CN106403806B - Angular position sensor, angular position measuring system and method - Google Patents
Angular position sensor, angular position measuring system and method Download PDFInfo
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- CN106403806B CN106403806B CN201610899490.2A CN201610899490A CN106403806B CN 106403806 B CN106403806 B CN 106403806B CN 201610899490 A CN201610899490 A CN 201610899490A CN 106403806 B CN106403806 B CN 106403806B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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Abstract
The invention provides an angular position sensor, an angular position measuring system and an angular position measuring method, wherein the angular position sensor comprises: an excitation coil, and M receiver coils coaxial with the excitation coil and a rotor. The M receiving coils, the first capacitor and the operational amplifier form an LC oscillating circuit, a deflection angle is formed between two adjacent receiving coils, wherein M is a positive integer larger than or equal to 2, and the rotation angle of the rotor can be obtained on the premise of obtaining the output signals of the M receiving coils by utilizing the relation between the rotation angle of the rotor and the output signals of the M receiving coils, so that the measurement of the angle change is realized. Due to the non-contact between the rotor and the receiving coil, i.e. no mechanical wear, the weather and vibration resistance of the angular position measuring system is improved. Meanwhile, the cost can be effectively reduced.
Description
Technical Field
The invention relates to the field of electromechanical control, in particular to an angle position sensor, an angle position measuring system and an angle position measuring method.
Background
The angular position sensor has wide application in automobiles, such as a liquid level sensor, an accelerator pedal, a throttle body, power steering, a vehicle body level sensor and the like. At present, on the existing automobile parts, two types of mainly adopted angle position sensors are a potentiometer contact type angle sensor and a Hall type non-contact type angle sensor.
A potentiometer type angle sensor is a touch sensor frequently used in the early days, which causes a contact point to change a position on a resistive film, thereby changing a ratio of upper and lower resistances, and realizing a change in an output terminal voltage with an external position. However, the potentiometer type angle sensor inevitably has a problem that the contact and the resistance film are easily worn, and if dirt such as dust is mixed between the contact and the resistance film, the measurement accuracy is affected. In addition, the resistance value also changes under the vibration environment. Therefore, the potentiometer type angle sensor is significantly insufficient in weather resistance, vibration resistance, and the like.
The Hall type angle position sensor is a current mainstream non-contact sensor, is a magnetic field sensor manufactured according to Hall effect, generally consists of an external magnetic field and a Hall chip, and reacts the change of position by Hall voltage. The Hall type angle sensor has the advantages of no contact point, no abrasion, small volume, good weather resistance, good vibration resistance, high precision and the like, but because the Hall sensor contains the magnet, the EMC (Electro Magnetic Compatibility) performance is relatively poor, the cost is high, and the temperature drift resistance is poor.
Disclosure of Invention
The invention aims to provide an angular position sensor, an angular position measuring system and an angular position measuring method, which aim to solve the problems of insufficient weather resistance, vibration resistance and temperature drift resistance and high cost of the conventional angular position sensor.
In order to achieve the above object, the present invention provides an angular position sensor comprising: an excitation coil, M receiving coils coaxial with the excitation coil, and a rotor coaxial with the excitation coil; the M receiving coils are positioned on the inner side of the exciting coil, the rotor is positioned at one end of the receiving coils, and a gap is formed between the rotor and the receiving coils; each circle of the M receiving coils is wound in the positive and negative directions, a deflection angle is formed between every two adjacent receiving coils, and M is a positive integer greater than or equal to 2.
Preferably, in the above angular position sensor, M is 2 or 3.
Preferably, in the above angular position sensor, each turn of each of the receiving coils has N forward windings and N reverse windings, which are crossed, where N is a positive integer equal to or greater than 1.
Preferably, in the angular position sensor, the deflection angle is 360/(2N × M), where N is a positive integer of 1 or more and M is 2.
Preferably, in the angular position sensor, the deflection angle is 360/(N × M), where N is a positive integer of 1 or more and M is 3.
Preferably, in the angular position sensor, the rotor includes N rotor blades, where N is a positive integer equal to or greater than 1.
Preferably, in the angular position sensor, N rotor blades are uniformly distributed on a plane where the rotor blades are located, and N is a positive integer greater than or equal to 1.
