CN106290980A - A kind of permanent magnetic DC Servo Testing angular acceleration unit - Google Patents
A kind of permanent magnetic DC Servo Testing angular acceleration unit Download PDFInfo
- Publication number
- CN106290980A CN106290980A CN201610727067.4A CN201610727067A CN106290980A CN 106290980 A CN106290980 A CN 106290980A CN 201610727067 A CN201610727067 A CN 201610727067A CN 106290980 A CN106290980 A CN 106290980A
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- stator core
- cup
- permanent magnetic
- rotor
- angular acceleration
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- 230000001133 acceleration Effects 0.000 title claims abstract description 38
- 238000012360 testing method Methods 0.000 title claims abstract description 20
- 238000004804 winding Methods 0.000 claims abstract description 35
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 22
- 239000010959 steel Substances 0.000 claims abstract description 22
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 13
- 229910052802 copper Inorganic materials 0.000 claims abstract description 13
- 239000010949 copper Substances 0.000 claims abstract description 13
- 238000013461 design Methods 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008023 solidification Effects 0.000 abstract 1
- 238000007711 solidification Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 230000004907 flux Effects 0.000 description 7
- 230000006698 induction Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Dc Machiner (AREA)
Abstract
A kind of permanent magnetic DC Servo Testing angular acceleration unit, mainly includes rotating shaft, brush and support, diverter, insulating sleeve, unslotted rotor, the first stator core, permanent magnetic steel, cup-shaped rotor, the second stator core, output winding, copper sheathing, casing and end cap.Unslotted rotor winding and iron core are connected with brush by diverter for solidification unitary design, winding；First stator core is placed between unslotted rotor and cup-shaped rotor, and permanent magnetic steel is fixed in the groove of the first stator core；Unslotted rotor and cup-shaped rotor are concentrically fitted in rotating shaft；Second stator core is placed in the inside of cup-shaped rotor, and output winding embeds in the slot for winding of the second stator core.The permanent magnetic DC Servo Testing angular acceleration unit of the present invention, servomotor and angle measurement acceleration apparatus share same magnetic field and rotating shaft, have the advantages such as compact conformation, volume be little, stable, and can directly export the rotating angular acceleration information of unit, certainty of measurement is high, and capacity of resisting disturbance is strong.
Description
Technical field
The present invention relates to a kind of DC servo unit, DC servo-motor wink can be measured more particularly to one
Time rotating angular acceleration magneto integration unit.
Background technology
Servomotor is also known as operating motor, as executive component in automatic control system, by the voltage letter of input
Number it is transformed to angular displacement or the angular velocity output of rotating shaft.Servomotor, according to the difference of power supply natures, can be divided into direct current
Servomotor and AC servomotor.Wherein momentary rotational angle acceleration information is the important parameter of servomotor, logical
Cross the measurement to rotating angular acceleration, it is possible to achieve the monitoring of servomotor running status, and according to production requirement to servo
Motor is controlled.
The most conventional DC servo unit, its processing technology is generally DC servo-motor and tachometer shares same
Individual rotating shaft, but stator and rotor (or cup of unslotted rotor) they are two-part structure, and therefore, the global shape of the unit that tests the speed mostly is
Slender type, volume is relatively big, and conventional DC servo unit can only the angular velocity of rotation information of detecting system, it is impossible to obtain its wink
Time rotating angular acceleration information.
The method measuring servomotor rotating angular acceleration conventional can be divided into indirect method and direct method, the indirect method of measurement one
As use the output of linear acceleration sensor in multiple orientation to synthesize, and use peaker or differential calculation algorithm
Angular velocity signal carries out differential process and obtains angular acceleration, and the indirect method of measurement is cumbersome to the process of signal, particularly
Lag characteristic and noise scale-up problem are difficult to solve；The direct method of measurement usually uses special sensing element directly to measure, work
The rotating shaft of servomotor and the rotating shaft of rotating angular acceleration sensor are connected, due to shaft coupling by Shi Caiyong shaft coupling with one heart
Inevitably there is error in processing and system during assembling, easily causes the not concentric of rotating shaft, have impact on system fortune
The stability turned and the accuracy of momentary rotational angle acceleration analysis, additionally, the structure of most rotating angular acceleration detection device
Design more complicated, and it is the highest to be affected precision by factors such as frequencies.
Summary of the invention
It is an object of the invention to for the deficiencies in the prior art, it is proposed that a kind of permanent magnetic DC Servo Testing angular acceleration machine
Group.
