CN105656282B - A kind of linear permanent-magnet servomotor with embedded position detecting device - Google Patents
A kind of linear permanent-magnet servomotor with embedded position detecting device Download PDFInfo
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- CN105656282B CN105656282B CN201610068204.8A CN201610068204A CN105656282B CN 105656282 B CN105656282 B CN 105656282B CN 201610068204 A CN201610068204 A CN 201610068204A CN 105656282 B CN105656282 B CN 105656282B
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- permanent
- embedded position
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- magnet
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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
Abstract
The present invention proposes a kind of embedded method for detecting position of linear permanent-magnet servomotor, for the permanent magnet array of linear permanent-magnet servomotor internal mechanical decile, the embedded detection of linear permanent-magnet servomotor movement position is realized using tunnel magneto (TMR) chip.The embedded type sensor includes gate signal processing system during the TMR chip portfolios of orthogonal space, the embedded type sensor moves with mover, so as to which TMR chip sense mechanisms etc. divide the periodic magnetic field distribution of permanent magnet to produce voltage output, gate signal processing system realizes that linear permanent-magnet servomotor movement position measures when passing through.The present invention is simple in construction, easy to assembly, highly reliable, breaches the method that tradition installs independent grating position sensor in linear electric motors, has and tightens electric machine structure size, enhancing interference free performance and effectively reduce the advantages such as cost.
Description
Technical field
The invention belongs to linear permanent-magnet servomotor technical field, it is related to the location detecting technology of motor.
Background technology
With the development of the advanced manufacturing technologies such as superhigh-speed cutting, Ultra-precision Turning, the property indices and quilt of lathe
Impart higher requirement.Higher requirement particularly is proposed to the servo performance of Machine Tool Feeding System：There is very high drive
Dynamicthrust, fast feed speed and high fast positioning precision.It is a kind of that electric energy is direct in order to meet requirement growing day by day
Be converted into move along a straight line mechanical energy, the transmission device without any intermediate conversion mechanism --- linear servo-actuator meet the tendency of and
Give birth to and achieve significant progress.
The movement position detection method of current most widely used linear permanent-magnet AC servo motor is typically to be put using side
Linear grating detected.Although which measurement accuracy is high, on the one hand it causes motor volume and inevitably increased
Greatly, and the runnability of linear electric motors is made to be influenceed by position sensor installation effect；Another aspect stop position detects
Method relies on precision of machinery etc. and divides groove, and measurement accuracy will be influenceed by machining accuracy.
Occur a kind of directly waited using machinery in recent years and divide the when grid location detecting technology for realizing metering decile, and develop
Gone out it is high-precision circumferentially with it is linear when grid position sensor, it is further proposed that a kind of be based on the existing machine of measurand
Grid method for detecting position during the intrinsic parasitic type such as tool.But grid location detecting technology is all based on electricity during existing parasitic type
Magnetic induction principle is detected using coil, and coil winding is difficult to ensure that uniformity and volume is generally larger so that this kind
Detection method is difficult to effectively be applied in linear electric motors.
The content 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, reduction and the cost of linear permanent-magnet servomotor volume are realized
Reduction, promote linear servo-actuator widely apply.
In order to achieve the above object, the present invention uses following technical scheme：
The present invention be directed to the permanent magnet array of linear permanent-magnet servomotor internal mechanical decile, based on when grid position measurement
Principle, the embedded detection of linear permanent-magnet servomotor movement position is realized using tunnel magneto (TMR) chip.
Linear permanent-magnet servomotor proposed by the present invention with embedded position detecting device includes stator, mover and embedding
Enter formula position detecting device.
The permanent magnet array of the stator including mechanical decile and the yoke of fixed permanent magnet, the mover include magnetic core and
The coil group of coiling thereon.
The embedded position detecting device include embedded position sensor head, excitation module and when gate signal processing system
System；The embedded position sensor head is affixed at least one set of orthogonal space TMR cores thereon by PCB bottom plates and along plate length direction
Piece forms, and embedded position sensor head, which is fixed on embedded position sensor head on mover and is fixed on mover, can experience machinery etc.
Any position in point magnetic field produced by permanent magnet, the direction of motion of the length direction of embedded position sensor head parallel to mover；
By encouraging, module applies sinusoidal excitation to embedded position sensor head respectively to every group of TMR chip respectively and cosine encourages, realization
The time quadrature of pumping signal, and then in the motion process with mover, by experiencing on linear permanent-magnet servo motor stator
The permanent magnet array periodic magnetic field distribution of mechanical decile, obtains two paths of signals and output, when the signal obtained after synthesis inputs
Gate signal processing system, finally realize the embedded detection to linear permanent-magnet servomotor position.Embedded position detection above
Device is applied to any linear permanent-magnet servomotor for dividing permanent magnet array comprising described machinery etc..
