CN106374790A - Rotor rotating position positioning system, positioning method and sampling system - Google Patents

Abstract

The invention provides a rotor rotating position positioning system, which comprises a magnetic ring rotating synchronously with the rotor, three linear Hall sensors arranged outside the magnetic ring at an interval electrical angle of 120 DEG, a plurality of A/D conversion circuits correspondingly connected with the three sensors, and an information processing device, wherein the information processing device comprises a sampling signal receiving module for receiving voltage Si through A/D conversion, an offset elimination module for eliminating the offset in the signal Si to obtain a signal Si', an amplitude normalization module for normalizing the amplitude in the Si' to obtain a signal Si'', a third harmonic component calculation module for calculating a third harmonic component H3, a third harmonic component removal module for calculating a signal Si''' = Si''-H3, and a rotating position calculation module for calculating the rotating electrical angle of the rotor. The invention also provides a rotor rotating position positioning method and a sampling system. Thus, the positioning precision and the sampling precision are improved.

Description

Rotor turned position alignment system, localization method and sampling system

Technical field

The present invention relates to the system that positioned of turned position of rotor (around the mechanism of fixed axis rotation) with And method, and the system sampled in turned position, the turned position being suitable for the rotating shaft to motor positions And sampling, it is especially suitable for turning of the rotating shaft to the motor in food-handling equipment (such as food mixing plant) Dynamic position is positioned and is sampled.

Background technology

The method that the existing turned position to machine shaft is positioned, such as to the drive driving in food mixing plant The turned position of galvanic electricity machine is positioned, and generally adopts 3 photoelectric sensors (photoelectric sensor) or switch Type Hall element (hall latch) carries out signal sampling, and sampled signal is carried out a/d conversion (analog digital conversion), Deliver to mcu again and carry out position judgment.For example, a fixed magnet ring in rotating shaft, 3 Hall switch sensors are enclosed It is spaced 120 ° of layings of electrical angle around magnet ring successively, when rotating shaft drives magnet ring to rotate together with, Hall element is to magnet ring Field signal is sampled, and respectively after a/d conversion, delivers to mcu and converges, calculates.3 Hall elements are being adopted Square wave in the sampled signal such as Figure 12 that in the sample cycle, (it is a sampling period that rotating shaft rotates through 360 ° of electrical angle) exports Shown in line (oblique dotted line represents the electrical angle corresponding to rotating shaft position), three tunnel sampled signals are separated by 60 ° of electrical angle successively and send out A raw step, just there is one-shot change in the signal after collecting in mcu only at each step point, by changing at this Signal judge axis of rotation position；And in the range of 60 ° of the electrical angle between the point of step twice, three tunnel sampled signals are equal Remain unchanged, then the signal after collecting in mcu also remains unchanged, now cannot judge the concrete turned position of rotating shaft. Therefore, this positioning mode only has the positioning precision of 60 ° of electrical angle.

Because precision is low, first, above-mentioned positioning mode is led to be applicable only to the higher occasion of rotating speed, at present on the market A lot of products take a kind of method increasing reaction magnetic ring number of poles, but its minimum speed that can be suitable for is 40rpm, Apply the food mixing plant of this positioning mode, because its realization uncontrollable slowly runs, often destroy food stricture of vagina Reason, food preparation effect is poor；Secondly, motor is accompanied by shake, brings loud noise therewith；It is additionally, since positioning Coarse, inefficiency.

Inventor attempts to replace Hall switch sensor pair using linear hall sensor (linear hall sensor) Rotor is positioned, and experiments verify that, shows which yet suffers from the not enough problem of positioning precision, its positioning Error is as shown in figure 11.It is analyzed for the motor in a food mixing plant, the present inventor is through further investigation Learn, trace it to its cause, be in the signal that linear hall sensor samples when this motor rotates, three times being comprised Harmonic content is more, have impact on the precision judging rotating shaft position according to sampled signal.

Content of the invention

The present invention is to solve the low technical problem of precision that the turned position of rotor is positioned, proposes a kind of rotation Body turned position alignment system, comprising:

With the magnet ring of described rotor synchronous rotary, the magnet ring Surface field of described magnet ring has sinuso sine protractor；

3 be spaced 120 ° of electrical angle be arranged in order on the one section circular arc coaxial and coplanar with described magnet ring linear suddenly That sensor；

Several a/d change-over circuits of a/d conversion are carried out respectively to the output signal of 3 described Hall elements；With And

Messaging device, comprising:

Sampled signal receiver module: respectively hang oneself a/d in the sampled signal of t for receiving 3 described Hall elements Voltage signal s after conversion_i, i=1,2,3,

Go side-play amount module: be used for calling corresponding deviation constant v of each described Hall element default_{i_offset}, will Signal s_iIn side-play amount eliminate, obtain signal s_i', i.e. s_i'=s_i-v_{i_offset},

Amplitude normalization module: be used for calling the corresponding amplitude constant a of each described Hall element default_i, will believe Number s_i' in comprise be normalized, obtain signal s_i",

Third-harmonic component computing module: for signal calculated s_i" in third-harmonic component h₃, i.e. h₃=(s₁”+s₂” +s₃")/3,

Go third-harmonic component module: for signal calculated s_i" the signal s that goes after third-harmonic component_i" ', i.e. s_i" '= s_i”–h₃,

Turned position computing module: for according to trigonometric function formula and signal s_i" ' calculate the electric angle that described rotor rotates Degree pos (t).

Described rotor is the rotating shaft of motor, the such as rotating shaft of the motor of food mixing plant.

