CN105490596A - Embedded position detection system of permanent magnet alternating current servo motor - Google Patents
Embedded position detection system of permanent magnet alternating current servo motor Download PDFInfo
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- CN105490596A CN105490596A CN201610070876.2A CN201610070876A CN105490596A CN 105490596 A CN105490596 A CN 105490596A CN 201610070876 A CN201610070876 A CN 201610070876A CN 105490596 A CN105490596 A CN 105490596A
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- motor
- tmr chip
- tmr
- permanent magnet
- embedded
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
Abstract
The invention provides an embedded position detection system of a permanent magnet alternating current servo motor. The system comprises a group of sine and cosine excitation signal loading modules, at least a pair of tunneling magnetic reluctance TMR chips, and a time-grating signal processing system. On the basis of not destroying the structure of the motor, the TMR chips are embedded into the motor, sine excitation and cosine excitation are respectively loaded on each pair of TMR chips, the TMR chips are arranged on orthogonal positions in the space in pairs, a channel of signals for reflecting the rotation position of the motor are obtained on each TMR chip during the rotation of the motor, the signals are inputted into the time-grating signal processing system and processed, and the rotation position of the motor can be obtained. According to the system, the time-grating position measuring principle, the TMR chips, and equant permanent magnet rotors are combined, embedded detection of the rotation position of the permanent magnet alternating current servo motor is realized, the operation performance of the motor is greatly enhanced, the structural dimension of the motor is reduced, the cost is lowered, and the anti-interference performance and the ability to adapt to severe working environment are enhanced.
Description
Technical field
The invention belongs to Serve Motor Control technical field, be specifically related to electric machine rotation location detecting technology.
Background technology
Permanent-magnet alternating current servo motor is the crucial element in servo-control system, the accurate detection of its turned position with precisely control to be realize real servo-controlled important foundation.
The turned position detection method of current most widely used permanent-magnet alternating current servo motor utilizes external position transducer, as photoelectric encoder, magnetism encoder, resolver, inductosyn etc. realize detecting.Although certainty of measurement is high, it destroys the original compact structure of motor on the one hand, makes the runnability of motor be subject to the impact of position transducer installation effect; Above-mentioned several method all relies on point grooves such as the precision in space on the other hand, and certainty of measurement will by the impact of machining accuracy.Therefore, " sensorless detection technology " becomes the focus of recent researches, mainly contains following several implementation method at present: a kind of is the correlation technique utilizing control theory, builds desirable motor mathematical model, realizes the estimation to motor speed.As patent documentation CN103560725A discloses a kind of brushless direct current motor sensorless control position detection method, utilize the desirable motors Based on Flux Linkage model of the knowledge architecture of Electric Machine Control theory motor and use it to carry out the estimation of rotor-position.This method needs to build complicated Mathematical Modeling, and only just can carry out modeling, estimation on the basis fully observed, measurement result is vulnerable to interference, precision is difficult to ensure, and by idealized for the partial parameters of motor, can only be used for estimating and cannot really realizing accurate, actual measurement.Another kind injects high-frequency excitation signal, realizes the detection to motor position by voltage (electric current) signal detecting correspondence in motor, and this method requires that motor rotor construction has saliency, and range of application is narrow, realizes difficulty.
What exist for above-mentioned " sensorless detection technology " is difficult to use in the problem that actual working environment realizes motor rotor position Measurement accuracy, " embedding sensor detecting " becomes the new approaches detecting motor angular displacement, patent documentation CN103490682A discloses a kind of AC servo motor rotor position detecting system, utilize the similitude of the operation principle of motor and the measuring principle of field formula time grating displacement sensor, using the stator winding of motor as time grid location surveys head, when the mode of existing for rotor winding or coiling again being formed, grid move gauge head, and utilize the rotating magnetic field between rotor to realize the measurement of motor rotor position.But during for rotor without coiling, need to destroy electric machine structure coiling again, needing toroidal transformer etc. to be exported by induced signal in addition, still there is certain defect in this system.
Therefore, how under the prerequisite of compact structure not destroying permanent-magnet alternating current servo motor, the accurate Detection & Controling realizing its displacement are urgent problems.