As a preferred scheme, the TMR chipsets of the orthogonal space form one group usually using two panels TMR chips.
The sensitive direction of two panels TMR chips is placed in same direction in every group of TMR chip of the orthogonal space, and sensitive direction both can edge
The electric mover direction of motion and place and can also be placed perpendicular to the electric mover direction of motion.
As a preferred scheme, if machinery etc. divides the centre distance of adjacent two panels permanent magnet in permanent magnet array to be 2l,
The centre distance of two panels TMR chips is in groupL, then the orthogonal space must meet relationL=（2n+1）l。
As a preferred scheme, the TMR chipsets of the orthogonal space are under the excitation of time quadrature signal, with straight
Line motor movement will produce response location change signal, using it is known when gate signal processing system handled.Amplified,
After filtering, phase demodulating, moving displacement calculating processing, the movement position of linear permanent-magnet servomotor is finally given.
Preferably, embedded position sensor head can use the TMR chips of multigroup orthogonal space, multigroup TMR chips
Output passes through average treatment, so as to improve measurement accuracy.Further for saving space, when using multigroup TMR chips, one group
Two pieces of TMR chips be alternately arranged with another group of TMR chips.
Compared with prior art, its remarkable advantage is the present invention：
The embedded position detection transducing head structure being made up of PCB bottom plates and TMR chipsets is simple, small volume and be easy to
Existing any described machinery etc. that includes divides the linear permanent-magnet servomotor of permanent magnet array to be integrated, and will not cause motor volume
Increase, also will not cause extra delivery to bear；Directly carried out using the permanent magnet array of the mechanical decile inside linear electric motors
Detect position, you can realize that linear servo-actuator carries out the position signalling of metering decile needed for motion control, than typically now adopting
Linear grating, this method cost is cheap, environmental suitability is strong, reliability is high；Embedded position detecting device is simple in construction
And cost-effective, it is great technological break-through and innovation for the position sensing technology of linear permanent-magnet servomotor, in straight line
Permanent-magnet servo motor field has broad application prospects.
Brief description of the drawings
Fig. 1 is the embedded method for detecting position structural representation of individual layer linear permanent-magnet servomotor of the present invention.
Fig. 2 is the double-deck embedded method for detecting position structural representation of linear permanent-magnet servomotor of the present invention.
Fig. 3 is the chip sensitive direction single group orthogonal space TMR chipset feature schematic diagram vertical with the direction of motion.
Fig. 4 is the chip sensitive direction single group orthogonal space TMR chipset feature schematic diagram parallel with the direction of motion.
Fig. 5 is the chip sensitive direction double group orthogonal space TMR chipset feature schematic diagrames parallel with the direction of motion.
Fig. 6 is the magnetic line of force distribution schematic diagram that individual layer machinery etc. divides permanent magnet in the embodiment of the present invention.
Fig. 7 is the magnetic line of force distribution schematic diagram that double-deck machinery etc. divides permanent magnet in the embodiment of the present invention.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the present invention numerous embodiments.Therefore, detailed description below and accompanying drawing are only
To the exemplary illustration of technical scheme, and it is not to be construed as the whole of the present invention or is considered as to the technology of the present invention side
The limitation or restriction of case.
With reference to Fig. 1, the linear permanent-magnet servomotor 1 for dividing permanent magnet array 112 with machinery etc., embedded position inspection
It is embedding including being made up of PCB bottom plates 21 and the orthogonal space TMR chips 22 being affixed on thereon along the length direction of PCB bottom plates 21 to survey device
Enter formula position sensor head 2, excitation module 3 and when gate signal processing system 4.Embedded position sensor head 2 is fixed on linear permanent-magnet
On the mover 12 of servomotor 1, the direction of motion of the length direction of sensing head 2 parallel to the mover 12 of linear permanent-magnet servomotor 1.
Sensing head 2 is by encouraging module 3 to apply sinusoidal excitation and cosine excitation to two panels TMR chips respectively, so as to realize pumping signal
Time quadrature, it is mechanical on linear permanent-magnet servo motor stator 11 by experiencing and then in the motion process with mover 12
Distribution of Magnetic Field around decile permanent magnet array 112, obtain two paths of signals output, the gate signal when signal obtained after synthesis inputs
Processing system 4, finally realize the embedded detection to linear permanent-magnet servomotor position.
