
Software detecting method part:
Described direct current machine Mathematical Modeling 1 belongs to the software section of checkout gear, estimates desirable motor speed for ECU, exports the pwm signal with the proportional relation of rotating speed, to ensure that self-adaptive band-pass filter module 5 can normally work.
Described counter & counts the software section that rectification module 2 also belongs to checkout gear, and 2 comprise two modules, and one is counter module, and one is counting rectification module.The effect of counting rectification module is corrected by the distorted pulse waveform after pre-amplifying module, self-adaptive band-pass filter module and sinusoidal wave pulse modular converter, counted after rectification by counter module pulse signals.
Described corner speed estimate module 7 is the software sections belonging to checkout gear, this part is detected the corner of motor, by the numerical value of timing acquisition counter, and numerical value is multiplied by corner value corresponding to each pulse, then can obtain the increment of motor corner in this time period, thus estimate motor corner.
Described current sensor 3 be single resistive current sensor, and carry out differential amplification by AD8206, the signal after differential amplification is current signal.Current sensor is mounted in the centre of H bridge, for detecting the electric current passed through in electric machine rotation process.Described pre-amplifying module 4 is divided into again two-stage to amplify, and wherein first order amplifying circuit is by electric capacity C1, C3, C4, and resistance R1, R3, R4, R5 and chip TLC2272 form one of them and amplify bypass, and multiplication factor is 201 times.Second level Design of Amplification Circuit is the same with the first order, and total magnification is 3 times, by electric capacity C2, C4, and the amplifier composition of resistance R2, R6, R7, R8 and chip TLC2272 inside.
Described self-adaptive band-pass filter module 5 is for the AC signal after amplification being carried out self-adaptive band-pass filter, filtering out desirable sinusoidal waveform.Filtering chip used is LTC1068-200 switch-capacitor filtering chip.
Described sinusoidal wave pulse modular converter 6 sinusoidal wave pulse change-over circuit is by R13, R14, R18, and diode D1 and LM393 forms, for sine wave is converted into the impulse wave consistent with its cycle.
Described voltage transformation module 8 be for by 5V voltage transitions for-5V voltage, provide ± the voltage of 5V to pre-amplifying module and self-adaptive band-pass filter module, ensure that these two module work are normal.It is made up of ICL7660 and electric capacity C5.
The course of work of the present invention is: as shown in Figure 1, roll angle inspection module first uses the parameter of electric machine and motor input voltage, and the current signal that current sensor 3 gathers calculates motor rotating speed roughly by DC motor model 1, and this rotating speed is used for count rectification sum counter module 2 and self-adaptive band-pass filter module 5.Armature supply by current sensor 3 gather after except by current signal transfer to DC motor model 1, be also transferred to pre-amplifying module 4 and carry out the amplification of AC signal and the isolation of direct current signal.The AC signal of having amplified is input to adaptive bandpass filter 5 subsequently and carries out adaptive-filtering, and the waveform filtered out is that tracing motor rotation speed changes and the sine wave of respective change.+ 5V the voltage transitions of power supply is by voltage transformation module ± 5V voltage is to pre-amplifying module and adaptive-filtering module for power supply.By exporting satisfactory waveform after adaptive-filtering module, by sinusoidal wave pulse modular converter 6, sine wave is converted into impulse waveform more afterwards, this impulse waveform is last link of hardware components process.Impulse waveform inputs to counting and corrects sum counter module 2, and this module is software filtering module, and object carries out revising the overlap and loss that may occur in the impulse wave that obtains after hardware circuits which process.The data of correcting after sum counter module 2 through technology carry out corner speed estimate by corner Rotating speed measring module 7, last output corner and rotating speed.Useful technique effect:
Proprietary algorithms flow process of the present invention is simple, easily realizes.Structure is simple, use electronic unit common and cost is lower.And be for low cost, use the roll angle inspection transposition having brushless motor to use widely, once realize industrialization, good practical value and market prospects widely will be had.
Accompanying drawing explanation
Fig. 1 is overall work schematic diagram of the present invention.
Fig. 2 is the software flow pattern that the present invention specifically implements.
