CN105656282A - Linear permanent magnet servo motor with embedded position detection device - Google Patents
Linear permanent magnet servo motor with embedded position detection device Download PDFInfo
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- CN105656282A CN105656282A CN201610068204.8A CN201610068204A CN105656282A CN 105656282 A CN105656282 A CN 105656282A CN 201610068204 A CN201610068204 A CN 201610068204A CN 105656282 A CN105656282 A CN 105656282A
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- permanent magnet
- embedded position
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- tmr
- linear permanent
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
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- Linear Motors (AREA)
Abstract
The invention discloses an embedded position detection method of a linear permanent magnet servo motor. According to the linear permanent magnet servo motor, the embedding detection of the movement position of the linear permanent magnet servo motor is realized by virtue of a tunneling magnetic resistance (TMR) chip aiming at mechanically uniformly divided permanent magnet arrays in the linear permanent magnet servo motor. An embedded sensor comprises a space orthorhombic TMR chip combined time-grating signal processing system and moves along with a rotor, then TMR chips sense the periodic magnetic field distribution of mechanically uniformly divided permanent magnets to generate voltage output, and the measurement of the movement position of the linear permanent magnet servo motor is realized by virtue of the time-grating signal processing system. The linear permanent magnet servo motor is simple in structure, convenient to assemble and strong in reliability; a traditional method for mounting an independent optical grating position sensor in a linear motor is broken through; and the linear permanent magnet servo motor has the advantages that the structure size of the motor is reduced, the anti-interference performance is enhanced, the cost is effectively lowered, and the like.
Description
Technical field
The invention belongs to linear permanent-magnet servomotor technical field, relate to the location detecting technology of motor.
Background technology
Along with the development of the advanced manufacturing technology such as superhigh-speed cutting, Ultra-precision Turning, the property indices of lathe has been assigned again higher requirement. Particularly the servo performance of Machine Tool Feeding System is had higher requirement: will have significantly high driving thrust, fast feed speed and high quick positioning precision. In order to meet the requirement that grows with each passing day, a kind of electric energy is directly changed into rectilinear motion mechanical energy, actuating device linear servo-actuator without any intermediate conversion mechanism arises at the historic moment and achieves significant progress.
The movement position detection method of current most widely used linear permanent-magnet AC servo motor usually utilizes the other linear grating put to detect. Although which certainty of measurement is high, but on the one hand it causes motor volume and inevitably increases, and makes the runnability of linear electric motors be subject to position sensor to install the impact of effect; Stop position detection method relies on the accurate of machinery and waits point groove on the other hand, and certainty of measurement to be subject to the impact of machining accuracy.
Occur in that a kind of machinery that directly utilizes waits point time grid location detecting technology realizing metering decile in recent years, and have developed high-precision circumferentially with orthoscopic time grid position sensor, it is further proposed that grid method for detecting position during a kind of intrinsic based on measurand existing machinery etc. parasitic type. But grid location detecting technology is all based on electromagnetic induction principle and uses coil to detect during existing parasitic type, and coil winding is difficult to ensure that uniformity and also volume is generally bigger so that this kind of detection method is difficult to effectively be applied in linear electric motors.
Summary of the invention
It is an object of the invention to propose a kind of linear permanent-magnet servomotor with embedded position detecting device, it is intended to by replacing the existing external position-detection sensor of linear electric motors, realize the reduction of linear permanent-magnet servomotor volume and the reduction of cost, promote linear servo-actuator wider application.
In order to achieve the above object, the present invention is by the following technical solutions:
The present invention be directed to the permanent magnet array of linear permanent-magnet servomotor internal mechanical decile, based on time grid position measurement principle, utilize tunnel magneto (TMR) chip to realize the embedded detection of linear permanent-magnet servomotor movement position.
The linear permanent-magnet servomotor with embedded position detecting device that the present invention proposes includes stator, mover and embedded position detecting device.
Described stator includes the permanent magnet array of machinery decile and the yoke of fixed permanent magnet, and described mover includes magnetic core and coiling coil groups thereon.
Described embedded position detecting device include embedded position sensor head, stimulating module and time gate signal process system; Described embedded position sensor head is by PCB base plate and is affixed on least one set orthogonal space TMR chip thereon along plate length direction and forms, embedded position sensor head is fixed on mover embedded position sensor head and is fixed on mover upper can experience machinery etc. and divide any position in the produced magnetic field of permanent magnet, and the length direction of embedded position sensor head is parallel to the direction of motion of mover; Embedded position sensor head by stimulating module respectively to often organize TMR chip apply respectively sinusoidal excitation and cosine excitation, realize the time quadrature of pumping signal, and then along with in the motor process of mover, by experiencing the permanent magnet array periodic magnetic field distribution of machinery decile on linear permanent-magnet servo motor stator, obtain two paths of signals and output, during the signal input obtained after synthesis, gate signal processes system, finally realizes the embedded detection to linear permanent-magnet servomotor position. Embedded position detecting device is applicable to any linear permanent-magnet servomotor comprising point permanent magnet arrays such as described machinery above.