Preferably, in the above-described angular position sensor, the rotor covers half of the area of the cross section of the M receiving coils.
Preferably, in the above angular position sensor, the excitation coil and the reception coil have the same cross-sectional shape.
Preferably, in the above angular position sensor, the excitation coil has a cross-sectional shape of a polygon, a circle, or an ellipse.
The present invention also provides an angular position measuring system, comprising: an angular position sensor as claimed in any one of claims 1 to 8, a first capacitor, an operational amplifier, a demodulation and phase detection circuit and a controller; wherein the content of the first and second substances,
an LC oscillating circuit is formed by an exciting coil, M receiving coils, a first capacitor and an operational amplifier in the angular position sensor so as to generate an exciting signal;
the demodulation phase discrimination circuit is used for obtaining the amplitude and the phase of output signals of M receiving coils in the angle position sensor; and
the controller is used for acquiring the rotation angle of the rotor in the angular position sensor according to the amplitude and the phase of the output signals of the M receiving coils, wherein M is a positive integer greater than or equal to 2.
Preferably, in the angular position measuring system, the system further includes: and the band-pass filter circuit is used for filtering out interference signals in the output signals of the receiving coil.
Preferably, in the angular position measuring system, the system further includes: and the demodulation phase discrimination circuit is used for obtaining the amplitude and the phase of the amplified output signals of the M receiving coils.
Preferably, in the above angular position measuring system, the demodulation and phase discrimination circuit includes: a multiplier and a low-pass filter circuit; wherein the multiplier is used for separating the output signals of the M receiving coils into a group of high-frequency signals and a group of low-frequency signals; the low-pass filter circuit is used for filtering the high-frequency signal to obtain the low-frequency signal.
Preferably, in the above angular position measuring system, each turn of the M receiving coils has N forward windings and N reverse windings, the frequency of the high-frequency signal is 2 times the carrier frequency of the output signals of the M receiving coils, and the amplitude of the low-frequency signal is related to the amplitude of the output signals of the M receiving coils, where N is a positive integer greater than or equal to 1, and M is 2 or 3.
Preferably, in the above angular position measuring system, each turn of the M receiving coils has N forward windings and N reverse windings, and an amplitude of an output signal of the M receiving coils is 2 times an amplitude of the low-frequency signal, where N is a positive integer greater than or equal to 1, and M is 2 or 3.
Preferably, in the angular position measuring system, a carrier frequency of the output signals of the M receiving coils is equal to a frequency of the excitation signal.
The invention further provides a method for measuring an angle position by using the angle position measuring system, which is characterized in that,
obtaining amplitudes y1, y2... yM of output signals of M receiving coils in the angular position sensor;
dividing a plane into 4M quadrants;
yM determining that the rotor is located in the Lth quadrant according to amplitudes y1, y2. of output signals of the M receiving coils;
obtaining a rotation angle of the rotor from amplitudes y1, y2... yM of output signals of the M receiving coils;
wherein M is 2 or 3, L is more than or equal to 1 and less than or equal to 4M, and L is a positive integer.
In the angular position sensor, the angular position measuring system and the angular position measuring method provided by the invention, the angular position sensor comprises an exciting coil, M receiving coils coaxial with the exciting coil and a rotor, the M receiving coils, a first capacitor and an operational amplifier in the angular position sensor form an LC oscillating circuit, and a deflection angle is formed between the M receiving coils, wherein M is a positive integer greater than or equal to 2, and the rotation angle of the rotor can be obtained on the premise of obtaining output signals of the M receiving coils by utilizing the relationship between the rotation angle of the rotor and the output signals of the M receiving coils, so that the measurement of the angle change is realized. Due to the non-contact between the rotor and the receiving coil, i.e. no mechanical wear, the weather and vibration resistance of the angular position measuring system is improved. Meanwhile, the cost can be effectively reduced.
