CN106441080A - Separate solar tracking system rotation angle measurement apparatus based on magnetic field detection - Google Patents
Separate solar tracking system rotation angle measurement apparatus based on magnetic field detection Download PDFInfo
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- CN106441080A CN106441080A CN201610783835.8A CN201610783835A CN106441080A CN 106441080 A CN106441080 A CN 106441080A CN 201610783835 A CN201610783835 A CN 201610783835A CN 106441080 A CN106441080 A CN 106441080A
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- magnetic field
- measurement apparatus
- angle measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a separate solar tracking system rotation angle measurement apparatus based on magnetic field detection. The apparatus comprises a first mark magnet and a first magnetic field angle sensor used for detecting the magnetic line direction of the first mark magnet, wherein there is a gap between the first mark magnet and the first magnetic field angle sensor. The separate solar tracking system rotation angle measurement apparatus based on magnetic field detection meets a single-loop absolute value type angle measurement requirement for low cost; a measurement apparatus of an angle measurement system and a magnetic measurement primary standard substance employ magnetic field coupling measurement, and the problem of wear due to long-term use is eliminated; the magnetic field coupling measurement does not require such auxiliary devices as couplings and the like, and the installation and construction are convenient; and a two-stage single-loop absolute value type angle measurement apparatus can improve measurement precision through combination and satisfies the measurement requirement of an optical-focusing heat tracking system for high precision.
Description
Technical field
The invention belongs to solar tracking system angle detection technique field is and in particular to a kind of separation based on magnetic field detection
Formula sun tracing system rotational angle measurement apparatus.
Background technology
Solar tracking system is widely used in solar energy power generating and solar light-heat power-generation field.Solar tracking system
Mainly it is made up of mechanically tracking support and automatic tracking control apparatus two large divisions, optical detection is broadly divided on control mode
Method and astronomical calculating method.Optical detection detects the orientation of the sun using photoelectric sensor and realizes tracing control although simple
Cheap but reliability is low.Longitude, latitude and Time Calculation that astronomical calculating method passes through tracker present position obtain entering of the sun
Firing angle degree, adopts angular transducer measurement to follow the tracks of the actual attitude angle of support, the actual measurement appearance of support is followed the tracks of in then adjustment simultaneously
State angle is consistent with angle of incidence of sunlight degree, realizes closed loop Angle ambiguity.Due to astronomical calculating method tracing control be not subject to weather and
The impact that optic probe is stained, therefore follows the tracks of reliability and applicability is higher.
In astronomical calculating method solar tracking system, need the actual attitude angle of detecting and tracking support just can complete the sun
Tracing control.Conventional detection technique in solar tracking system angular surveying is mainly rotational potentiometer technology and rotation at present
Encoder techniques.
Rotational potentiometer is also referred to as angular displacement type variable-resistance transducer, the electricity when the rotary shaft of potentiometer is in diverse location
Position device centre tap is also different from the resistance between two terminations, can measure definitely turning of rotating shaft by the size measuring resistance
Angle.But rotational potentiometer is a kind of contact type measurement technology, in long-time use, occur that contact electrode is worn and torn with swept resistance
Phenomenon.The certainty of measurement of rotational potentiometer is usually 0.1%, for the attitude angle measurement of solar tracking system, maximum survey
Amount error is about positive and negative 0.36 degree, can only meet photovoltaic tracking and require it is impossible to meeting high-precision smooth heat build-up solar tracking and controlling.
Rotary encoder is a kind of Non-contact Angle Measurement device, generally adopts photovoltaic principals or electromagnetic principle to work,
Precision is higher.Rotary encoder is divided into incremental encoder and absolute position formula encoder, and incremental encoder can only export phase
To angle change, sun tracing system generally can not be applied individually to any.The rotating shaft of absolute position formula encoder is in diverse location
When the encoder different codings of output, by coding can high-precision measuring encoder rotating shaft the anglec of rotation.Absolute position formula
The shortcoming of rotary encoder is expensive, using the cost that can significantly improve whole tracking system in solar tracking system,
Less economical.