As a preferred version, the TMR chipset of described orthogonal space generally uses two panels TMR chip to constitute one group. In the often group TMR chip of described orthogonal space, the sensitive direction of two panels TMR chip is placed in same direction, and sensitive direction both can have been placed along the electric mover direction of motion can also be perpendicular to the placement of the electric mover direction of motion.
As a preferred version, if the centre distance of adjacent two panels permanent magnet is 2 in machinery etc. point permanent magnet arrayl, in group, the centre distance of two panels TMR chip isL, then described orthogonal space must meet relationL=(2n+1)l��
As a preferred version, the TMR chipset of described orthogonal space is under the excitation of time quadrature signal, and along with linear electric motors motion will produce the signal of response location change, when adopting known, gate signal process system processes. After amplified, filtering, phase demodulating, moving displacement computing, finally give the movement position of linear permanent-magnet servomotor.
As preferably, embedded position sensor head can adopt the TMR chip organizing orthogonal space more, and the output of many group TMR chips is by average treatment, thus improving certainty of measurement. Further for saving space, when adopting many group TMR chips, two pieces of TMR chips of a group and the TMR chip of another group are alternately arranged.
Compared with prior art, it has the great advantage that the present invention
The embedded position detection transducing head structure being made up of PCB base plate and TMR chipset is simple, volume is little and is easy to mutually integrated with existing any linear permanent-magnet servomotor comprising point permanent magnet arrays such as described machinery, it is not result in the increase of motor volume, bears without causing extra delivery;The permanent magnet array directly utilizing the mechanical decile within linear electric motors carries out position detection, linear servo-actuator can be realized and carry out the position signalling of motor control required metering decile, than the linear grating typically now adopted, the method is with low cost, environmental suitability is strong, reliability is high; Embedded position detecting device simple in construction and cost-effective, the position sensing technology for linear permanent-magnet servomotor is great technological break-through and innovation, has broad application prospects in linear permanent-magnet servomotor field.
Accompanying drawing explanation
Fig. 1 is the embedded method for detecting position structural representation of monolayer linear permanent-magnet servomotor of the present invention.
Fig. 2 is the embedded method for detecting position structural representation of bilayer linear permanent-magnet servomotor of the present invention.
Fig. 3 is the list group orthogonal space TMR chipset feature schematic diagram that chip sensitive direction is vertical with the direction of motion.
Fig. 4 is the list group orthogonal space TMR chipset feature schematic diagram that chip sensitive direction is parallel with the direction of motion.
Fig. 5 is double; two group orthogonal space TMR chipset feature schematic diagrams that chip sensitive direction is parallel with the direction of motion.
Fig. 6 is the magnetic line of force distribution schematic diagram of monolayer machinery etc. point permanent magnet in the embodiment of the present invention.
Fig. 7 is the magnetic line of force distribution schematic diagram that in the embodiment of the present invention, double-deck machinery waits point permanent magnet.
Detailed description of the invention
Easy to understand, according to technical scheme, when not changing the connotation of the present invention, one of ordinary skill in the art is it is envisioned that go out the numerous embodiments of the present invention. Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as the whole of the present invention or are considered as the restriction to technical solution of the present invention or restriction.
In conjunction with Fig. 1, for the linear permanent-magnet servomotor 1 there is machinery waiting point permanent magnet array 112, embedded position detecting device include by PCB base plate 21 and along PCB base plate 21 length direction be affixed on embedded position sensor head 2 that orthogonal space TMR chip 22 thereon forms, stimulating module 3 and time gate signal process system 4. Embedded position sensor head 2 is fixed on the mover 12 of linear permanent-magnet servomotor 1, and the length direction of sensing head 2 is parallel to the direction of motion of linear permanent-magnet servomotor 1 mover 12. Sensing head 2 applies sinusoidal excitation and cosine excitation respectively by stimulating module 3 to two panels TMR chip, thus realizing the time quadrature of pumping signal, and then in the motor process along with mover 12, the Distribution of Magnetic Field around point permanent magnet array 112 is waited by experiencing machinery on linear permanent-magnet servo motor stator 11, obtain two paths of signals output, during the signal input obtained after synthesis, gate signal processes system 4, finally realizes the embedded detection to linear permanent-magnet servomotor position.