Drawings
FIG. 1 is a schematic top view of an angular position sensor according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an angular position measurement system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a relationship between an output voltage of a receiving coil and a rotor position under an action of an excitation magnetic field according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of the present invention dividing a 0-360 plane into 8 quadrants;
FIG. 5 is a flow chart of a method for measuring angular position according to an embodiment of the present invention;
in the figure: 101-an angular position sensor; 1011-exciting coil; 1012-a receiving coil; 1013-a rotor; 102-a first capacitance; 103-an operational amplifier; 104-demodulation phase detection circuit; 1041-a multiplier; 1042 — a low pass filter; 105-a controller; 106-band-pass filter circuit; 107-self-gain amplifier circuit.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
An embodiment of the present invention provides an angular position sensor 101, as shown in fig. 1, and fig. 1 is a schematic top view structure diagram of the angular position sensor 101. The angular position sensor 101 includes: an excitation coil 1011, M receiving coils 1012, and a rotor 1013, the excitation coil 1011, M receiving coils 1012, and rotor 1013 being coaxial. The M receiving coils 1012 are located inside the exciting coil 1011, the rotor 1013 is located at one end of the M receiving coils 1012, and has a gap with the receiving coils 1012, a deflection angle is formed between two adjacent receiving coils 1012, M is a positive integer greater than or equal to 2, and further, M is 2 or 3.
Each turn of each receive coil 1012 is wound in the forward and reverse directions. Specifically, each turn of each receiving coil 1012 has N forward windings and N reverse windings, and the N forward windings are performed first and then the N reverse windings are performed, where N is a positive integer greater than or equal to 1. Further, when N is 1, each turn of each receiving coil 1012 is wound with one end of the receiving coil fixed, and the other end of the receiving coil is wound for a certain length along the forward direction (clockwise direction), then wound for the same length along the reverse direction (counterclockwise direction), and returned to the vicinity of one end of the receiving coil. When N is a positive integer greater than or equal to 2, each turn of each receiving coil is fixed at one end of the receiving coil during winding, and the other end of each receiving coil completes N windings along the positive direction (clockwise direction), then completes N windings along the negative direction (counterclockwise direction), and returns to the vicinity of one end of the receiving coil. In the above description, the forward direction is a clockwise direction and the reverse direction is a counterclockwise direction, and similarly, the forward direction may be a counterclockwise direction and the reverse direction may be a clockwise direction.
When M is 2, the offset angle is 360/(2N × M), where N denotes the number of forward windings per one turn of each receiving coil 1012 and is a positive integer greater than or equal to 1. For example, when N is 1, that is, when there are two receiving coils 1012 (for example, a first receiving coil and a second receiving coil), and forward winding and reverse winding are performed only once per one turn of each receiving coil 1012, the offset angle is 360/(2N × M) ═ 360/(2 × 1 × 2) ═ 90 degrees. Namely, an included angle of 90 degrees is formed between the two receiving coils 1012, and further, an included angle of 90 degrees is formed between one end of the first receiving coil and one end of the second receiving coil.
When M is 3, the deflection angle is 360/(N × M), where N is a positive integer greater than or equal to 1, and M is 3. Likewise, when N is 1, the deflection angle is 360/(N × M) 360/(1 × 3) 120 degrees. Namely, an included angle of 120 degrees is formed between the two receiving coils 1012, and further, an included angle of 120 degrees is formed between one end of the first receiving coil and one end of the second receiving coil.
The rotor 1013 includes N rotor blades, and the N rotor blades are uniformly distributed on a plane where the rotor blades are located, and N is a positive integer greater than or equal to 1. That is, the rotor 1013 includes the same number of rotor blades as the number of forward windings or reverse windings per one turn of the receiving coil. Further, the rotor 1013 covers half of the cross-sectional area of the receiving coil, that is, the rotor 1013 covers the area surrounded by the forward winding of the receiving coil 1012 or the area surrounded by the reverse winding of the receiving coil 1012. Note that, when the rotor 1013 covers the area surrounded by the forward winding of the receiving coil 1012, the area surrounded by the reverse winding of the receiving coil 1012 cannot be covered. Similarly, when the rotor 1013 covers the area surrounded by the reverse winding of the receiving coil 1012, the area surrounded by the forward winding of the receiving coil 1012 cannot be covered.