Described turned position computing module is according to following formula calculating electrical angle pos (t):

$pos\left(t\right)=arctan\[\left(\frac{1}{\sqrt{3}}\right(s_1^{\′\′\′}-s_3^{\′\′\′}\left)\right)/\left(\frac{2}{3}\right(s_1^{\′\′\′}-\frac{1}{2}\left(s_2^{\′\′\′}-s_3^{\′\′\′}\right)\left)\right)\].$

Described amplitude normalized mode tuber obtains value s after being normalized according to following formula_i": s_i"=s_i’/a_i.

Further, the sampled signal of each described Hall element is divided into two branch road outputs, described alignment system bag Include 6 same described a/d change-over circuits, 3 same have compared with the first amplifying circuit of low gain and 3 with Second amplifying circuit with larger gain of sample；For Hall element each described, one road exports and corresponding Be electrically connected with corresponding one described first amplifying circuit between one described a/d change-over circuit, its another road output and It is electrically connected with corresponding one described second amplifying circuit between a corresponding described a/d change-over circuit；

Described sampled signal receiver module includes:

Signal receiving unit: 3 described Hall elements for receiving respectively and be arranged in order are believed in the sampling of t Number corresponding respectively through 3 to 3 pairs of voltage signals after the conversion of described a/d change-over circuit, detect 3 pairs of voltage signals Magnitude of voltage, and

Signal preferred cell: two branch roads drawn for the outfan for Hall element each described, if judging The output signal saturation of branch road residing for described second amplifying circuit, then select the defeated of branch road residing for described first amplifying circuit Go out signal as signal s_i；If the output signal unsaturation of branch road residing for described second amplifying circuit, select this output Signal is as signal s_i.

Further, described signal preferred cell is more specifically for: for by each described Hall element defeated Going out two branch roads that end is drawn, if judging the output signal saturation of branch road residing for described second amplifying circuit, and passing through institute The output signal stating branch road residing for the first amplifying circuit verifies the output signal saturation of described second amplifying circuit, then select Residing for described first amplifying circuit, the output signal of branch road is as signal s_i.

Further, described alignment system, including 6 same clamp circuits, each described first amplifying circuit It is electrically connected with a corresponding described clamp circuit between outfan and a corresponding described a/d change-over circuit, each It is electrically connected with corresponding one between the outfan of described second amplifying circuit and a corresponding described a/d change-over circuit Described clamp circuit；The clamp voltage of described clamp circuit is less than the maximum rated input voltage of described a/d change-over circuit.

For solving the existing technical problem low to rotor turned position localization method positioning precision, the present invention also provides one Plant rotor turned position localization method, comprising:

Step s1: to be spaced 3 lines that 120 ° of electrical angle is arranged in order on the one section circular arc coaxial and coplanar with magnet ring Property Hall element is sampled in the magnetic field of t pair and the described magnet ring of described rotor synchronous rotary, described magnet ring Magnet ring Surface field there is sinuso sine protractor；

Step s2: receive and detect that the voltage of be arranged in order 3 described Hall element each leisure t is adopted respectively Sample signal s_i, i=1,2,3,

Step s3: call default with respectively corresponding deviation constant v of Hall element each described_{i_offset}, eliminate letter Number s_iIn side-play amount, obtain signal s_i', i.e. s_i'=s_i’-v_{i_offset}；

Step s4: call default with the respectively corresponding amplitude constant a of Hall element each described_i, to signal s_i' enter Row normalization, obtains signal s_i”；

Step s5: signal calculated s_i" in third-harmonic component h₃, i.e. h₃=(s₁”+s₂”+s₃”)/3；

Step s6: remove signal s_i" in third-harmonic component, obtain signal s_i" ', i.e. s_i" '=s_i”-h₃；

Step s7: according to trigonometric function formula and signal s_i" ' calculate electrical angle pos (t) that rotor described in t rotates.

Described rotor is the rotating shaft of motor, the such as rotating shaft of the motor of food mixing plant.

Step s4 is normalized according to following formula and obtains signal s_i": s_i"=s_i’/a_i.

According to following formula calculating electrical angle pos (t) in step s7:

$pos\left(t\right)=arctan\[\left(\frac{1}{\sqrt{3}}\right(s_1^{\′\′\′}-s_3^{\′\′\′}\left)\right)/\left(\frac{2}{3}\right(s_1^{\′\′\′}-\frac{1}{2}\left(s_2^{\′\′\′}-s_3^{\′\′\′}\right)\left)\right)\].$

Further,

Step s1 also includes: the output signal of each described Hall element is divided into two branch roads, wherein one tunnel warp successively Cross and export after there is relatively the first amplifying circuit of low gain, a clamp circuit and an a/d change-over circuit, Ling Yilu The second amplifying circuit, another same clamp circuit and another same a/d through having higher gain turn successively Export after changing circuit；

Step s2 includes:

Step s21: receive and detect 3 pairs of voltage signals respectively after a/d conversion,

Step s22: for two branch roads drawn by the outfan of Hall element each described, if judging described the The output signal saturation of branch road residing for two amplifying circuits, then select the output signal of branch road residing for described first amplifying circuit As signal s_i；If the output signal unsaturation of branch road residing for described second amplifying circuit, made from this output signal For signal s_i.

Further, more specifically include in step s22, draw for by the outfan of Hall element each described Two branch roads going out, if judging the output signal saturation of branch road residing for described second amplifying circuit, and pass through described first The output signal of branch road residing for amplifying circuit verifies the output signal saturation of described second amplifying circuit, then select described the Residing for one amplifying circuit, the output signal of branch road is as signal s_i.