The purpose of the present invention takes following technical proposals to realize:
A kind of permanent magnetic DC Servo Testing angular acceleration unit, including rotating shaft, brush and support, diverter, insulating sleeve,
Unslotted rotor, the first stator core, permanent magnetic steel, cup-shaped rotor, the second stator core, output winding, copper sheathing, casing, forward and backward
End cap and self-contained bearing；
Described rotating shaft sequentially pass through drive end bearing bracket bearing, insulating sleeve, unslotted rotor, cup-shaped rotor, copper sheathing centre bore and after
Bearing with end cover, and fixed with casing by forward and backward end cap；
Described diverter is fixed on outside insulating sleeve；
Described unslotted rotor, cup-shaped rotor and insulating sleeve are fixed in rotating shaft, follow rotating shaft and rotate together with；
The armature of described unslotted rotor and unshakable in one's determination employing solidify unitary design, and global shape is cup-shaped；
The winding of described unslotted rotor is connected with brush by diverter；
Described first stator core is fixed with rear end cap, and generally cirque structure is placed in the inside of unslotted rotor cup,
And it is provided with groove；
Described permanent magnetic steel embeds in the groove of the first stator core；
The cup of described cup-shaped rotor is placed in the inside of the first stator core；
Described copper sheathing is fixed with rear end cap, is provided with central through hole；
Described second stator core is concentrically fitted to the outside of copper sheathing, is provided with slot for winding；
Described output winding embeds in the slot for winding of the second stator core；
Described second stator core and output winding are placed in inside the cup of cup-shaped rotor；
The cup of described cup-shaped rotor is placed in the air-gap between the first stator core and the second stator core；
The cup of described unslotted rotor is placed in the air-gap between the first stator core and casing；
The described permanent magnetic steel embedded in the first stator core groove is four, is spatially uniformly distributed；
Described number of brushes is four, is spatially uniformly distributed；
The installation site alignment spatially of described four brushes and four permanent magnetic steels；
Spatially stagger 45° angle in the position of described permanent magnetic steel and output winding.
Beneficial effects of the present invention: a kind of permanent magnetic DC Servo Testing angular acceleration unit, DC servo-motor and rotation
Corner acceleration detecting shares magnetic field, the shared same rotating shaft that the permanent magnetic steel in stator produces, it is not necessary to other driving sections
Part, has the advantages such as compact conformation, volume is little, noise is low, operate steadily；Additionally, the rotating angular acceleration detection dress in unit
Put that certainty of measurement is high, dynamic characteristic is good, and without signal ejectors such as slip rings, it is possible to directly by the instantaneous rotation of servomotor
Corner acceleration signal exports, it is not necessary to signal is processed by peaker, has preferable capacity of resisting disturbance and higher letter
Make an uproar ratio.
Accompanying drawing explanation
Fig. 1 is the structure chart of a kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention；
Fig. 2 is the Section A-A figure of a kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention；
Fig. 3 is the fundamental diagram of a kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention.
Detailed description of the invention
The enforcement of a kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention is further described below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of permanent magnetic DC Servo Testing angular acceleration unit, including rotating shaft 1, drive end bearing bracket bearing 2,
Drive end bearing bracket 3, insulating sleeve 4, diverter 5, brush 6, brush carriage 7, casing 8, unslotted rotor 9, permanent magnetic steel the 10, first stator
Iron core 11, rear end cap 12, cup-shaped rotor 13, output winding the 14, second stator core 15, copper sheathing 16 and bearing of rear end cover 17；
Described rotating shaft 1 sequentially passes through drive end bearing bracket bearing 2, insulating sleeve 4, unslotted rotor 9, cup-shaped rotor 13, copper sheathing 16
Centre bore and bearing of rear end cover 17, and fixed with casing 8 by drive end bearing bracket 3 and rear end cap 12；
Described diverter 5 is fixed on the outside of insulating sleeve 4；
Described unslotted rotor 9, cup-shaped rotor 13 and insulating sleeve 4 are fixed in rotating shaft 1, follow rotating shaft 1 and rotate together with；
The armature of described unslotted rotor 9 and unshakable in one's determination employing solidify unitary design, and global shape is cup-shaped；
The winding of described unslotted rotor 9 is connected with brush 6 by diverter 5；
Described first stator core 11 is fixed with rear end cap 12, and generally cirque structure is placed in the cup of unslotted rotor 9
Inside, and it is provided with groove；
Described permanent magnetic steel 10 embeds in the groove of the first stator core 11；
The cup of described cup-shaped rotor 13 is placed in the inside of the first stator core 11；
Described copper sheathing 16 is fixed with rear end cap 12, is provided with central through hole；
Described second stator core 15 is concentrically fitted to the outside of copper sheathing 16, is provided with slot for winding；
Described output winding 14 embeds in the slot for winding of the second stator core 15；
Described second stator core 15 and output winding 14 are placed in inside the cup of cup-shaped rotor 13；
The cup of described cup-shaped rotor 13 is placed in the air-gap between the first stator core 11 and the second stator core 15；
The cup of described unslotted rotor 9 is placed in the air-gap between the first stator core 11 and casing 8；
The described permanent magnetic steel 10 embedded in the first stator core 11 groove is four, respectively 101,102,103 and
104, spatially it is uniformly distributed；
Described number of brushes is four, and respectively 601,602,603 and 604 are spatially uniformly distributed；
Described four brush 601-604 and four permanent magnetic steel 101-104 installation site alignment spatially；
Spatially stagger 45° angle in the position of described permanent magnetic steel 10 and output winding 14.