Fig. 3 is the detection system schematic diagram that the present invention specifically implements.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described:
As shown in Figure 1, specific works process of the present invention is: roll angle inspection module first uses the parameter of electric machine and motor input voltage, and the current signal that current sensor 3 gathers calculates motor rotating speed roughly by DC motor model 1, and this rotating speed is used for count rectification sum counter module 2 and self-adaptive band-pass filter module 5.Armature supply by current sensor 3 gather after except by current signal transfer to DC motor model 1, be also transferred to pre-amplifying module 4 and carry out the amplification of AC signal and the isolation of direct current signal.The AC signal of having amplified is input to adaptive bandpass filter 5 subsequently and carries out adaptive-filtering, and the waveform filtered out is that tracing motor rotation speed changes and the sine wave of respective change.By sinusoidal wave pulse modular converter 6, sine wave is converted into impulse waveform again after exporting satisfactory waveform, this impulse waveform is last link of hardware components process.Impulse waveform inputs to counting and corrects sum counter module 2, and this module is software filtering module, and object carries out revising the overlap and loss that may occur in the impulse wave that obtains after hardware circuits which process.The data of correcting after sum counter module 2 through technology carry out corner speed estimate by corner Rotating speed measring module 7, last output corner and rotating speed.
Fig. 2 is the software program portion of roll angle inspection, mainly comprises software filtering module (on the left of Fig. 2,2.1) and corner speed estimate module (on the right side of Fig. 2,2.2).
On the left of Fig. 2,2.1 is the software filtering modules in roll angle inspection software program.Motor itself and operating condition can not be in perfect condition, can cause electric current after roll angle inspection hardware circuit, occur loss and the overlap of pulse signal, so also need to carry out software rectification to signal after hardware handles due to the reason such as outer signals interference, magnetic field of permanent magnet skewness, rotor eccentricity.Completed by single-chip microcomputer input capture count pulse number when carrying out motor roll angle inspection and Rotating speed measring, software filtering is exactly carry out suitable increase and decrease in the input capture stage to the value of counter register.Software rectification module flow process mainly comprises following three aspects:
(1) if produce pulse signal before the T1 time terminates, then this pulse signal is ignored.
(2) if do not have pulse signal before terminating with T2 after T1 terminates, then counter adds one automatically.
(3) if can pulse signal be detected after T1 terminates and before T2 terminates, then rolling counters forward is effective.
Wherein the duration of T1 and T2 is relevant with rotating speed, needs to estimate that rotary speed data is arranged T1 and T2 according to traditional motor model.
Software filtering module can be completed after above-mentioned software flow process counter.T1=t1*2/3 in flow charts.T2 is timer duration.
On the right side of Fig. 2,2.2 is the corner speed estimate modules in roll angle inspection software program.Corner Rotating speed measring is all that the value reading monolithic counter register by arranging timer t_3 timing realizes detecting.Entered the value of rear reading counter by timer interruption during corner Rotating speed measring, actual rotational angle value is obtained after superposing with the corner value of previous moment record after the value of counter is converted into rotating angle increment, tachometer value is obtained after rotating angle increment and timer duration are business, afterwards the value of counter is reset, then exit interrupt latency Interruption next time.
Shown in composition graphs 2, corner or rotating speed calculation process can be expressed as: the value COUNT first determining the counter register of count pulse number.First calculating rotating speed timer duration t1 is set, then according to whether there is pulse, whether producing interruption and whether timer counter is less than the value COUNT that T1=t1*2/3 carrys out up-down counter register.In recycling 2.2, flow chart calculates corner or tachometer value.First timer duration t_3 is set, when producing capture interrupt, enter corner or Rotating speed measring pattern, the value COUNT of the counter register obtained in flow chart in 2.1 is corrected, so time corner value can be expressed as theta=theta_q+COUNT*del_theta wherein theta be actual rotational angle value, theta_q is the corner value of previous moment, and del_theta is rotating angle increment value.Just tachometer value can be obtained after rotating angle increment and timer duration are business.
Fig. 3 is the hardware circuit diagram of this roll angle inspection part, mainly comprises voltage transformation module, pre-amplifying module, self-adaptive band-pass filter module, sinusoidal wave pulse modular converter.