Rotate the system sampled body position not enough technology of sampling precision when sampled signal is weak for solving prior art Problem, when sampling in the turned position of the especially rotating shaft of the motor in food mixing plant, sampling precision is low, It is unfavorable for pinpoint technical problem, the present invention also provides a kind of rotor turned position sampling system, comprising:

Magnet ring with described rotor synchronous rotary；

Located at the described magnet ring radial outer periphery, position sensor for reaction magnetic ring field signal, its sampled signal is divided For two-way output；

Receive first amplifying circuit having compared with low gain of a road output signal of described position sensor；

Receive second amplifying circuit with higher gain of another road output signal of described position sensor；

Receive the signal receiving unit of the output signal of described first amplifying circuit and described second amplifying circuit respectively；With

Signal for selecting the output signal as described sampling system for the one in the two paths of signals receiving is preferably single Unit.

Described rotor is the rotating shaft of the motor of food mixing plant.

Further, described sampling system also includes being electrically connected to the outfan of described first amplifying circuit and described signal A clamp circuit between receiving unit, and it is electrically connected to the outfan of described second amplifying circuit and described signal Another same clamp circuit between receiving unit.

Further, described sampling system also includes being electrically connected to the outfan of a described clamp circuit and described letter An a/d change-over circuit between number receiving unit, and be electrically connected to another described clamp circuit outfan and Another same a/d change-over circuit between described signal receiving unit electrical connection；The clamper electricity of described clamp circuit Pressure is less than the maximum rated input voltage of described a/d change-over circuit.

Yet further, described signal preferred cell is more specifically for: for by each described position sensor defeated Going out two branch roads that end is drawn, if judging the output signal saturation of branch road residing for described second amplifying circuit, selecting institute The output signal stating branch road residing for the first amplifying circuit is as signal s_i；If branch road residing for described second amplifying circuit Output signal unsaturation, then select this output signal as signal s_i.

Yet further, described signal preferred cell is more specifically for: for by each described position sensor defeated Going out two branch roads that end is drawn, if judging the output signal saturation of branch road residing for described second amplifying circuit, and passing through institute The output signal stating branch road residing for the first amplifying circuit verifies the output signal saturation of described second amplifying circuit, then select Residing for described first amplifying circuit, the output signal of branch road is as signal s_i.

Beneficial effects of the present invention: due in location Calculation by most for content in sampled signal harmonic component three times Harmonic component removes, and so that fundametal compoment proportion shared in the signal is increased, removes the letter after third-harmonic component Number characteristic be more nearly the feature of fundametal compoment, so that the positioning result going out based on the feature calculation of fundametal compoment It is closer to reality, positioning precision is greatly improved.Because positioning precision is greatly improved the positioning system so that the present invention The rotor that system is capable of low speed or even extremely low speed are rotated carries out rotational positioning, makes the rotor can in turn again Rotated using the slow-speed of revolution, be preferably processed action, particularly with food mixing plant, the slow-speed of revolution can not damage Food texture, mixing effect is obviously improved, and meets user's request well.And, due to by each Hall element Signal be allocated as two-way, each through the amplification of different gains, preferentially choose the parameter as location Calculation, sampling In the case that signal is weaker, it still is able to provide precision higher positioning result, reduces device fabrication, installation position The impact that deviation causes to positioning precision.

Brief description

Fig. 1 is the structural schematic block diagram of an embodiment of rotor turned position of the present invention alignment system；

Fig. 2 is the schematic flow sheet of an embodiment of rotor turned position of the present invention localization method；

On the basis of Fig. 3 is alignment system shown in Fig. 1 for the present invention, the structural representation of a preferred embodiment Block diagram；

On the basis of Fig. 4 is localization method shown in Fig. 2 for the present invention, the part steps of a more preferred embodiment Schematic flow sheet；

Fig. 5 is the waveform diagram of the raw position signals that three linear hall sensors export respectively；

Fig. 6 is for the signal in Fig. 5 through eliminating the waveform diagram after side-play amount；

Fig. 7 waveform diagram after fundamental voltage amplitude normalization for the signal in Fig. 6；

Fig. 8 is the waveform diagram of the third-harmonic component that the signal packet in Fig. 7 contains；

Fig. 9 is for the signal in Fig. 7 through removing the waveform diagram after third-harmonic component；

Figure 10 is the position error of the location determination made using the embodiment of alignment system of the present invention and localization method；

Figure 11 is the position error of the location determination made using linear hall sensor but without signal correction；

When Figure 12 is to be positioned using Hall switch sensor in prior art, this three Hall switch sensors Three sampled signals waveform diagram.

Specific embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.

As shown in figure 1, here provides an embodiment of rotor turned position of the present invention alignment system, this turn of here Kinetoplast is the rotating shaft (not shown) of motor, and more properly, this rotor is the motor of food mixing plant Rotating shaft, this alignment system includes magnet ring 1, sample circuit, several same a/d change-over circuits 5 and mcu (microcontroller unit, microcontroller, be commonly called as single-chip microcomputer) 6.The system is intended to remove the magnetic field letter collecting Number each harmonic component in the most harmonic component third-harmonic component of content, make location Calculation more great Cheng as far as possible Draw according to the fundametal compoment in sampled signal on degree, improve positioning precision.