Summary of the invention
Grid position measurement principle and TMR chip functions when the present invention is based on, and in conjunction with permanent magnet rotor structure, on the basis not destroying motor original structure, a kind of embedded position detecting system in turned position of permanent-magnet alternating current servo motor is proposed, this system can make permanent-magnet alternating current servo motor while thoroughly removing external position transducer, not only can adapt to severe work bad border, and can realize measuring more accurately in wider velocity interval, there is higher certainty of measurement and lower testing cost.
Concrete technical scheme of the present invention is as follows:
An embedded position detecting system for permanent-magnet alternating current servo motor, it comprise one group just, the TMR chip of cosine pumping signal load-on module, at least one pair of orthogonal space, time gate signal treatment system.
Described embedded position detecting device is point property such as the machinery directly utilizing motor internal permanent magnet rotor structure to have, TMR chip is embedded as sensing unit at motor internal, the often pair of TMR chip along the circumferential orthogonal space fixed and arranged of motor shaft, and is in same sagittal plane; If set the angle of circumference corresponding to one pole permanent magnet of motor as θ, so corresponding between often pair of TMR chip center position angle of circumference is
described TMR chip induction permanent magnet rotates along with motor shaft the alternating magnetic field produced, and export with it with the voltage signal frequently changed, described voltage signal is the signal of reflection motor corner;
Described just, cosine pumping signal load-on module is connected with TMR chip, often pair of TMR chip just to load respectively, cosine excitation;
Time described, gate signal treatment system connects TMR chip, obtains the motor angular signal that TMR chip exports, obtains the angular displacement of motor after treatment, i.e. turned position.
The present invention be based on time grid position measurement principle and TMR chip functions, and in conjunction with permanent magnet rotor structure, realize the embedded detection of permanent-magnet alternating current servo motor turned position.Permanent magnet can produce alternating magnetic field along with while motor shaft rotation, and the TMR chip embedding motor internal utilizes tunnel magneto effect, the change of the induced field that energy is sensitive, and it responds to this alternating magnetic field and output and its voltage signal changed with frequency.If just loading respectively on often pair of TMR chip, cosine excitation, the i.e. pumping signal of time quadrature, and TMR chip is placed on the position of orthogonal space between two, the signal of a road reflection motor corner will be obtained on every block TMR chip, gate signal treatment system when signal is inputted, just can obtain the angular displacement of motor after treatment, i.e. turned position.
The present invention is applicable to the existing various permanent magnet rotor structure with point property such as machineries, it breaches and limited in the technology of the additional independent position sensor of motor rear end in the past, under the prerequisite of compact structure need not destroying permanent-magnet alternating current servo motor, realize the embedded measurement of permanent-magnet alternating current servo motor turned position, there is the runnability of significantly lifting motor, tighten electric machine structure size, reduce costs, strengthen the advantages such as the ability of interference free performance and adaptation harsh environments.
Accompanying drawing explanation
Fig. 1 is permanent-magnet alternating current servo motor structured flowchart;
Fig. 2 is the theory diagram of permanent-magnet alternating current servo motor turned position embedded measurement system;
Fig. 3 a is the orthogonal placement schematic diagram of TMR chip space;
Fig. 3 b is TMR chip scheme of installation;
Gate signal treatment system block diagram when Fig. 4 is.
Embodiment
Below in conjunction with accompanying drawing to arrange a pair TMR chip for the present invention is described in detail.
Of the present invention based on time grid position measurement principle and TMR chip realize the principle of permanent-magnet alternating current servo motor angle displacement measurement as shown in Figure 2.
With reference to Fig. 1, the concrete structure of the permanent-magnet alternating current servo motor in the present invention comprises all parts of Conventional permanent magnet AC servo motor, as back end cover for motor 1, bearing of rear end cover 2, motor housing 3, motor stator 4, permanent magnet 5 (rotor), motor front end cover 7, front end housing bearing 8, motor shaft 9 etc.On this basis, add embedded position detecting system, based on the permanent magnet 5 that system has by motor itself, increase TMR chip a6a, TMR chip b6b, sine and cosine excitation 10a-b and time Gate signal processing system 11, utilize the characteristic that TMR chip is very sensitive to changes of magnetic field, directly TMR chip a6a and TMR chip b6b is embedded near motor internal induction permanent magnet along with alternating magnetic field when motor shaft rotates, and in conjunction with time Gate displacement transducer thought principle, the basis not destroying the original cramped construction of motor realizes the measurement of permanent-magnet alternating current servo motor angular displacement.