In Fig. 3,3 is voltage transformation modules, effect is the operating voltage providing+5V and-5V to pre-amplifying module and self-adaptive band-pass filter module, it is by tantalum electric capacity C5, C6 and chip IC L7660 composition, input+5V voltage by 5V DC power supply 9 and carry out work, wherein the effect of electric capacity C5 is " charge pump ", the charging and discharging opening and turned off electric capacity in first cycle and second cycle is managed by the mos of chip internal, it is in parallel that C5 with C6 is connected by chip internal circuits, by the effect of C5, VOUT can export-5V voltage, and the high frequency spurs in output voltage is filtered in the effect of C6, in order to ensure higher transformation efficiency, two electric capacity all adopt the capacitance of 10uF.
In Fig. 3,4 is pre-amplifying modules, effect be being mingled with that current sensor 3 is gathered direct current filter with the current signal exchanged, and the AC signal after filtering is amplified, this circuit is divided into two-stage to amplify, wherein first order amplifying circuit is by electric capacity C1, C3, C4, and one of them of resistance R1, R3, R4, R5 and chip TLC2272 amplifies bypass composition.Current signal enters into the IN+ port of TLC2272 by the single order high pass filter be made up of electric capacity C1 and R5, and the cut-off frequency of the high pass filter be made up of C1 and R5 is 8Hz, namely only with by the AC signal of frequency higher than 8Hz.Current signal through single order high pass filter carries out first time amplification, and amplification is completed by the amplifier of R1, R3, R4, C3 and TLC2272 inside.Wherein C3 object is in order to isolated DC signal, only makes AC signal pass through and carry out feedback to amplify.Multiplication factor is:
Namely the first order amplifies 201.Second level Design of Amplification Circuit is the same with the first order, and total magnification is 3 times, by electric capacity C2, C4, and the amplifier composition of resistance R2, R6, R7, R8 and chip TLC2272 inside.By the operating voltage accessing positive and negative two-phase, VDD+ access+5V in circuit, VDD-access-5V, can ensure that signal is in forward and oppositely normal amplification.Amplified by two-stage, the signal that can be 80mV amplitude is enlarged into about 5V, is convenient to process and counting.
In Fig. 3,5 is self-adaptive band-pass filter modules, and effect adaptively filters out the ideal frequency signal relevant to rotating speed.Self-adaptive band-pass filter module also needs the power supply wanting+5V and-5V, ensures that bandpass filtering there will not be blocking of forward or negative sense, and between+5V ,-5V and ground, access electric capacity C7 and C8 is high frequency spurs in order to filter power supply signal, ensures the stability of power supply.Filter circuit is built by three filtering channels in application self-adapting filtering chip LTC1068-200.In order to realize adaptive-filtering, the time constant of LTC1068 must be changed, the duty ratio being input to CLK pin by ECU be 50% pulse signal control, and the frequency of this pulse signal is necessary for 200 times of ideal sine wave frequency.By designing this bandwidth-limited circuit, the filter circuit that bandwidth is 100Hz can be obtained, signal good filtration effect.
In Fig. 36 is sinusoidal wave pulse modular converters, and effect is that the sinusoidal signal gone out by adaptive filtering is converted into pulse signal, so that follow-up software filtering and counting.Sinusoidal wave pulse change-over circuit is by R13, R14, R18, diode D1 and LM393 forms, wherein R14 with R18 is connected with VCC and INA-and GND and INA-respectively, for controlling the compare threshold of sinusoidal wave pulse modular converter, value is respectively 2K and 3K, namely arranging threshold value is 3V, and the signal being greater than 3V exports 5V by comparator LM393 is unified.The effect of diode D1 be by self-adaptive band-pass filter after the reverse cut-off of sinusoidal signal, only the signal of forward is compared.The effect of resistance R13 is that pull-up is carried out in the output of offset of sinusoidal wave impulse modular converter, ensures that comparator exports and do not made by external interference controller error count in time not having signal.