This magnet ring 1 is the magnet ring of sinuso sine protractor for magnet ring Surface field, and its ring sets in the rotating shaft be fixed on motor and with turning Axle synchronous axial system, it can be fixed in rotating shaft by its inner diameter edge and rotating shaft peripheral surface interference fit.As Fig. 1 Shown, sample circuit includes 3 same linear hall sensors 2, the sampled signal of this sensor output and magnet ring Field signal there is same waveform, that is, sampled signal equally has sinuso sine protractor, three linear hall sensors 2 The raw position signals of output are as shown in Figure 5；This 3 Hall elements 2 be spaced 120 ° of electrical angle be arranged in order in On one section of circular arc coaxial and coplanar with magnet ring 1, it is arranged so as to be present to ensure that what each Hall element 2 was gathered The concordance of the field signal of magnet ring, accurate beneficial to follow-up location Calculation.Each Hall element 2 will be sampled respectively Signal output, to a corresponding a/d change-over circuit 5, is delivered to mcu 6 after analog digital conversion respectively.

As shown in figure 1, mcu 6 includes sampling sampled signal receiver module 61, removes side-play amount module 62, amplitude normalizing Change module 63, third-harmonic component computing module 64, remove third-harmonic component module 65 and turned position computing module 66.

The sampling electricity of output after 3 Hall elements 2 that magnet ring 1 periphery is arranged in order are through a/d conversion of respectively hanging oneself The value of pressure signal is s_i(i=1,2,3).Because the sampled signal of above-mentioned 3 Hall elements 2 output is respectively provided with sinusoidal spy Property, sampled signal s_iCan be represented with the infinite number of poles that SIN function is constituted respectively, that is, in theory:

Wherein, v_{i_offset}It is the Hall element 2 arranged in the Hall element that magnet ring 1 periphery is arranged in order in i-th Sampled signal magnitude shift amount, ω be axis of rotation angular rate, t be the time, θ_jPhase place for j subharmonic Side-play amount, a_iFor fundamental voltage amplitude, m_jRatio for j subharmonic and the amplitude of fundamental wave.

It is to be particularly noted that why in above formula, m_jDo not change with i, that is, the different Hall in this 3 positions passes Sensor 2, the harmonic component (j order harmonic components) for same order, the amplitude of this harmonic component and fundametal compoment it Ratio is identical, this is because, the generation of harmonic component, is that absolute rule and material be not due to magnet ring 1 own form Caused by the self-characteristics such as absolute uniform, so these factors for the impact caused by each Hall element 2 are Equivalent.Additionally, a_iAnd v_iIt is because the characteristic of magnet ring 1 and alignment system itself determines, when alignment system assembling After finishing, a_i、v_iAnd m_jAll will determine, be constant in above-mentioned algebraic expression, can default in mcu 6, for fixed Position is called when judging.

In the present case, because, in each harmonic component of sampled signal, triple-frequency harmonics content is most, other harmonic components Content relative fundamental content is negligible, then, sampled signal s_iCan be as follows with approximate representation:

s_i=v_{i_offset}+a_i{sin(ωt+(i-1)120°)+m₃sin(3(ωt+(i-1)120°)+θ₃)}

=v_{i_offset}+a_i{sin(ωt+(i-1)120°)+m₃sin(3(ωt+(i-1)120°)+θ₃)}

=v_{i_offset}+a_i{sin(ωt+(i-1)120°)+h₃,

Wherein, h₃=m₃sin(3ωt+θ₃), it is relevant with time variable t, unrelated with i, a_ih₃It is triple-frequency harmonics The value of component, h₃Value for the third-harmonic component after fundamental voltage amplitude normalization.

The sampled signal receiver module 61 of mcu 6 receives from a/d change-over circuit after the voltage sampling signal of t Detect the magnitude of voltage s of this signal_i.

Side-play amount module 62 of going in mcu 6 calls deviation constant v_{i_offset}, by signal s_iIn side-play amount eliminate, such as Shown in Fig. 6, obtain signal s_i' it may be assumed that

s_i'=s_i-v_{i_offset},

Then, s_i' can be expressed with mathematical expression:

s_’'=a_i{sin(ωt+(i-1)120°)+h₃}.

The amplitude normalization module 63 of mcu 6 is used for s_i' amplitude a that comprised_iIt is normalized, such as Fig. 7 Shown, obtain signal s_i" it may be assumed that

s_i"=s_i’/a_i,

Then, s_i" can be expressed with mathematical expression:

s_i"=sin (120 ° of ω t+ (i-1))+h₃,

So,

Understand sin (ω t)+sin (t+120 ° of ω)+sin (t+240 ° of ω)=0 using trigonometric function formula.

Then, the third-harmonic component computing module 64 of mcu 6 can calculate h according to this₃Value:

h₃=(s₁”+s₂”+s₃”)/3.

The third-harmonic component module 65 of going of mcu 6 removes signal s_i" in third-harmonic component, as shown in figure 9, Obtain signal s_i" ' it may be assumed that

s_i" '=s_i”-h₃,

Then, s_i" ' can be expressed with mathematical expression:

s_i" '=sin (120 ° of ω t+ (i-1)),

That is:

s₁" '=sin (ω t),

s₂" '=sin (t+120 ° of ω),

s₃" '=sin (t+240 ° of ω),

The sinusoidal vector of above three space 120 ° of electrical angles of mutual deviation is carried out triangular transformation and obtains 90 ° of electric angles of space mutual deviation The two spaces vector of degree:

$sin\left(\mathrm{\ω}t\right)=\frac{1}{\sqrt{3}}(s_1^{\′\′\′}-s_3^{\′\′\′}),$

$cos\left(\mathrm{\ω}t\right)=\frac{2}{3}(s_1^{\′\′\′}-\frac{1}{2}(s_2^{\′\′\′}-s_3^{\′\′\′}\left)\right).$