The present invention is applicable not only to have the linear permanent-magnet servomotor 1 of point permanent magnet arrays such as monolayer machinery, has machinery wait the linear permanent-magnet servomotor of point permanent magnet array equally applicable to any. In conjunction with Fig. 2, describe the application on the linear permanent-magnet servomotor 6 with point permanent magnet arrays 612 such as double-deck machineries of the embedded position detecting device. Embedded position sensor head 2 is also attached on the mover 62 of linear permanent-magnet servomotor 6, similarly, as long as ensure that the length direction of embedded position sensor head 2 is parallel with the direction of motion of motor under not affecting the precondition that linear permanent-magnet servomotor runs, embedded position sensor head 2 to be securable on mover 62 any can installation region.
Below in conjunction with Fig. 3, Fig. 4 and Fig. 5, embedded position sensor head 2 is described in further detail below:
TMR chip 22 has the magnetic-field-sensitive direction determined, when tested magnetic direction is consistent with the sensitive direction of TMR chip 22, the output of TMR chip 22 is maximum, otherwise when tested magnetic direction is vertical with the sensitive direction of TMR chip 22, the output of TMR chip 22 is minimum. Meanwhile, widely distributed in the space around, magnetic field that point permanent magnet array 112 and 612 such as monolayer and bilayer machinery produces, all would be likely to occur magnetic-field component in all directions. Thus embedded position sensor head 2 be securable to any on mover 12 mover 62 can installation region. Even if in the fixed form shown in Fig. 1 and Fig. 2, TMR chip 22 equally exists multiple placement form on PCB base plate 21.
As seen from Figure 3, the PCB base plate 21 of embedded position sensor head 2 posts the TMR chip 22 of two panels orthogonal space. The sensitive direction of TMR chip 22 is perpendicular to the length direction of PCB base plate 21. When embedded position sensor head 2 is fixed on mover 12 or 62 along the direction of motion being parallel to mover 12, the sensitive direction of TMR chip 22 is also perpendicular to the direction of motion of motor.
Referring to Fig. 4, then show further the sensitive direction of TMR chip 22 and be parallel to the situation that the length direction of PCB base plate 21 is arranged.
Fig. 3 and Fig. 4 is all shown that only pasting on embedded position sensor head 2 the TMR chip 22 of two panels and forms the situation of one group of orthogonal space. In addition, embedded position sensor head 2 can also paste the TMR chipset organizing orthogonal space more, the output of TMR chipset will be organized by average treatment to improve certainty of measurement further more.
Fig. 5 shows the embedded position sensing header structure with two groups of orthogonal space TMR chipsets 22. In order to save space, left several firsts and the 3rd TMR chip form orthogonal space, and remaining two panels TMR chip forms orthogonal space. Left several first and second TMR chip can adopt same sine (or cosine) signal to encourage, and left several 3rd and the 4th TMR chip then can adopt same cosine (or sinusoidal) signal excitation.
In conjunction with Fig. 6 and Fig. 7, the magnetic line of force distribution of the linear permanent-magnet servomotor 1 of two kinds of forms of the present invention is illustrated: for having the linear permanent-magnet servomotor 1 of point permanent magnet arrays 112 such as monolayer machinery, the mode that its monolayer machinery etc. point permanent magnet array 112 is alternately placed by magnetic pole by the magnetized rectangular permanent magnet of polylith through-thickness combines, and the magnetic line of force about is distributed as shown in Figure 6. Visible, the magnetic line of force is alternately distributed around polylith permanent magnet. Magnetic-field component permanent magnet array 112 upper area and lower area left and right directions on being discussed below: region between two pieces of permanent magnets, the magnetic-field component on left and right directions is maximum, and in the central area of permanent magnet, the magnetic-field component on left and right directions is minimum.
Wait the linear permanent-magnet servomotor 2 of point permanent magnet array 612 for having double-deck machinery, the magnetic line of force about is distributed as shown in Figure 7. Visible, the magnetic line of force is alternately distributed around polylith permanent magnet. Identical with the distribution situation of magnetic-field component on monolayer permanent magnet array 112 upper area and lower area left and right directions with the distribution situation of magnetic-field component on lower area left and right directions for permanent magnet array 612 upper area. The Distribution of Magnetic Field situation of double-deck permanent magnet array 612 interlayer is then sufficiently complex, thus requiring higher to the installation site of embedded position sensor head. Installation site slight variation is possible to cause that Distribution of Magnetic Field situation sharply changes.
For embedded position sensor head 2 often organizes the orthogonal space between TMR chip 22, as shown in Figure 6 and Figure 7, namely assume that machinery waits the centre distance of adjacent two panels permanent magnet in point permanent magnet array to be 2l, in group, the centre distance of two panels TMR chip isL,As shown in Fig. 3, Fig. 4 and Fig. 5, then orthogonal space must meet relationL=(2n+1)l��
Below in conjunction with the embedded position sensor head 2 shown in Fig. 4, it is parallel to motor movement direction and is positioned on permanent magnet array 112, be namely positioned over permanent magnet array 112 upper area along left-to-right in figure 6 and be analyzed.Owing to two panels TMR chip space is orthogonal, when region between two panels permanent magnet of wherein a piece of TMR chip, another sheet TMR is then positioned at the central area of permanent magnet, two panels TMR chip signal output phase 90 ��. Along with the motion of mover, the orthogonal space characteristic of two panels TMR chip remains unchanged, and two panels TMR chip signal output phase place differs 90 �� all the time.