Fig. 3 is the fundamental diagram of a kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention:
After DC current I is by brush and diverter, it is linked in the winding of unslotted rotor formation closed-loop path, electric current I
Direction as shown in the figure.The Distribution of Magnetic Field situation that permanent magnetic steel is formed is as it is shown on figure 3, a part is through the first stator core, sky
Closed-loop path is formed, it is assumed that this portion constant magnetic flux is Φ after air gap, the winding of unslotted rotor and iron core thereof1, according to unidirectional current
The Formula of Electromagnetic of motivation understands, and the driving torque that unslotted rotor winding produces is:
T=CTΦ1I (1),
C in formulaTFor the constant relevant to unslotted rotor structure.
According to left hand rule, the electromagnetic torque that unslotted rotor is subject to is for clockwise, and the most now unslotted rotor is up time
Pin rotates.
Additionally, permanent magnetic steel formed magnetic field, some through the first stator core, air-gap, cup-shaped rotor and
Closed-loop path is formed, it is assumed that this portion constant magnetic flux is Φ after second stator core2.Owing to position and the output winding of magnet steel are wrong
Open 45° angle, it is known that magnetic flux Φ2Linkage is not had with output winding.
When unslotted rotor is for turning clockwise, rotating shaft and cup-shaped rotor is driven together to rotate, it is assumed that angular velocity is Ω, cup
The cup of shape rotor can regard a lot of root sliver as, as shown in Figure 3.Then according to Faraday law of electromagnetic induction, cup-shaped rotor
Sliver cutting magnetic flux Φ2The induction electromotive force produced is:
E=CeΦ2Ω (2),
C in formulaeFor the constant relevant to moving coil structure.
According to the right-hand rule, the direction of induction electromotive force e is as it is shown on figure 3, the magnetic flux that corresponding current produces is Φ3, its side
Meet right-hand screw rule to faradic current, and be directly proportional to induction electromotive force, it may be assumed that
Φ3∝e∝Ω (3)。
Due to magnetic flux Φ3After the first stator core, air-gap, cup-shaped rotor, the second stator core and output winding
Form closed-loop path, i.e. magnetic flux Φ3With output winding linkage, according to transformer principle, export the induction electromotive force that winding produces
For:
Simultaneous formula (4) and formula (3) understand:
I.e. export the induction electromotive force of winding and the rotating angular acceleration of systemIt is directly proportional.
A kind of permanent magnetic DC Servo Testing angular acceleration unit of the present invention, DC servo-motor and rotating angular acceleration
Detection device shares magnetic field, the shared same rotating shaft that the permanent magnetic steel in stator produces, it is not necessary to other drive disk assemblies, has structure
The advantage such as compact, volume is little, noise is low, operate steadily；Additionally, the rotating angular acceleration detection measurement device precision in unit
Height, dynamic characteristic are good, and without signal ejectors such as slip rings, it is possible to directly by the momentary rotational angle acceleration of servomotor
Signal exports, it is not necessary to signal is processed by peaker, has preferable capacity of resisting disturbance and higher signal to noise ratio.
Embodiment is not construed as limitation of the present invention, but any spiritual improvements introduced based on the present invention, all should be
Within protection scope of the present invention.