The turned position computing module 66 of mcu 6 is according to t three-phase amplitude identical hall signal s_i" ', calculating should Corresponding electrical angle pos (t) in turned position of the rotating shaft of moment motor:

$\begin{array}{c}pos\left(t\right)=\mathrm{\ω}t\\ =\arctan \left(\tan \left(\mathrm{\ω}t\right)\right)\\ =\arctan \left(\frac{\sin \left(\mathrm{\ω}t\right)}{\cos \left(\mathrm{\ω}t\right)}\right)\\ =\arctan \[\left(\frac{1}{\sqrt{3}}\left(s_1^{\′\′\′}-s_3^{\′\′\′}\right)\right)/\left(\frac{2}{3}\left(s_1^{\′\′\′}-\frac{1}{2}\left(s_2^{\′\′\′}-s_3^{\′\′\′}\right)\right)\right)\]\end{array}$

Can get the turned position of rotor, realize positioning.

Corresponding, as shown in Fig. 2 providing the embodiment of a machine shaft turned position localization method:

Step s1: to be spaced 3 that 120 ° of electrical angle is arranged in order on the one section circular arc coaxial and coplanar with magnet ring 1 Linear hall sensor 2 is sampled to the magnetic field of this magnet ring 1 with rotor synchronous rotary, the magnet ring of this magnet ring 1 Surface field has sinuso sine protractor；

Step s2: receive and detect the voltage sample of each leisure t of 3 Hall elements 2 being arranged in order respectively Signal s_i, i=1,2,3,

Step s3: call default deviation constant v_{i_offset}, cancellation signal s_iIn side-play amount, obtain signal s_i' it may be assumed that

s_i'=s_i’-v_{i_offset}；

Step s4: call default amplitude constant a_i, to signal s_i' be normalized, obtain signal s_i" it may be assumed that

s_i"=s_i’/a_i；

Step s5: signal calculated s_i" in third-harmonic component h₃It may be assumed that

h₃=(s₁”+s₂”+s₃”)/3；

Step s6: remove signal s_i" in third-harmonic component, obtain signal s_i" ' it may be assumed that

s_i" '=s_i”-h₃；

Step s7: calculate t motor rotating shaft corresponding electrical angle pos (t) in turned position it may be assumed that

$pos\left(t\right)=arctan\[\left(\frac{1}{\sqrt{3}}\right(s_1^{\′\′\′}-s_3^{\′\′\′}\left)\right)/\left(\frac{2}{3}\right(s_1^{\′\′\′}-\frac{1}{2}\left(s_2^{\′\′\′}-s_3^{\′\′\′}\right)\left)\right)\].$

Preferably, as shown in figure 3, sample circuit also includes 3 to (i.e. 6) amplifying circuit and 3 to (i.e. 6) Same clamp circuit 4, each pair amplifying circuit includes the first amplifying circuit 31 for a for the gain and a gain is Second amplifying circuit 32 of b, wherein, a <b.Alignment system includes 3 and (i.e. 6) same described a/d is turned Change circuit 5.

Each device of the same name or circuit adopt same device or circuit structure, to reduce each circuit self character as far as possible The certainty of measurement error that difference leads to.

As shown in figure 3, the sampled signal of each Hall element 2 divides two branch roads output (a pair of output signal), This is to output signal Zhong mono- tunnel successively through in the first amplifying circuit 31 in a pair of amplifying circuit, a pair of clamp circuit 4 One of one and a pair of a/d change-over circuit 5 convey to mcu 6, another road successively through this to amplifying circuit In the second amplifying circuit 32, this in clamp circuit 4 another and this to another in a/d change-over circuit 5 Individual convey to mcu 6, location determination is carried out according to sampled signal by mcu 6.

Voltage is limited within the specific limits by clamp circuit 4, prevents the voltage being input to a/d change-over circuit 5 to be higher than The maximum of a/d change-over circuit 5 nominal input voltage, plays the effect of protection a/d change-over circuit 5.Certainly, such as Fruit is able to ensure that the output signal after amplifying through every road amplifying circuit 31,32 all less than a/d change-over circuit through measuring and calculating The maximum of 5 nominal input voltage, clamp circuit 4 can save, but for the sake of insurance, preferably retains it.

The signal voltage of same Hall element 2 output is u_i, this signal be allocated as two-way (each road signal is identical, Voltage is u_i), the voltage of road output after the first amplifying circuit 31 for a for the gain is au_i, this voltage signal Send into a corresponding a/d change-over circuit 5 through a clamp circuit 4 and carry out a/d conversion；Another road is b through gain The second amplifying circuit 32 after output voltage be bu_i, this voltage signal sends into through another clamp circuit 4 corresponding Another a/d change-over circuit 5 corresponding carries out a/d conversion.The clamp voltage of two clamp circuits 4 is u_c, clamper Circuit is to be set according to the specified maximum input voltage of a/d change-over circuit 5 so as to clamp voltage u_cLess than a/d The maximum input voltage of change-over circuit 5.

The sampled signal receiver module 61 of mcu 6 includes signal receiving unit 611 and signal preferred cell 612.Letter Number receiving unit 611 receives corresponding point of the sampled signal in t with 3 Hall elements 2 being arranged in order respectively 3 pairs of voltage signals not after 3 pairs of a/d change-over circuit 5 conversions, detect the magnitude of voltage of 3 pairs of voltage signals.Letter Which signal is number preferred module 612 determine to select in each pair signal as sampled signal magnitude of voltage s_i, i=1,2,3.