Either rotational potentiometer or rotary encoder, this class angle-measuring equipment is generally all by measurement apparatus and one
The rotating shaft of individual rotation is constituted, and both are encapsulated in a housing.During use, measurement apparatus and rotating shaft are connected respectively to rotation
In the fixed component and rotatable parts of machinery, realize the outer corner measurement of rotating machinery.In order to ensure coaxially to work, require during installation
Sensor shaft is strictly located in machinery rotation device in the heart, shaft bending can be made to deform, and then damage measurement when otherwise rotating
Device.Due to being strictly difficult to one heart accomplish, engineering practice typically requires increase flexible clutch to realize connecting, lead to install
Cost improves and installation trouble.
Content of the invention
It is an object of the invention to provide a kind of separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection,
Solve the problems, such as that existing solar tracking support rotational angle measurement apparatus high cost, installation requirement be strict, precision is low.
The technical solution adopted in the present invention is that the separate type sun tracing system rotation angular measurement based on magnetic field detection fills
Put, the first magnetic field angular sensor including the first mark magnet with for detection the first mark magnet magnetic line of force direction, first
There is gap between mark magnet and the first magnetic field angular sensor.
The feature of the present invention also resides in：
First magnetic field angular sensor includes the first magnetic field sensing element, and the first magnetic field sensing element is connected to first
Power supply and the first digital processor, the first power supply is connected with the first digital processor.
First magnetic field angular sensor is arranged on the fixed support affixed with following the tracks of support ground, the first mark magnet peace
It is contained on the central shaft following the tracks of holder pivots mechanism.
First mark magnet is arranged on the fixed support affixed with following the tracks of support ground, the first magnetic field angular sensor peace
It is contained on the central shaft following the tracks of holder pivots mechanism.
Also include the second mark magnet and the second magnetic field angle sensing for detection the second mark magnet magnetic line of force direction
Device, has gap between the second mark magnet and the second magnetic field angular sensor.
Second magnetic field angular sensor includes the second magnetic field sensing element, and the second magnetic field sensing element is connected to second
Power supply and the second digital processor, the second power supply is connected with the second digital processor.
Second mark magnet is arranged on the primary drive shaft of upper level deceleration system of rotary drive mechanism, the second magnetic field
Angular transducer is arranged on the support concentric with rotary shaft.
The invention has the beneficial effects as follows：The separate type sun tracing system rotation angular measurement dress based on magnetic field detection for the present invention
Put it is achieved that cheap individual pen absolute value type angular surveying requires；The measurement apparatus of angle measurement system and Magnetic Measurement benchmark
Adopt magnetic coupling to measure between thing, there is no the wear problem in Long-Time Service；Magnetic coupling measurement assists without shaft joint etc.
Device, installation is convenient；Two-stage individual pen absolute value type angle measurement unit can improve certainty of measurement by combination, meets high-precision
The light heat build-up tracking system measurement request of degree.
Brief description
Fig. 1 is the structural representation of separate type sun tracing system rotational angle measurement apparatus of the present invention；
Fig. 2 is the structure of the first magnetic field angular sensor in separate type sun tracing system rotational angle measurement apparatus of the present invention
Schematic diagram；
Fig. 3 is the structure of the second magnetic field angular sensor in separate type sun tracing system rotational angle measurement apparatus of the present invention
Schematic diagram；
In Fig. 4 separate type of the present invention sun tracing system rotational angle measurement apparatus, the combination of two-stage measuring system signal is illustrated
Figure；
Fig. 5 is magnetic field angular sensor operation principle in separate type sun tracing system rotational angle measurement apparatus of the present invention
Figure.
In figure, 1. the first mark magnet, 2. the first magnetic field angular sensor, 3. fixed support, 4. follow the tracks of holder pivots machine
Structure, 5. follows the tracks of carrier, and 6. rotation supports, 7. the second mark magnet, 8. the second magnetic field angular sensor, 9. primary drive shaft,
10. the first magnetic field sensing element, 11. first digital processors, 12. first power supplies, 13. rotation central axis, 14. magnetic force
Line, 15. second magnetic field sensing element, 16. second digital processors, 17. second power supplies.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
The separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection for the present invention, structure is as shown in figure 1, wrap
Include the first mark magnet 1 and the first magnetic field angular sensor 2 for detection the first mark magnet 1 magnetic line of force direction, the first mark
There is gap between note magnet 1 and the first magnetic field angular sensor 2, do not contact each other, rely on magnetic field to carry out coupling detection, no
Need the accessory structures such as shaft coupling.