Specifically, when N is 1, the receiving coil 1012 is wound in the forward direction and the reverse direction only once per one turn, and the rotor 1013 includes only one rotor blade. The rotor blades cover the area enclosed by the forward windings in the receive coil 1012 but not the area enclosed by the reverse windings in the receive coil 1012. Or cover the area surrounded by the reverse winding of the receiving coil 1012 but not cover the area surrounded by the forward winding of the receiving coil 1012.
When N is 2, each turn of the receiving coil 1012 is forward-wound 2 times and reverse-wound 2 times, and the rotor 1013 includes 2 rotor blades. Each turn of the receive coil 1012 is divided in turn into: the area surrounded by the first forward winding, the area surrounded by the first reverse winding, the area surrounded by the second forward winding and the area surrounded by the second reverse winding. Since the lengths of the forward winding and the reverse winding are equal during winding of each turn of the receiving coil 1012, the area surrounded by the first forward winding, the area surrounded by the first reverse winding, the area surrounded by the second forward winding, and the area surrounded by the second reverse winding are equal. The 2 rotor blades cover the area surrounded by the first forward winding and the area surrounded by the second forward winding, respectively, but do not cover the area surrounded by the first reverse winding and the area surrounded by the second reverse winding. Or the 2 rotor blades respectively cover the area enclosed by the first reverse winding and the area enclosed by the second reverse winding but cannot cover the area enclosed by the first forward winding and the area enclosed by the second forward winding.
When N is greater than 2, similarly to the case where N is equal to 2, and so on, as will be understood by those skilled in the art, the description thereof will be omitted. The larger the value of N is, the higher the measurement accuracy of the angular position sensor 101 is.
The cross sections of the exciting coil 1011 and the receiving coil 1012 are the same in shape, and the cross sections of the exciting coil 1011 and the receiving coil 1012 are, but not limited to, polygonal, circular or elliptical. It should be noted that, when the cross sections of the exciting coil 1011 and the receiving coil 1012 are multi-deformed, the angular position sensor 101 may also be used to measure a linear distance. Preferably, the cross sections of the exciting coil 1011 and the receiving coil 1012 are circular, so as to reduce the material consumption and further reduce the cost. When the excitation coil 1011 and the reception coil 1012 have a circular cross section, the radius of the rotor blade of the rotor 1013 is equal to or larger than the radius of the reception coil 1012. Preferably, the radius of the rotor blades of the rotor 1013 is equal to the radius of the receiving coils 1012, so as to reduce the invalid coverage and thus the cost.
The embodiment of the invention also provides an angle position measuring system, which is shown in figure 2. Fig. 2 is a schematic structural view showing an angular position measuring system in the present embodiment. The method comprises the following steps: the angular position sensor 101, a first capacitor 102, an operational amplifier 103, a demodulation and phase detection circuit 104, and a controller 105 are described above. The M receiving coils 1012, the first capacitor 102 and the operational amplifier 103 of the angular position sensor 101 form an LC oscillator circuit.
The angular position measuring system further comprises a band-pass filter circuit 106 and a self-gain amplifying circuit 107, wherein the band-pass filter circuit 106 is used for filtering out interference signals in the output signals of the receiving coils 1012, and effectively amplifying the original signals to improve the signal-to-noise ratio of the signals. The self-gain amplifying circuit 107 is configured to amplify the output signals of the M receiving coils 1012 after filtering out the interference signals, and the demodulation phase detection circuit 104 is configured to obtain the amplitudes and phases of the amplified output signals of the M receiving coils. The self-gain amplifying circuit 104 is used for effectively amplifying the output signal of the receiving coil to obtain a high-precision amplitude variation signal, so as to provide a reference for the subsequent position calculation of the rotor 1013 in the angular position sensor. Because the output amplitude of the output signal of the receiving coil 1012 changes greatly, it is difficult to ensure that the full signal section obtains a sufficiently high AD (analog-to-digital conversion) sampling precision by using the amplifying circuit with fixed gain, therefore, the system adopts a set of self-gain amplifying circuit, which is characterized in that when the amplitude of the input signal changes, the input amplitude of the signal can be automatically identified by the internal circuit, the amplification times of the signal are adjusted by the internal special resistance network, the corresponding amplification times are converted into voltage values, and the voltage values are input to the analog-to-digital conversion circuit after being amplified by the fixed gain amplifier.