Work as u_i>u_c/ a, Hall element 2 t signal through two-way amplifying circuit amplification after, u_c<au_i<bu_i, The two paths of signals of this Hall element 2 output is all clamped down on by this clamp circuit 4 respectively through after clamp circuit 4, and that is, two All there is saturation in road signal, send into mcu 6 afterwards, and the signal preferred cell 612 of mcu judges that two paths of signals all occurs Saturation, judges that two-way all occurs clamper, sends alarm and the information of positioning failure.Certainly, select in design When selecting device, Preliminary detection and calculating can be made according to the practical situation of test product, generally ensure that u_c<au_i's Situation does not occur.

Work as u_c/b<u_i≤u_c/ a, Hall element 2 t signal through two-way amplifying circuit amplification after, au_i≤u_c<bu_i, this road signal through the first amplifying circuit 31 compared with low gain of this Hall element 2 output is through pincers Clamp down on during the circuit 4 of position, rear signal sends into mcu 6；One road letter of the second amplifying circuit 32 through higher gain Number being clamped circuit 4 clamps down on, and sends into mcu 6 afterwards.The signal preferred cell 612 of mcu 6 judges the second amplifying circuit The output signal saturation of residing branch road 32, or further still pass through the first amplifying circuit 31 institute on this basis The output signal of place's branch road verifies the output signal saturation of the second amplifying circuit 32, then select the first amplifying circuit 31 institute Output signal au of place's branch road_iAs signal s_i.

Work as u_i≤u_c/ b, Hall element 2 t signal through two-way amplifying circuit amplification after, au_i<bu_i≤u_c, The two paths of signals of this Hall element 2 output is all clamped down on respectively through after clamp circuit 4, and rear two paths of signals is equal Send into mcu 6.The signal preferred cell 612 of mcu 6 judges that the first amplifying circuit 31 and the second amplifying circuit 32 are each From the equal unsaturation of the output signal of residing branch road, or, only judge the output signal of branch road residing for the second amplifying circuit 32 Unsaturation, then select output signal bu of the second amplifying circuit 32_iAs signal s_i.So design is because When Hall element 2 output sampled signal signal less when, by each device (for example magnet ring 1, Hall element 2, Clamp circuit 4, a/d change-over circuit 5 etc.) itself the reason (such as deviation of craft precision, riding position etc.) with And impact that the reason such as external interference produces to signal is big, and by multiple larger to low level signal amplification, can be reduced these The relative effect degree to the signal after amplifying for the reason, beneficial to follow-up location Calculation, improves positioning precision.

Select sampled signal s for location Calculation in the signal preferred cell 612 of mcu 6_iAfterwards, then through aforementioned three are removed The method for calculating and locating of order harmonic components carries out location determination.However, also third-harmonic component can not be removed, but directly Connect the sampled signal according to selecting and carry out location Calculation, simply, using the aforementioned location Calculation removing third-harmonic component Method positioning precision is higher.Carry out as a example rotating shaft positioning by the motor for certain food mixing plant, in its magnetic In each harmonic componentss in the signal that ring periphery sampling obtains, triple-frequency harmonics content highest, account for the 10% of sampled signal, And other harmonic components are few.If sample direct location Calculation and do not remove triple-frequency harmonics, as shown in Figure 7,8, its In include triple-frequency harmonics, calculated positioning result degree of accuracy is relatively low, has the error of substantially ± 20 ° of electrical angles (as shown in figure 11), the mutually positioning precision of 60 ° of electrical angles than existing methods, positioning precision increases；And adopt Carry out location Calculation again, as shown in figure 9, triple-frequency harmonics therein is filtered off, positioning precision carries after removing triple-frequency harmonics Height, the error (as shown in Figure 10) only with substantially ± 5 ° of electrical angles is it is clear that positioning precision is obviously improved.

Accordingly, as shown in figure 4, preferably including in the embodiment of above-mentioned localization method:

Step s1 includes:

Step s11: to be spaced 3 that 120 ° of electrical angle is arranged in order on the one section circular arc coaxial and coplanar with magnet ring 1 Linear hall sensor 2 is sampled in the magnetic field of t pair and this magnet ring 1 of rotor synchronous rotary,

Step s12: the output signal of each Hall element 2 is divided into two branch roads, a road is successively through having compared with low gain 31, clamp circuit 4 of the first amplifying circuit and an a/d change-over circuit 5 export, another road is successively through having Second amplifying circuit 32 of higher gain, another clamp circuit 4 and another a/d change-over circuit 5 export；

Step s2 includes:

Step s21: receive 3 pairs of voltage signals respectively after a/d conversion, detect that this 3 pairs of voltage signals are respective Magnitude of voltage,

Step s22: for two branch roads drawn by the outfan of Hall element each described, if judging the second amplification The output signal saturation of branch road residing for circuit 32, then select the output signal conduct of branch road residing for the first amplifying circuit 31 Signal s_i；If the output signal unsaturation of branch road residing for the second amplifying circuit 32, from this output signal as signal s_i.

More specifically, in step s22, for two branch roads drawn by the outfan of each Hall element, judging If the output signal saturation of branch road residing for the second amplifying circuit 32 and defeated by branch road residing for the first amplifying circuit 31 Go out the output signal saturation of signal authentication the second amplifying circuit 32, then select the defeated of branch road residing for the first amplifying circuit 31 Go out signal as signal s_i.

Further, in step s22, for two branch roads drawn by the outfan of Hall element each described, If judging the equal saturation of two-way output signal, judging that two-way all occurs clamper, positioning unsuccessfully.