The present invention is applicable not only to the linear permanent-magnet servomotor 1 that there is individual layer machinery etc. to divide permanent magnet array, to any
Divide the linear permanent-magnet servomotor of permanent magnet array equally applicable with machinery etc..With reference to Fig. 2, embedded position detection is described
Application of the device on the linear permanent-magnet servomotor 6 for dividing permanent magnet array 612 with double-deck machinery etc..Embedded position sensing
First 2 are also attached on the mover 62 of linear permanent-magnet servomotor 6, similarly, are not influenceing the operation of linear permanent-magnet servomotor
As long as precondition under can ensure that the length direction of embedded position sensor head 2 is parallel with the direction of motion of motor, it is embedded
Formula position sensor head 2 be securable to it is any on mover 62 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 chips 22 have the magnetic-field-sensitive direction determined, when the sensitive direction one of tested magnetic direction and TMR chips 22
During cause, the output of TMR chips 22 is maximum, otherwise when tested magnetic direction is vertical with the sensitive direction of TMR chips 22, TMR cores
The output of piece 22 is minimum.At the same time, individual layer and bilayer machinery etc. divide magnetic field caused by permanent magnet array 112 and 612 around
It is widely distributed in space, magnetic-field component is there may be in all directions.So as to which embedded position sensor head 2 is securable to move
It is any on sub 12 movers 62 can installation region.In the fixed form shown in Fig. 1 and Fig. 2, TMR chips 22 are in PCB bottom plates
A variety of placement forms are equally existed on 21.
As seen from Figure 3, the TMR chips 22 of two panels orthogonal space are posted on the PCB bottom plates 21 of embedded position sensor head 2.
Length direction of the sensitive direction of TMR chips 22 perpendicular to PCB bottom plates 21.When embedded position sensor head 2 is along parallel to mover
When 12 direction of motion is fixed on mover 12 or 62, the sensitive direction of TMR chips 22 is also perpendicular to the direction of motion of motor.
Referring to Fig. 4, then length direction cloth of the sensitive direction parallel to PCB bottom plates 21 of TMR chips 22 is show further
Situation about putting.
One group of space of the formation of TMR chips 22 that two panels is only pasted on embedded position sensor head 2 is shown in Fig. 3 and Fig. 4
Orthogonal situation.In addition, the TMR chipsets of multigroup orthogonal space can also be pasted on embedded position sensor head 2, will be multigroup
The output of TMR chipsets is by average treatment further to improve measurement accuracy.
Fig. 5 shows the embedded position sensing header structure with two groups of orthogonal space TMR chipsets 22.In order to save sky
Between, left first and the 3rd TMR chip of number forms orthogonal space, is left two panels TMR chips and forms orthogonal space.Left number first
Piece and second TMR chip can use same sine（Or cosine）Signal encourages, the 3rd and the 4th TMR chip of left number
Same cosine can then be used（It is or sinusoidal）Signal encourages.
With reference to Fig. 6 and Fig. 7, the magnetic line of force of the linear permanent-magnet servomotor 1 of two kinds of forms of the present invention is distributed into
Row explanation：Linear permanent-magnet servomotor 1 for dividing permanent magnet array 112 with individual layer machinery etc., its individual layer machinery decile is forever
Magnet array 112 is combined by the magnetized rectangular permanent magnet of polylith through-thickness in the way of magnetic pole is alternately placed, its
The magnetic line of force distribution of surrounding is as shown in Figure 6.It can be seen that the magnetic line of force is alternately distributed around polylith permanent magnet.Permanent magnet is discussed below
Magnetic-field component on the upper area of array 112 and lower area left and right directions：The region between two pieces of permanent magnets, on left and right directions
Magnetic-field component it is maximum, in the central area of permanent magnet, the magnetic-field component on left and right directions is minimum.
Linear permanent-magnet servomotor 2 for dividing permanent magnet array 612 with double-deck machinery etc., the magnetic line of force point around it
Cloth is as shown in Figure 7.It can be seen that the magnetic line of force is alternately distributed around polylith permanent magnet.For the upper area of permanent magnet array 612 with
The distribution situation of magnetic-field component and the upper area of individual layer permanent magnet array 112 and lower area right and left on the left and right directions of portion region
The distribution situation of upward magnetic-field component is identical.The Distribution of Magnetic Field situation of the double-deck interlayer of permanent magnet array 612 is then sufficiently complex, so as to
Higher is required to the installation site of embedded position sensor head.Installation site slight variation is possible to cause Distribution of Magnetic Field situation
Drastically change.