With reference to Fig. 2, the sine and cosine pumping signal load-on module of detection system is connected with TMR chip, TMR chip a6a and TMR chip b6b are just loading respectively, cosine excitation 10a-b, and place it in the position of orthogonal space, when permanent magnet is along with the magnetic field that can produce alternation when motor shaft rotates, the alternating magnetic field produced in TMR chip induction permanent magnet, and on every block TMR chip, obtain the signal of a road reflection motor corner, TMR chip with time gate signal treatment system be connected, gate signal treatment system when two paths of signals is inputted, angular displacement and the turned position of permanent magnet AC motor just can be obtained after a series of process,
As shown in Figure 3 a, 9 represent motor shaft, 3 represents motor housing, 4 and represents stator, 6a and 6b and represent TMR chip a respectively and TMR chip b, 5 represents permanent magnet, namely need the center of chip a just to the center of permanent magnet, then the center of chip b just to two pieces, the gap between adjacent permanent magnet TMR chip in the range of linearity of chip output characteristic curve, output signal is linear with the change in magnetic field.
Owing to the basis that the present invention is intended to not destroy motor original structure realizing the measurement of displacement, therefore consider when installing TMR chip a6a and TMR chip b6b to be installed on motor front end cover 7, as shown in Figure 3 b, one piece just to permanent magnet center, another block is just to the gap between adjacent permanent magnet.
With reference to Fig. 4, when the signal of the reflection motor variation in angular displacement exported by two pieces of TMR chips is sent into, gate signal treatment system 22 processes, time gate signal treatment system 22 specifically comprise when carrying out signal transacting: to amplify, the process such as filtering and shaping, signal receiving, angular displacement calculating, finally obtain required electric machine rotation positional information, reach the Detection results same with electric machine external angular encoder.
Claims (3)
1. an embedded position detecting system for permanent-magnet alternating current servo motor, is characterized in that: comprise one group just, the TMR chip of cosine pumping signal load-on module, at least one pair of orthogonal space, time gate signal treatment system,
Described embedded position detecting device is point property such as the machinery directly utilizing motor internal permanent magnet rotor structure to have, TMR chip is embedded as sensing unit at motor internal, often pair of TMR chip comprises two panels, they along the circumferential orthogonal space fixed and arranged of motor shaft, and are in same sagittal plane; Described TMR chip induction permanent magnet rotates along with motor shaft the alternating magnetic field produced, and export with it with the voltage signal frequently changed, described voltage signal is the signal of reflection motor corner;
Described just, cosine pumping signal load-on module is connected with TMR chip, often pair of TMR chip just to load respectively, cosine excitation;
Time described, gate signal treatment system connects TMR chip, obtains the motor angular signal that TMR chip exports, obtains the angular displacement of motor after treatment, i.e. turned position.
2. the embedded position detecting system of permanent-magnet alternating current servo motor according to claim 1, is characterized in that: if set the angle of circumference corresponding to one pole permanent magnet of motor as θ, and so corresponding between often pair of TMR chip center position angle of circumference is
3. the embedded position detecting system of permanent-magnet alternating current servo motor according to claim 1, is characterized in that: described TMR chip is embedded in inside the front end housing of motor along the axis of motor shaft.
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| CN201610070876.2A CN105490596B (en) | 2016-02-01 | 2016-02-01 | A kind of embedded position detecting system of permanent-magnet alternating current servo motor |
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| CN105490596B CN105490596B (en) | 2017-12-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108111084A (en) * | 2016-11-24 | 2018-06-01 | 北京大豪科技股份有限公司 | AC servo motor control system and control method |
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| US6522130B1 (en) * | 1998-07-20 | 2003-02-18 | Uqm Technologies, Inc. | Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor |
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| CN103256883A (en) * | 2012-02-16 | 2013-08-21 | 英飞凌科技股份有限公司 | Rotation angle sensor for absolute rotation angle determination even upon multiple revolutions |
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| CN108111084A (en) * | 2016-11-24 | 2018-06-01 | 北京大豪科技股份有限公司 | AC servo motor control system and control method |
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Application publication date: 20160413 Assignee: Chongqing Han's Shizha Technology Co.,Ltd. Assignor: Chongqing University of Technology Contract record no.: X2022500000007 Denomination of invention: An Embedded Position Detection System for Permanent Magnet AC Servo Motor Granted publication date: 20171208 License type: Exclusive License Record date: 20220926 |