It is only exemplary elaboration made for the present invention as said above it is intended to the present invention possible concrete reality is better described Apply mode, and and non-limiting protection scope of the present invention, the scope of patent protection of the present invention is defined by claims. In the case of the principle without departing from the present invention and intension, those skilled in the art remain to foundation without creative work The present invention makes various deformation, but all without fleeing from the scope of patent protection of the present invention.For example, in the present invention although Preferably by integrated level high and, the mcu of small volume, easy programming, low cost, also can be selected for other information processing equipment, Such as dsp (digital processing unit), cpu etc..

Claims (20)

1. a kind of rotor turned position alignment system, comprising:

With the magnet ring (1) of described rotor synchronous rotary, the magnet ring Surface field of described magnet ring (1) has sinuso sine protractor；

3 be spaced 120 ° of electrical angle be arranged in order linear on one section of circular arc coaxial and coplanar with described magnet ring (1) Hall element (2)；

Several a/d change-over circuits of a/d conversion are carried out respectively to the output signal of 3 described Hall elements (2) (5)；And

Messaging device, comprising:

Sampled signal receiver module (61): believe in the sampling of t for receiving 3 described Hall elements (2) Number respectively hang oneself the voltage signal s after a/d conversion_i, i=1,2,3,

Go side-play amount module (62): be often used for calling the corresponding skew of each described Hall element (2) default Number v_{i_offset}, by signal s_iIn side-play amount eliminate, obtain signal s_i', i.e. s_i'=s_i-v_{i_offset},

Amplitude normalization module (63): be used for calling the corresponding amplitude of each described Hall element (2) default Constant a_i, by signal s_i' in amplitude be normalized, obtain value signal s_i",

Third-harmonic component computing module (64): for signal calculated s_i" in third-harmonic component h₃, that is, h₃=(s₁”+s₂”+s₃")/3,

Go third-harmonic component module (65): for signal calculated s_i" the value signal s that goes after third-harmonic component_i" ', I.e. s_i" '=s_i”–h₃,

Turned position computing module (66): for according to trigonometric function formula and signal s_i" ' calculate described rotor turn Dynamic electrical angle pos (t).

2. alignment system according to claim 1, described turned position computing module (66) calculates electric angle according to following formula Degree pos (t): $pos\left(t\right)=arctan\&lsqb;\left(\frac{1}{\sqrt{3}}\left(s_1^{\&prime;\&prime;\&prime;}-s_3^{\&prime;\&prime;\&prime;}\right)\right)/\left(\frac{2}{3}\right(s_1^{\&prime;\&prime;\&prime;}-\frac{1}{2}(s_2^{\&prime;\&prime;\&prime;}-s_3^{\&prime;\&prime;\&prime;})\left)\right)\&rsqb;.$

3. alignment system according to claim 1, described amplitude normalization module (63) is normalized according to following formula After obtain signal s_i": s_i"=s_i’/a_i.

4. alignment system according to claim 1, wherein, the sampled signal of each described Hall element (2) is divided into Article two, branch road output, described alignment system includes 6 same described a/d change-over circuits (5), 3 same tools There are the first amplifying circuit (31) compared with low gain and 3 same second amplifying circuits (32) with larger gain； For Hall element each described (2), the output of one road and a corresponding described a/d change-over circuit (5) it Between be electrically connected with corresponding one described first amplifying circuit (31), described in its another road output and corresponding one It is electrically connected with corresponding one described second amplifying circuit (32) between a/d change-over circuit (5)；

Described sampled signal receiver module (61) includes:

Signal receiving unit (611): for receiving respectively and 3 described Hall elements (2) being arranged in order are in t Carve sampled signal corresponding respectively through 3 to described a/d change-over circuit (5) conversion after 3 pairs of voltage signals, detection Go out the magnitude of voltage of 3 pairs of voltage signals, and

Signal preferred cell (612): for for two being drawn by the outfan of Hall element each described (2) Branch road, if judging the output signal saturation of branch road residing for described second amplifying circuit (32), puts from described first Residing for big circuit (31), the output signal of branch road is as signal s_i；If branch road residing for described second amplifying circuit (32) Output signal unsaturation, then select this output signal as signal s_i.

5. alignment system according to claim 4, wherein, described signal preferred cell (612) is more specifically for: For two branch roads drawn by the outfan of Hall element each described (2), if judging described second amplifying circuit (32) the output signal saturation of branch road residing for, and by the output letter of branch road residing for described first amplifying circuit (31) Number verify described second amplifying circuit (32) output signal saturation, then select described first amplifying circuit (31) institute The output signal of place's branch road is as signal s_i.

6. alignment system according to claim 3, including 6 same clamp circuits (4), each described first is put It is electrically connected with corresponding one between the outfan of big circuit (31) and a corresponding described a/d change-over circuit (5) Described clamp circuit (4), the outfan of each described second amplifying circuit (32) and a corresponding described a/d turn Change and between circuit (5), be electrically connected with corresponding one described clamp circuit (4)；The clamper of described clamp circuit (4) Voltage is less than the maximum rated input voltage of described a/d change-over circuit (5).

7. alignment system according to claim 1, described rotor is the rotating shaft of motor.

8. alignment system according to claim 6, wherein, described rotor is the motor of food mixing plant Rotating shaft.