Each turn of each receiving coil 1012 in the angular position sensor 101 is wound in the forward and reverse directions. Specifically, each turn of each receiving coil 1012 has N forward windings and N reverse windings, and the forward windings and the reverse windings are crossed, where N is a positive integer greater than or equal to 1. Further, when N is 1, each turn of each receiving coil 1012 is wound with one end of the receiving coil fixed, and the other end of the receiving coil is wound for a certain length along the forward direction (clockwise direction), then wound for the same length along the reverse direction (counterclockwise direction), and returned to the vicinity of one end of the receiving coil. When N is a positive integer greater than or equal to 2, each turn of each receiving coil is fixed at one end of the receiving coil during winding, and the other end of each receiving coil completes N windings along the positive direction (clockwise direction), then completes N windings along the negative direction (counterclockwise direction), and returns to the vicinity of one end of the receiving coil. In the above description, the forward direction is a clockwise direction and the reverse direction is a counterclockwise direction, and similarly, the forward direction may be a counterclockwise direction and the reverse direction may be a clockwise direction.
The demodulation phase detection circuit 104 is configured to obtain amplitudes and phases of output signals of M receiving coils 1012 in the angular position sensor 101, where M is a positive integer greater than or equal to 2. Specifically, the demodulation and phase detection circuit 104 includes: a multiplier 1041 and a low-pass filter circuit 1041. Wherein the multiplier 1041 is configured to separate the amplified output signals of the M receiving coils 1012 into a set of high frequency signals and a set of low frequency signals; the low-pass filter circuit 1042 is configured to filter the high-frequency signal to obtain the low-frequency signal, where M is a positive integer greater than or equal to 2. Each turn of the M receiving coils 1012 has N forward windings and N reverse windings, the frequency of the high-frequency signal is 2 times of the carrier frequency of the output signals of the M receiving coils, the amplitude of the low-frequency signal is related to the amplitude of the output signals of the M receiving coils, and further, the amplitude of the output signals of the M receiving coils is 2 times of the amplitude of the low-frequency signal. Further, the carrier frequency of the output signals of the M receiving coils is equal to the frequency of the excitation signal. Wherein N is a positive integer greater than or equal to 1, and M is 2 or 3.
The controller 105 is configured to obtain a rotation angle of the rotor 1013 in the angular position sensor 101 according to amplitudes and phases of output signals of M receiving coils 1012 in the angular position sensor, where M is a positive integer greater than or equal to 2.
In the present embodiment, the angular position sensor includes 2 receiving coils, and each turn of the 2 receiving coils performs a forward winding and a reverse winding. The rotor of the angular position sensor comprises a rotor blade. Further, the rotor blade is a magnetic conductive metal sheet.
The inductance of the exciting coil is about 2uH, and the LC oscillating circuit can generate a high-frequency alternating-current voltage signal with the frequency of 5MHz and the amplitude of 1 volt, namely an exciting signal. After the power is switched on, the exciting coil generates a high-frequency alternating exciting magnetic field under the action of the high-frequency alternating voltage signal. Each turn of the 2 receiving coils in the angular position sensor is wound in a forward direction and a reverse direction to cancel the influence of the excitation magnetic field. Under the action of the high-frequency alternating excitation magnetic field, eddy currents are induced on the rotor blades, the strength of the eddy currents depends on the magnitude of the excitation magnetic field, the alternating eddy currents on the rotor blades also generate an alternating magnetic field, and the generated magnetic field continuously changes along with the position change of the rotor blades. Under the action of the rotor blade eddy current alternating magnetic field, the output induced electromotive force U0 of each receiving coil is related to the position of the rotor blade, as shown in FIG. 3.