Claims (5)
1. a permanent magnetic DC Servo Testing angular acceleration unit, including rotating shaft, brush and support, diverter, insulating sleeve, nothing
Groove rotor, the first stator core, permanent magnetic steel, cup-shaped rotor, the second stator core, output winding, copper sheathing, casing, front and back ends
Lid and self-contained bearing；
It is characterized in that: described rotating shaft sequentially passes through drive end bearing bracket bearing, insulating sleeve, unslotted rotor, cup-shaped rotor, copper sheathing center
Hole and bearing of rear end cover, and fixed with casing by forward and backward end cap；
Described diverter is fixed on outside insulating sleeve；
Described unslotted rotor, cup-shaped rotor and insulating sleeve are fixed in rotating shaft, follow rotating shaft and rotate together with；
The armature of described unslotted rotor and unshakable in one's determination employing solidify unitary design, and global shape is cup-shaped；
The winding of described unslotted rotor is connected with brush by diverter；
Described first stator core is fixed with rear end cap, and generally cirque structure is placed in the inside of unslotted rotor cup, and sets
Fluted；
Described permanent magnetic steel embeds in the groove of the first stator core；
The cup of described cup-shaped rotor is placed in the inside of the first stator core；
Described copper sheathing is fixed with rear end cap, is provided with central through hole；
Described second stator core is concentrically fitted to the outside of copper sheathing, is provided with slot for winding；
Described output winding embeds in the slot for winding of the second stator core；
Described second stator core and output winding are placed in inside the cup of cup-shaped rotor；
The cup of described cup-shaped rotor is placed in the air-gap between the first stator core and the second stator core；
The cup of described unslotted rotor is placed in the air-gap between the first stator core and casing.
A kind of permanent magnetic DC Servo Testing angular acceleration unit the most according to claim 1, it is characterised in that: embed the
Permanent magnetic steel in one stator core groove is four, is spatially uniformly distributed.
A kind of permanent magnetic DC Servo Testing angular acceleration unit the most according to claim 1, it is characterised in that: number of brushes
It is four, is spatially uniformly distributed.
A kind of permanent magnetic DC Servo Testing angular acceleration unit the most according to claim 1, it is characterised in that: four brushes
With the installation site alignment spatially of four permanent magnetic steels.
A kind of permanent magnetic DC Servo Testing angular acceleration unit the most according to claim 1, it is characterised in that: permanent magnetic steel
Spatially stagger 45° angle with the position of output winding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727067.4A CN106290980B (en) | 2016-08-15 | 2016-08-15 | A kind of permanent magnetic DC Servo Testing angular acceleration unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727067.4A CN106290980B (en) | 2016-08-15 | 2016-08-15 | A kind of permanent magnetic DC Servo Testing angular acceleration unit |
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| Publication Number | Publication Date |
|---|---|
| CN106290980A true CN106290980A (en) | 2017-01-04 |
| CN106290980B CN106290980B (en) | 2019-06-18 |
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| CN201610727067.4A Active CN106290980B (en) | 2016-08-15 | 2016-08-15 | A kind of permanent magnetic DC Servo Testing angular acceleration unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398569A (en) * | 2018-02-26 | 2018-08-14 | 杭州电子科技大学 | Roller permanent magnetism rotary acceleration sensors and its measurement method and assembly method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2631107Y (en) * | 2003-07-02 | 2004-08-04 | 曹玉刚 | Integrated electric generator |
| JP2008233032A (en) * | 2007-03-23 | 2008-10-02 | Tamagawa Seiki Co Ltd | Rotation angle detector |
| CN101299048A (en) * | 2008-07-04 | 2008-11-05 | 嘉兴学院 | Rotating angular acceleration sensor |
| CN105610289A (en) * | 2015-12-29 | 2016-05-25 | 赵浩 | Alternating current/direct current tachogenerator |
| CN105634234A (en) * | 2015-12-29 | 2016-06-01 | 赵浩 | Brushless DC tachometer generator |
-
2016
- 2016-08-15 CN CN201610727067.4A patent/CN106290980B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2631107Y (en) * | 2003-07-02 | 2004-08-04 | 曹玉刚 | Integrated electric generator |
| JP2008233032A (en) * | 2007-03-23 | 2008-10-02 | Tamagawa Seiki Co Ltd | Rotation angle detector |
| CN101299048A (en) * | 2008-07-04 | 2008-11-05 | 嘉兴学院 | Rotating angular acceleration sensor |
| CN105610289A (en) * | 2015-12-29 | 2016-05-25 | 赵浩 | Alternating current/direct current tachogenerator |
| CN105634234A (en) * | 2015-12-29 | 2016-06-01 | 赵浩 | Brushless DC tachometer generator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398569A (en) * | 2018-02-26 | 2018-08-14 | 杭州电子科技大学 | Roller permanent magnetism rotary acceleration sensors and its measurement method and assembly method |
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| Publication number | Publication date |
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| CN106290980B (en) | 2019-06-18 |
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Effective date of registration: 20190529 Address after: 314000 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Applicant after: Jiaxing University Address before: 314001 Jiaxing University, 56 Yuexiu South Road, Jiaxing, Zhejiang Applicant before: Zhao Hao |