Claims (10)
1. motor rotation angle detecting apparatus, is characterized in that: comprise current sensor (3), pre-amplifying module (4), self-adaptive band-pass filter module (5), sinusoidal wave pulse modular converter (6), voltage transformation module (8); Wherein,
Current sensor (3), pre-amplifying module (4), self-adaptive band-pass filter module (5), sinusoidal wave pulse modular converter (6) are connected successively;
The feeder ear of voltage transformation module (8) to be held with getting of pre-amplifying module (4) respectively, an end of getting for self-adaptive band-pass filter module (5) is connected;
Described current sensor (3) is for detecting the current signal passed through in electric machine rotation process;
Described pre-amplifying module (4) is responsible for the current signal that current sensor (3) detects to amplify, and obtains ac signal;
The ac signal exported through pre-amplifying module (4) is carried out self-adaptive band-pass filter by described self-adaptive band-pass filter module (5) being responsible for, and obtains sinusoidal wave current signal;
The sinusoidal wave current signal that self-adaptive band-pass filter module (5) exports is converted into pulse wave signal by described sinusoidal wave pulse modular converter (6) being responsible for;
Described voltage transformation module (8) is responsible for providing ± the voltage of 5V to pre-amplifying module (4) and self-adaptive band-pass filter module (5).
2. motor rotation angle detecting apparatus as claimed in claim 1, is characterized in that: be provided with an industrial computer; The signal output part of the signal output part of current sensor (3), the signal input part of self-adaptive band-pass filter module (5), sinusoidal wave pulse modular converter (6) is connected with industrial computer respectively;
By industrial computer, optimum configurations is carried out to self-adaptive band-pass filter module (5);
The calculated signals that the signal fed back in conjunction with current sensor (3) by industrial computer, sinusoidal wave pulse modular converter (6) are fed back obtains the corner numerical value of motor.
3. motor rotation angle detecting apparatus as claimed in claim 1, is characterized in that: described current sensor (3) be single resistive current sensor, and carry out differential amplification by AD8206, the signal after differential amplification is current signal.
4. motor rotation angle detecting apparatus as claimed in claim 1, is characterized in that: described pre-amplifying module (4) is two-stage amplification, and wherein, the multiplication factor that the first order is amplified is 201 times; The multiplication factor that the second level is amplified is 3 times.
5. motor rotation angle detecting apparatus as claimed in claim 4, is characterized in that: described pre-amplifying module (4) comprises electric capacity C1, C2, C3, C4, resistance R1, R2, R3, R4, R5, R6, R7, R8 and chip TLC2272;
Wherein, by electric capacity C1, C3, C4, resistance R1, R3, R4, R5 and chip TLC2272 realize the function that the first order is amplified, and by electric capacity C2, C4, the amplifier of resistance R2, R6, R7, R8 and chip TLC2272 inside realizes the function of amplifying the second level.
6. motor rotation angle detecting apparatus as claimed in claim 5, is characterized in that: the pin 1 of chip TLC2272 is connected with one end of one end of resistance R1, resistance R3, one end of electric capacity C2; The pin 2 of chip TLC2272 is connected with one end of the other end of resistance R1, resistance R4; The pin 3 of chip TLC2272 is connected with one end of one end of electric capacity C1, resistance R5; The other end of resistance R4 is connected with one end of electric capacity C3; The other end common ground of the other end of resistance R3, the other end of electric capacity C3, resistance R5; The pin 5 of chip TLC2272 is connected with the other end of one end of resistance R6, electric capacity C2; The pin 6 of chip TLC2272 is connected with one end of one end of resistance R2, resistance R7; The pin 7 of chip TLC2272 is connected with one end of the other end of resistance R2, resistance R8; The other end of resistance R7 is connected with one end of electric capacity C4; The other end common ground of the other end of electric capacity C4, the other end of resistance R6, resistance R8.
7. motor rotation angle detecting apparatus as claimed in claim 1, is characterized in that: described self-adaptive band-pass filter module (5) is for the AC signal after amplification being carried out self-adaptive band-pass filter, filtering out desirable sinusoidal waveform; Self-adaptive band-pass filter module (5) comprises 1 piece of switch-capacitor filtering chip.