Specifically, it can be seen that when the rotor blade completely covers the upper half turn of the receiving coil, the output amplitude of the induced voltage of the receiving coil reaches the positive maximum, as indicated by reference 1 in fig. 3. When the rotor blade rotates clockwise 90 degrees, the areas of the upper and lower half circles covered by the rotor blade are equal, but the directions of the induced currents of the upper and lower half circles are opposite, so that the voltage output amplitude of the receiving coil is 0, as shown by reference 2 in fig. 3. When the rotor continues to rotate 90 degrees and the rotor blades completely cover the lower half of the receiving coil, the output amplitude of the output signal of the receiving coil reaches the inverse maximum, as indicated by reference 3 in fig. 3. When the rotor blade continues to rotate 90 degrees, the areas of the upper and lower half-turns of the receiving coil covered by the rotor blade are equal again, and the amplitude of the output voltage is equal to O again, as shown by the symbol 4 in fig. 3. In summary, the output amplitude of the receiving coil is related to the position of the rotor, and the position of the rotor can be determined by measuring the output amplitude and the phase of the receiving coil.
The embodiment of the invention also provides a method for measuring the angle position by adopting the angle position measuring system, which comprises the following steps: obtaining amplitudes y1, y2... yM of output signals of the M receiving coils; dividing a plane of 0-360 degrees into 4M quadrants; yM determining that the rotor is located in the Lth quadrant according to amplitudes y1, y2. of output signals of the M receiving coils; and determining a rotation angle of the rotor. Wherein M is 2 or 3, L is more than or equal to 1 and less than or equal to 4M, and L is a positive integer.
In the above example, N is 1 and M is 2. I.e. the output signals of the 2 receiving coils have amplitudes y1 and y2, respectively, dividing the plane of 0-360 deg. into 8 quadrants, as shown in fig. 4, where pi denotes 180 deg.. Then L is more than or equal to 1 and less than or equal to 8, and L is a positive integer.
Referring to fig. 5, fig. 5 is a flowchart of an angular position measuring method according to an embodiment of the present invention. The amplitudes y1 and y2 of the output signals of the 2 receiving coils are first acquired as by step S1 in fig. 5. The plane of 0-360 is then divided into 8 quadrants as in step S2 in fig. 5. Next, it is determined from the amplitudes y1 and y2 of the output signals of the 2 receiving coils that the rotor blade is located in the Lth quadrant, L is 1. ltoreq. L.ltoreq.8, and L is a positive integer, as in step S3 in FIG. 5.
Specifically, referring to fig. 4, fig. 4 is a schematic diagram of dividing a plane of 0-360 ° into 8 quadrants. When y1 > 0 and y2 > 0, the rotor blade is located in quadrant I and quadrant II. Further, it is further determined whether the rotor blade is located in the I-th quadrant or the II-th quadrant according to the magnitude of the values of y1 and y2. Specifically, when y2 > y1, the rotor blade is located in the I-th quadrant, and then the rotation angle Φ, arcsin (y1) of the rotor blade is determined according to y1 and y2, as in step S4 in fig. 5. Otherwise, when y2 is less than y1, the rotor blade is in quadrant II, where Φ is 90-arcsin (y2), as in step S4 of fig. 5.
When y1 > 0 and y2 < 0, the rotor blade is located in quadrant III and quadrant IV. Further, it is further determined whether the rotor blade is located in the III-th quadrant or the IV-th quadrant according to the magnitude of the absolute values of y1 and y2. Specifically, when | y1| > | y2| the rotor blade is located in the III-th quadrant, and then the rotation angle Φ, Φ ═ 90+ arcsin (| y2|) of the rotor blade is determined according to y1 and y2, as in step S4 in fig. 5. Otherwise, when | y1| < | y2|, the rotor blade is located in the IV-th quadrant, at which φ 180-arcsin (| y1|), as in step S4 of FIG. 5.
When y1 < 0 and y2 < 0, the rotor blade is located in the V-th and VI-th quadrants. Further, it is further determined whether the rotor blade is located in the V-th quadrant or the VI-th quadrant according to the magnitude of the absolute values of y1 and y2. Specifically, when | y2| > | y1| the rotor blade is located in the V-th quadrant, and then the rotation angle Φ, Φ ═ 180+ arcsin (| y1|) of the rotor blade is determined according to y1 and y2, as in step S4 in fig. 5. Otherwise, when | y2| < | y1, the rotor blade is located in the VI-th quadrant, at which time, Φ is 270-arcsin (| y2|), as in step S4 in fig. 5.