As shown in Fig. 2 the first magnetic field angular sensor 2 includes the first magnetic field sensing element 10, the first magnetic field sensing element
10 are connected to the first power supply 12 and the first digital processor 11, the first power supply 12 and the first digital process
Device 11 connects.
Embodiment 1
It is remains stationary that first magnetic field angular sensor 2 is arranged on the fixed support 3 affixed with following the tracks of support ground, the
One mark magnet 1 is arranged on the central shaft following the tracks of holder pivots mechanism 4 with holder pivots.When tracking support and tracking thereon
Carrier 5 changes around the first mark magnet 1 synchronous rotary during rotation support 6 rotation, magnetic line of force direction, the first magnetic field angle
Sensor 2 passes through to measure the absolute rotation angle that magnetic line of force orientation measurement follows the tracks of support.
Embodiment 2
First mark magnet 1 and the first magnetic field angular sensor 2 installation site in embodiment 1 are exchanged, i.e. the first mark
Magnet 1 is arranged on the fixed support 3 affixed with following the tracks of support ground, remains stationary, and the first magnetic field angular sensor 2 is arranged on
Follow the tracks of on the central shaft of holder pivots mechanism 4 with holder pivots.
Embodiment 1 and embodiment 2 are realized low precision and are followed the tracks of angular surveying.
Embodiment 3
On the basis of above-described embodiment 1 or embodiment 2, it is also equipped with the second mark magnet 7 and is used for detection second
Mark magnet 7 magnetic line of force direction the second magnetic field angular sensor 8, second mark magnet 7 and the second magnetic field angular sensor 8 it
Between have gap, do not contact.
As shown in figure 3, the second magnetic field angular sensor 8 includes the second magnetic field sensing element 15, the second magnetic field sensing element
15 are connected to the second power supply 17 and the second digital processor 16, the second power supply 17 and the second digital process
Device 16 connects.
On the primary drive shaft 9 of upper level deceleration system that second mark magnet 7 is arranged on rotary drive mechanism, the second magnetic
Field angular transducer 8 is arranged on the support concentric with rotary shaft.When primary drive shaft 9 drives the second mark magnet 7 rotation, the
Two magnetic field angular sensors 8 pass through to measure the angle position of the magnetic line of force angle detecting primary drive shaft 9 of the second mark magnet 7.
Embodiment 3 realizes two-stage type high precision tracking angular surveying.
With regard to embodiment 3, there is speed reducing ratio N, such as Fig. 4 between primary drive shaft 9 and tracking holder pivots mechanism 4
Shown, after primary drive shaft 9 turns over N circle, follow the tracks of holder pivots mechanism 4 and rotate 360 degrees (N=8 in Fig. 3).The anglec of rotation is surveyed
Amount device, on the basis of the first magnetic field angular sensor 2 output signal, adopts the second magnetic field angle in its different measuring region
The signal of degree sensor 8 is finely divided to measurement result, thus improving overall measurement accuracy.
As：When tracking holder pivots mechanism 4 is in 45-90 and spends, rotational angle measurement apparatus can determine whether primary rotary shaft 9 work
Make in the 2nd circle (90-135 degree works in the 3rd circle by that analogy), primary rotary shaft 9 is done the rotation of 0-360 degree and is equivalent to tracking support
The angle of rotating mechanism 4 changes from 45-90 degree, it is assumed that primary drive shaft 9 angle is surveyed in the case that system does not have gash spacing error
Accuracy of measurement 0.1%, worst error is positive and negative 0.36 degree, and this angular error is converted next stage and followed the tracks of on a frame transmission mechanism 4
Then angular error is then positive and negative 0.045, and overall precision is 0.0125%, and precision improves 8 times of (speed reducing ratio phases with two-stage transmission
With).
In the present invention, the first mark magnet 1 is as shown in Figure 5 with the measuring principle of the first magnetic field angular sensor 2：First mark
Note magnet 1 is coaxially arranged with the first magnetic field sensing element 10, when the first mark magnet 1 rotates around rotation central axis 13, its magnetic field
The magnetic line of force 14 also rotate with, the first magnetic field sensing element 10 detect magnetic field angle change, by the first digital process
Output angle measurement signal after device 11 operational analysis.