9. a kind of rotor turned position localization method, comprising:

Step s1: to be spaced 3 that 120 ° of electrical angle is arranged in order on the one section circular arc coaxial and coplanar with magnet ring (1) Linear hall sensor (2) is adopted in the magnetic field of t pair and the described magnet ring (1) of described rotor synchronous rotary Sample, the magnet ring Surface field of described magnet ring (1) has sinuso sine protractor；

Step s2: receive and detect the voltage of the described Hall element of 3 being arranged in order (2) each leisure t respectively Sampled signal s_i, i=1,2,3,

Step s3: call default with Hall element each described (2) corresponding deviation constant v respectively_{i_offset}, eliminate Signal s_iIn side-play amount, obtain signal s_i', i.e. s_i'=s_i’-v_{i_offset}；

Step s4: call default with Hall element each described (2) corresponding amplitude constant a respectively_i, to signal s_i’ It is normalized, obtain signal s_i”；

Step s5: signal calculated s_i" in third-harmonic component h₃, i.e. h₃=(s₁”+s₂”+s₃”)/3；

Step s6: remove signal s_i" in third-harmonic component, obtain signal s_i" ', i.e. s_i" '=s_i”-h₃；

Step s7: according to trigonometric function formula and signal s_i" ' calculate electrical angle pos (t) that rotor described in t rotates.

10. localization method according to claim 9, according to following formula calculating electrical angle pos (t) in step s7:

$pos\left(t\right)=arctan\&lsqb;\left(\frac{1}{\sqrt{3}}\left(s_1^{\&prime;\&prime;\&prime;}-s_3^{\&prime;\&prime;\&prime;}\right)\right)/\left(\frac{2}{3}\right(s_1^{\&prime;\&prime;\&prime;}-\frac{1}{2}(s_2^{\&prime;\&prime;\&prime;}-s_3^{\&prime;\&prime;\&prime;})\left)\right)\&rsqb;.$

11. localization methods according to claim 9, step s4 is normalized according to following formula and obtains signal s_i": s_i"=s_i’/a_i.

12. localization methods according to claim 9, wherein,

Step s1 also includes: the output signal of each described Hall element (2) is divided into two branch roads, and wherein one tunnel is successively Through having the first amplifying circuit (31) compared with low gain, a clamp circuit (4) and an a/d change-over circuit (5) export afterwards, another road is successively through having the second amplifying circuit (32), another same clamper of higher gain Circuit (4) and another same a/d change-over circuit (5) export afterwards；

Step s2 includes:

Step s21: receive and detect 3 pairs of voltage signals respectively after a/d conversion,

Step s22: for two branch roads drawn by the outfan of Hall element each described (2), if judging institute State the output signal saturation of branch road residing for the second amplifying circuit (32), then select described first amplifying circuit (31) The output signal of residing branch road is as signal s_i；If the output signal of branch road residing for described second amplifying circuit (32) Unsaturation, then select this output signal as signal s_i.

13. localization methods according to claim 12, wherein,

More specifically include in step s22, described signal preferred cell (612) is directed to by Hall element each described (2) Outfan draw two branch roads, if judge described second amplifying circuit (32) residing for branch road output signal saturation, And described second amplifying circuit (32) is verified by the output signal of branch road residing for described first amplifying circuit (31) Output signal saturation, then select the output signal of branch road residing for described first amplifying circuit (31) as signal s_i.

14. localization methods according to claim 13, wherein, described rotor is the motor of food mixing plant Rotating shaft.

A kind of 15. rotor turned position sampling systems, comprising:

Magnet ring (1) with described rotor synchronous rotary；

Located at described magnet ring (1) the radial outer periphery, position sensor for reaction magnetic ring field signal, its sampled signal It is divided into two-way to export；

Receive first amplifying circuit (31) having compared with low gain of a road output signal of described position sensor；

Receive second amplifying circuit (32) with higher gain of another road output signal of described position sensor；

The signal receiving the output signal of described first amplifying circuit (31) and described second amplifying circuit (32) respectively connects Receive unit (611)；With

For selecting the signal preferred cell of the output signal as described sampling system for the one in the two paths of signals receiving (612).

16. sampling systems according to claim 15, it also includes being electrically connected to described first amplifying circuit (31) A clamp circuit (4) between outfan and described signal receiving unit (611), and it is electrically connected to described Another same clamp circuit between the outfan of two amplifying circuits (32) and described signal receiving unit (611) (4).

17. sampling systems according to claim 16, it also includes being electrically connected to the defeated of a described clamp circuit (4) Go out an a/d change-over circuit (5) between end and described signal receiving unit (611), and be electrically connected to another Another between the outfan of individual described clamp circuit (4) and described signal receiving unit (611) electrical connection is same A/d change-over circuit (5)；The clamp voltage of described clamp circuit (4) is less than described a/d change-over circuit (5) Maximum rated input voltage.

18. sampling systems according to claim 16 or 17, wherein:

Described signal preferred cell (612) is more specifically for: draws for by the outfan of position sensor each described Two branch roads, if judging the output signal saturation of branch road residing for described second amplifying circuit (32), from described Residing for first amplifying circuit (31), the output signal of branch road is as signal s_i；If described second amplifying circuit (32) institute The output signal unsaturation of place's branch road, then select this output signal as signal s_i.

19. sampling systems according to claim 18, wherein, described signal preferred cell (612) is more specifically for: For two branch roads drawn by the outfan of position sensor each described, if judging described second amplifying circuit (32) The output signal saturation of residing branch road, and by the output signal checking of branch road residing for described first amplifying circuit (31) The output signal saturation of described second amplifying circuit (32), then select branch road residing for described first amplifying circuit (31) Output signal as signal s_i.

20. sampling systems according to claim 18, wherein, described rotor is the motor of food mixing plant Rotating shaft, and/or, described position sensor be linear hall sensor (2).