When y1 < 0 and y2 > 0, the rotor blade is located in the VII-th and VII-th quadrants. Further, it is further determined whether the rotor blade is located in the VII-th quadrant or the VII-th quadrant according to the magnitude of the absolute values of y1 and y2. Specifically, when | y1| > | y2| the rotor blade is located in the VII-th quadrant, and then the rotation angle Φ, Φ 270+ arcsin (| y2|) of the rotor blade is determined according to y1 and y2, as in step S4 in fig. 5. Otherwise, when | y1| < | y2|, the rotor blade is located in the VII-th quadrant, at which φ is 360-arcsin (| y1|), as in step S4 of FIG. 5.
In this embodiment, the rotation angle of the rotor with respect to its initial position is obtained, and the initial position of the rotor can be calibrated freely, so that it is convenient to use.
When M is 3, that is, when 3 receiving coils are included in the angular position sensor, a plane of 0 to 360 ° is divided into 12 quadrants, and then it is determined in which quadrant of 0 to 12 quadrants the rotor blade is specifically located according to the magnitudes (including the magnitudes of positive and negative and absolute values) of the amplitudes y1, y2, and y3 of the obtained output signals of the 3 receiving coils, and then the rotation angle Φ of the rotor blade is calculated using the amplitudes y1, y2, and y3 of the output signals of the 3 receiving coils. The accuracy of the rotation angle phi of the rotor blade is higher when 3 receive coils are used than when 2 receive coils are used. Therefore, different numbers of receiving coils are selected according to actual needs to adapt to different precision requirements.
In summary, in the angular position sensor, the angular position measuring system and the angular position measuring method provided in the embodiments of the present invention, the angular position sensor includes an excitation coil, M receiving coils coaxial with the excitation coil, and a rotor, where the M receiving coils, the first capacitor, and the operational amplifier in the angular position sensor form an LC oscillator circuit, and there is a deflection angle between the M receiving coils, where M is a positive integer greater than or equal to 2, and the rotation angle of the rotor can be obtained on the premise of obtaining output signals of the M receiving coils by using a relationship between the rotation angle of the rotor and output signals of the M receiving coils, so as to implement measurement of angular change. Due to the non-contact between the rotor and the receiving coil, i.e. no mechanical wear, the weather and vibration resistance of the angular position measuring system is improved. Meanwhile, the cost can be effectively reduced.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (14)
1. An angular position sensor, comprising: an excitation coil, M receiving coils coaxial with the excitation coil, and a rotor coaxial with the excitation coil; the M receiving coils are positioned on the inner side of the exciting coil, the rotor is positioned at one end of the M receiving coils, and a gap is formed between the rotor and the receiving coils; each circle of the M receiving coils is wound in the positive and negative directions, a deflection angle is formed between every two adjacent receiving coils, meanwhile, each circle of each receiving coil is wound in the positive direction and the negative direction for N times, and the positive winding and the negative winding are alternately carried out; when N is a positive integer greater than or equal to 1 and M is 2, the deflection angle = 360/(2N × M); when N is a positive integer greater than or equal to 1 and M is 3, the deflection angle = 360/(N × M);
and equally dividing the plane of 0-360 degrees to obtain 4M quadrants, and acquiring the output signal amplitude of each receiving coil when the rotor rotates for a certain angle so as to determine the quadrant where the rotor is located and the rotation angle of the rotor.
2. The angular position sensor of claim 1, wherein the rotor includes N rotor blades, wherein N is a positive integer greater than or equal to 1.
3. The angular position sensor according to claim 2, wherein N rotor blades are uniformly distributed on a plane on which the rotor blades are located, N being a positive integer greater than or equal to 1.
4. The angular position sensor of claim 3, wherein the rotor covers half of the area of the cross section of the receiving coil.
5. The angular position sensor of claim 1, wherein the excitation coil and the receiving coil are identical in cross-sectional shape.
6. The angular position sensor according to claim 5, wherein the excitation coil has a cross-sectional shape of a polygon, a circle, or an ellipse.