The measuring principle of the second mark magnet 7 and the second magnetic field angular sensor 8 is ibid.
The separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection for the present invention are it is achieved that cheap individual pen
Absolute value type angular surveying requires；Magnetic coupling is adopted to survey between the measurement apparatus of angle measurement system and Magnetic Measurement primary standard substance
Amount, does not have the wear problem in Long-Time Service；Without servicing units such as shaft joints, installation is convenient for magnetic coupling measurement；Two
Level individual pen absolute value type angle measurement unit can improve certainty of measurement by combination, meet high-precision smooth heat build-up tracking system and survey
Amount requires.
Claims (7)
1. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection are it is characterised in that include the first mark
Magnet (1) and the first magnetic field angular sensor (2) for detection the first mark magnet (1) magnetic line of force direction, the first mark magnetic
There is gap between iron (1) and the first magnetic field angular sensor (2).
2. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 1, it is special
Levy and be, described first magnetic field angular sensor (2) includes the first magnetic field sensing element (10), the first magnetic field sensing element (10)
It is connected to the first power supply (12) and the first digital processor (11), the first power supply (12) is digital with first
Processor (11) connects.
3. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 2, it is special
Levy and be, described first magnetic field angular sensor (2) is arranged on the fixed support (3) affixed with following the tracks of support ground, described
First mark magnet (1) is arranged on the central shaft following the tracks of holder pivots mechanism (4).
4. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 2, it is special
Levy and be, described first mark magnet (1) is arranged on the fixed support (3) affixed with following the tracks of support ground, described first magnetic
Field angular transducer (2) is arranged on the central shaft following the tracks of holder pivots mechanism (4).
5. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 3 or 4, its
It is characterised by, also include the second mark magnet (7) and the second magnetic field angle for detection the second mark magnet (7) magnetic line of force direction
Degree sensor (8), has gap between the second mark magnet (7) and the second magnetic field angular sensor (8).
6. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 5, it is special
Levy and be, described second magnetic field angular sensor (8) includes the second magnetic field sensing element (15), the second magnetic field sensing element (15)
It is connected to the second power supply (17) and the second digital processor (16), the second power supply (17) is digital with second
Processor (16) connects.
7. the separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection according to claim 6, it is special
Levy and be, described second mark magnet (7) is arranged on the primary drive shaft (9) of the upper level deceleration system of rotary drive mechanism
On, the second magnetic field angular sensor (8) is arranged on the support concentric with rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783835.8A CN106441080B (en) | 2016-08-30 | 2016-08-30 | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783835.8A CN106441080B (en) | 2016-08-30 | 2016-08-30 | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
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| CN106441080A true CN106441080A (en) | 2017-02-22 |
| CN106441080B CN106441080B (en) | 2019-07-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060134A (en) * | 2019-12-10 | 2020-04-24 | 中船航海科技有限责任公司 | Device for measuring follow-up error of magnetic heading sending device |
| CN113650021A (en) * | 2021-10-20 | 2021-11-16 | 深圳市越疆科技有限公司 | Control method, device and equipment of mechanical arm, computer medium and mechanical arm |
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| US6324905B2 (en) * | 1997-09-11 | 2001-12-04 | Robert Bosch Gmbh | Method and device for measuring an angle of a rotatable body |
| EP1193472B1 (en) * | 2000-10-02 | 2010-05-05 | Bourns, Inc. | Method and apparatus for determining the absolute position of displacement and angle sensors |
| JP2002340618A (en) * | 2001-05-16 | 2002-11-27 | Matsushita Electric Ind Co Ltd | Turning angle detecting device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060134A (en) * | 2019-12-10 | 2020-04-24 | 中船航海科技有限责任公司 | Device for measuring follow-up error of magnetic heading sending device |
| CN113650021A (en) * | 2021-10-20 | 2021-11-16 | 深圳市越疆科技有限公司 | Control method, device and equipment of mechanical arm, computer medium and mechanical arm |
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| CN106441080B (en) | 2019-07-05 |
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