8. motor rotation angle detecting apparatus as claimed in claim 7, is characterized in that: the switch-capacitor filtering chip in self-adaptive band-pass filter module (5) is filtering chip LTC1068-200; Containing resistance R9, R10, R11, R12, R15, R16, R17, R19, R20, R21, R22, R23 in self-adaptive band-pass filter module (5), electric capacity C7, C8; Filtering chip LTC1068-200 one end of pin 1 and resistance R9, one end of resistance R16, one end of resistance R11 link together; Filtering chip LTC1068-200 pin 1 link together with the other end of resistance R12; Filtering chip LTC1068-200 pin 1 link together with one end of the other end resistance R10 of resistance R16; Filtering chip LTC1068-200 pin 4 and filtering chip LTC1068-200 pin 5 be connected; Filtering chip LTC1068-200 pin 6 and filtering chip LTC1068-200 pin 8, electric capacity C7 one end be connected; Filtering chip LTC1068-200 one end common ground of pin 7 and resistance R19; Filtering chip LTC1068-200 the other end common ground of pin 9 and electric capacity C7; Filtering chip LTC1068-200 pin 10 and filtering chip LTC1068-200 pin 11, resistance R21 one end be connected; Filtering chip LTC1068-200 pin 12 be connected with one end of resistance R22; Filtering chip LTC1068-200 pin 13 be connected with one end of resistance R23; Filtering chip LTC1068-200 the other end of pin 14 and resistance R21, the other end of resistance R22, the other end of resistance R23, the other end of resistance R9 link together; Filtering chip LTC1068-200 pin 15 and filtering chip LTC1068-200 pin 16 be connected; Filtering chip LTC1068-200 pin 19, pin 20, pin 22, electric capacity C8 one end common ground; Filtering chip LTC1068-200 pin 23 be connected with the other end of electric capacity C8, one end of resistance R19; Filtering chip LTC1068-200 pin 24 be connected with the other end of resistance R19, one end of resistance R20; Filtering chip LTC1068-200 pin 25 be connected with the other end of resistance R20; Filtering chip LTC1068-200 pin 26 be connected with one end of resistance R17, one end of resistance R9; Filtering chip LTC1068-200 pin 27 be connected with one end of resistance R15; Filtering chip LTC1068-200 the other end of pin 28 and resistance R10, the other end of resistance R15, the other end of resistance R17 be jointly connected.
9. motor rotation angle detecting apparatus as claimed in claim 1, is characterized in that:
Sinusoidal wave pulse modular converter (6) is by resistance R13, R14, R18, and diode D1 and control chip U4 forms, for sine wave is converted into the impulse wave consistent with its cycle;
Described voltage transformation module (8) be for by 5V voltage transitions for-5V voltage, provide ± the voltage of 5V to pre-amplifying module and self-adaptive band-pass filter module, ensure that these two module work are normal.
10. adopt the detection method of the motor rotation angle detecting apparatus as described in claim 1 to 9, it is characterized in that: carry out as follows:
Step 1: sinusoidal wave pulse modular converter (6), self-adaptive band-pass filter module (5) are connected with ECU to be measured respectively; Current sensor (3), self-adaptive band-pass filter module (5), sinusoidal wave pulse modular converter (6) are connected with industrial computer respectively; Direct current machine Mathematical Modeling (1) is installed in industrial computer, counting corrects & counter module (2), corner turn count module (7); Wherein,
Direct current machine Mathematical Modeling (1) belongs to software, estimates desirable motor speed for ECU, exports the pwm signal with the proportional relation of rotating speed, to ensure that self-adaptive band-pass filter module (5) can work;
Described counter & counts rectification module (2) and belongs to software, comprises counter module and counting rectification module; The effect of counting rectification module is corrected by the distorted pulse waveform after pre-amplifying module (4), self-adaptive band-pass filter module (5) and sinusoidal wave pulse modular converter (6), counted after rectification by counter module pulse signals;
Described corner speed estimate module (7) belongs to software, detected the corner of motor by algorithm, by the numerical value of timing acquisition counter, and numerical value is multiplied by corner value corresponding to each pulse, then can obtain the increment of motor corner in this time period, thus estimate motor corner;
Step 2: start ECU, detects to direct current machine Mathematical Modeling (1) the input parameter of electric machine, motor input voltage, PWM parameter, current sensor (3) signal obtained;
Step 3: the result of calculation of direct current machine Mathematical Modeling (1) is passed to counting respectively and corrected & counter module (2) and self-adaptive band-pass filter module (5);
Step 4: the data that corner speed estimate module (7) combination counting rectification & counter module (2) and sinusoidal wave pulse modular converter (6) feed back obtain final result.
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