For the orthogonal space between every group of TMR chip 22 in embedded position sensor head 2, as shown in Figure 6 and Figure 7, i.e.,
Assuming that machinery etc. divides the centre distance of adjacent two panels permanent magnet in permanent magnet array to be 2l, the centre-to-centre spacing of two panels TMR chips in group
From forL,As shown in Fig. 3, Fig. 4 and Fig. 5, then orthogonal space must meet relationL=（2n+1）l。
With reference to the embedded position sensor head 2 shown in Fig. 4, it is positioned over permanent magnet parallel to motor movement direction
On array 112, i.e., it is positioned over the upper area of permanent magnet array 112 along left-to-right in figure 6 and is analyzed.Due to two panels TMR
Chip space is orthogonal, and when region of the wherein a piece of TMR chips between two panels permanent magnet, another TMR is then located at permanent magnetism
The central area of body, two panels TMR chip signal outputs phase differ 90 °.With the motion of mover, the space of two panels TMR chips
Orthogonal property keeps constant, and two panels TMR chip signal outputs phase differs 90 ° all the time.
The embedded position sensor head 2 moves with mover, so as to which TMR chip sense mechanisms etc. divide the cycle of permanent magnet
Property Distribution of Magnetic Field produce voltage output, time quadrature pumping signal effect under, two panels TMR chips output two paths of signals, phase
Add, the signal with positional information needed for gate signal processing system 4 when obtaining, through when gate signal processing system 4 handle after it is final defeated
Go out the movement position information of linear electric motors, realize that linear permanent-magnet servomotor movement position measures.
Claims (6)
1. a kind of linear permanent-magnet servomotor with embedded position detecting device, including stator, mover, the stator include
Machinery etc. divides the yoke of permanent magnet array and fixed permanent magnet, and the mover includes coil group magnetic core and coiling thereon；It is special
Sign is：
Also include embedded position detecting device, the embedded position detecting device includes embedded position sensor head, excitation
Module and when gate signal processing system；
The embedded position sensor head is affixed at least one set of orthogonal space TMR thereon by PCB bottom plates and along plate length direction
Chip forms, every group of two panels, and embedded position sensor head, which is fixed on mover, can experience machinery etc. and divide produced by permanent magnet array
Any position in magnetic field, the direction of motion of the length direction of embedded position sensor head parallel to mover；
Excitation module is connected with embedded position sensor head, sinusoidal by encouraging module to apply respectively to every group of two panels TMR chip
Excitation and cosine excitation, the time quadrature of pumping signal is realized, and then in the motion process with mover, by experiencing straight line forever
Machinery etc. divides permanent magnet array periodic magnetic field distribution on magnetic servo motor stator, obtains two paths of signals output；
When gate signal processing system be connected with embedded position sensor head, two paths of signals synthesis after obtain signal input when grid believe
Number processing 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 characterised in that described
The sensitive direction of two panels TMR chips is placed in same direction in every group of TMR chip of orthogonal space, and sensitive direction both can be along electricity
The motor-driven sub- direction of motion is placed and can also placed perpendicular to 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 machine
Tool etc. divides the centre distance of adjacent two panels permanent magnet in permanent magnet array to be 2l, the centre distance of two panels TMR chips is in every groupL, 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 characterised in that described
Machinery of linear permanent-magnet servomotor etc. divides permanent magnet to be individual layer or double-decker, and embedded position detecting device is both secured to directly
On line electric mover.
5. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 1, it is characterised in that described
Embedded position sensor head uses the TMR chips of multigroup orthogonal space, the output of multigroup TMR chips by average treatment, so as to
Improve measurement accuracy.
6. there is the linear permanent-magnet servomotor of embedded position detecting device as claimed in claim 5, it is characterised in that when adopting
During with multigroup TMR chips, one group of two pieces of TMR chips are alternately arranged with another group of TMR chips.
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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 true CN105656282B (en) | 2017-12-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6828370B2 (en) * | 2015-12-25 | 2021-02-10 | 株式会社リコー | Image generator and image projection device |
| 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 |
| 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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| JP2001197717A (en) * | 2000-01-12 | 2001-07-19 | Yaskawa Electric Corp | Field component of linear motor and method of magnetizing permanent magnet for field |
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