Described embedded position sensor head 2 moves along with mover, thus the periodic magnetic field distribution of TMR chip sense mechanism etc. point permanent magnet produces voltage output, under the pumping signal effect of time quadrature, two panels TMR chip output two paths of signals, it is added gate signal when then obtaining and processes needed for system 4 signal with positional information, through time gate signal process the final movement position information exporting linear electric motors after system 4 processes, it is achieved linear permanent-magnet servomotor movement position is measured.
Claims (6)
1. having a linear permanent-magnet servomotor for embedded position detecting device, including stator, mover, described stator includes machinery and waits the yoke of point permanent magnet array and fixed permanent magnet, and described mover includes magnetic core and coiling coil groups thereon; It is characterized in that:
Also include embedded position detecting device, described embedded position detecting device include embedded position sensor head, stimulating module and time gate signal process system;
Described embedded position sensor head is by PCB base plate and is affixed on least one set orthogonal space TMR chip thereon along plate length direction and forms, often organize two panels, embedded position sensor head is fixed on mover and can experience machinery waits any position in point the produced magnetic field of permanent magnet array, and the length direction of embedded position sensor head is parallel to the direction of motion of mover;
Stimulating module is connected with embedded position sensor head, by stimulating module respectively to often organizing two panels TMR chip applying sinusoidal excitation and cosine excitation, realize the time quadrature of pumping signal, and then with in the motor process of mover, wait point permanent magnet array periodic magnetic field distribution by experiencing machinery on linear permanent-magnet servo motor stator, obtain two paths of signals output;
Time gate signal process system and be connected with embedded position sensor head, when after two paths of signals synthesis, the signal that obtains inputs, gate signal process system, finally realizes the embedded detection to linear permanent-magnet servomotor position.
2. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 1, it is characterized in that, in the often group TMR chip of described orthogonal space, the sensitive direction of two panels TMR chip is placed in same direction, and sensitive direction both can have been placed along the electric mover direction of motion can also be perpendicular to the placement of the electric mover direction of motion.
3. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 1, it is characterised in that set machinery and wait in point permanent magnet array the centre distance of adjacent two panels permanent magnet as 2l, often in group, the centre distance of two panels TMR chip isL, then orthogonal space must meet relationL=(2n+1)l��
4. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 1, it is characterized in that, the machinery of described linear permanent-magnet servomotor waits a point permanent magnet to be monolayer or double-decker, and embedded position detecting device is both secured on linear motor rotor.
5. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 1, it is characterized in that, described embedded position sensor head adopts the TMR chip organizing orthogonal space more, and the output of many group TMR chips is by average treatment, thus improving certainty of measurement.
6. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 6, it is characterised in that when adopting many group TMR chips, two pieces of TMR chips of a group and the TMR chip of another group are alternately arranged.
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| CN201610068204.8A CN105656282B (en) | 2016-02-01 | 2016-02-01 | A kind of linear permanent-magnet servomotor with embedded position detecting device |
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| CN201610068204.8A CN105656282B (en) | 2016-02-01 | 2016-02-01 | A kind of linear permanent-magnet servomotor with embedded position detecting device |
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| CN105656282B CN105656282B (en) | 2017-12-01 |
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Cited By (3)
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| CN107015424A (en) * | 2015-12-25 | 2017-08-04 | 株式会社理光 | Mobile apparatus, image forming apparatus and image projecting equipment |
| CN109323646A (en) * | 2018-11-13 | 2019-02-12 | 阿斯科纳科技（深圳）有限公司 | A kind of position sensor system applied to linear motor vector controlled |
| CN111722022A (en) * | 2020-05-09 | 2020-09-29 | 上海达铭科技有限公司 | Cable path detection method based on weak magnetic signal measurement |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015424A (en) * | 2015-12-25 | 2017-08-04 | 株式会社理光 | Mobile apparatus, image forming apparatus and image projecting equipment |
| CN109323646A (en) * | 2018-11-13 | 2019-02-12 | 阿斯科纳科技（深圳）有限公司 | A kind of position sensor system applied to linear motor vector controlled |
| CN111722022A (en) * | 2020-05-09 | 2020-09-29 | 上海达铭科技有限公司 | Cable path detection method based on weak magnetic signal measurement |
| CN111722022B (en) * | 2020-05-09 | 2023-02-14 | 上海达铭科技有限公司 | Cable path detection method based on weak magnetic signal measurement |
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