7. An angular position measurement system, comprising: an angular position sensor as claimed in any one of claims 1 to 6, a first capacitor, an operational amplifier, a demodulation and phase detection circuit and a controller; wherein the content of the first and second substances,
m receiving coils, a first capacitor and an operational amplifier in the angular position sensor form an LC oscillating circuit to generate an excitation signal;
the demodulation phase discrimination circuit is used for obtaining the amplitude and the phase of output signals of M receiving coils in the angle position sensor;
the controller is used for acquiring the rotation angle of the rotor in the angular position sensor according to the amplitude and the phase of the output signals of the M receiving coils.
8. The angular position measuring system of claim 7, further comprising: and the band-pass filter circuit is used for filtering out interference signals in the output signals of the receiving coil.
9. The angular position measuring system of claim 8, further comprising: the self-gain amplification circuit is used for automatically identifying the amplitude of the output signals of the M receiving coils after the interference signals are filtered out, adjusting the amplification times of the signals, converting the corresponding amplification times into voltage values, amplifying the voltage values by the fixed gain amplifier and inputting the voltage values to the analog-to-digital conversion circuit, and the demodulation phase discrimination circuit is used for obtaining the amplitude and the phase of the output signals of the M receiving coils after amplification.
10. The angular position measurement system of claim 7, wherein the demodulation and phase detection circuit comprises: a multiplier and a low-pass filter circuit; wherein the multiplier is used for separating the output signals of the M receiving coils into a group of high-frequency signals and a group of low-frequency signals; the low-pass filter circuit is used for filtering the high-frequency signal to obtain the low-frequency signal.
11. The angular position measuring system according to claim 10, wherein each turn of the M receiving coils has N forward windings and N reverse windings, the high frequency signal has a frequency 2 times a carrier frequency of an output signal of the M receiving coils, and the low frequency signal has an amplitude related to an amplitude of an output signal of the M receiving coils, where N is a positive integer equal to or greater than 1 and M is 2 or 3.
12. The angular position measuring system according to claim 11, wherein each turn of the M receiving coils has N forward windings and N reverse windings, and an output signal of the M receiving coils has an amplitude 2 times larger than an amplitude of the low frequency signal, where N is a positive integer equal to or greater than 1 and M is 2 or 3.
13. The angular position measuring system of claim 11, wherein a carrier frequency of the output signals of the M receive coils is equal to a frequency of the excitation signal.
14. A method of angular position measurement using an angular position measurement system according to any of claims 7 to 13,
obtaining amplitudes y1 and y2 … yM of output signals of M receiving coils in the angular position sensor;
dividing a plane into 4M quadrants;
determining that the rotor is positioned in the Lth quadrant according to the amplitudes y1 and y2 … yM of the output signals of the M receiving coils;
obtaining the rotation angle of the rotor according to the amplitudes y1 and y2 … yM of the output signals of the M receiving coils;
wherein M is 2 or 3, L is more than or equal to 1 and less than or equal to 4M, and L is a positive integer.
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| CN109443462B (en) * | 2018-12-07 | 2024-05-10 | 杭州为峰智能科技有限公司 | Antimagnetic metering detection device |
| CN112577414B (en) * | 2020-12-18 | 2022-08-02 | 上海奥蓝迪物联网科技有限公司 | Pulse type LC oscillation induction type angle sensor and angle position measuring method |
| CN112833772B (en) * | 2020-12-31 | 2022-12-09 | 联合汽车电子有限公司 | Angle position sensor, angle measurement system and method and vehicle |
| CN113899298A (en) * | 2021-10-15 | 2022-01-07 | 济南瑞泉电子有限公司 | Inductance position sensing device based on phase shift sine and cosine double-circuit voltage detection |
| CN115307719A (en) * | 2022-08-18 | 2022-11-08 | 东北林业大学 | Electromagnetic vibration sensor of flexible Archimedes spiral coil and vibration measurement method |
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| JP2007064719A (en) * | 2005-08-30 | 2007-03-15 | Tokyo Cosmos Electric Co Ltd | Contactless displacement sensor |
| DE102006046531A1 (en) * | 2006-09-29 | 2008-04-03 | Dr. Johannes Heidenhain Gmbh | Encoder and method for its operation |
| CN101363709B (en) * | 2008-09-27 | 2012-07-04 | 重庆理工大学 | Time gating angular displacement sensor |
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