CN106451928A - Permanent magnet brushless direct current motor equipped with magnetic encoder - Google Patents
Permanent magnet brushless direct current motor equipped with magnetic encoder Download PDFInfo
- Publication number
- CN106451928A CN106451928A CN201610792202.3A CN201610792202A CN106451928A CN 106451928 A CN106451928 A CN 106451928A CN 201610792202 A CN201610792202 A CN 201610792202A CN 106451928 A CN106451928 A CN 106451928A
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- Prior art keywords
- permanent magnet
- magnetic coder
- rotor
- magnetic
- permanent
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a permanent magnet brushless direct current motor equipped with a magnetic encoder. The permanent magnet brushless direct current motor comprises a machine shell, a control electric board, a rotor and a stator, wherein the control electric board is fixed in the center of the inner side of the front end cover; a magnetic encoder chip is arranged in the center of the control electric board; the rotor comprises a central rotary shaft and a rotor disc; a cylindrical permanent magnet is embedded in the center of the front end of the central rotary shaft; the front end plane of the cylindrical permanent magnet is close to and not fitted with the magnetic encoder chip; four Hall sensors, distributed around the circumference, are arranged in the magnetic encoder chip; two opposite Hall sensors are connected together by an encoding circuit through a corresponding differential amplifier; each analog-digital converter converts analog signals into digital signals and noise is filtered out by a corresponding digital filter; and then a digital signal processor is connected for processing so as to obtain an angle and magnitude. The permanent magnet brushless direct current motor is simple in structure, convenient to assemble, efficient and reliable, and effectively improves recognition accuracy on the rotor angle; and in addition, the magnetic encoder has the characteristics of vibration resistance, corrosion resistance, interference resistance and the like.
Description
Technical field
The present invention relates to a kind of permanent-magnet brushless DC electric machine with magnetic coder, belong to technical field of motors.
Background technology
Permanent-magnet brushless DC electric machine is the direct current generator being set up magnetic field by one or more permanent magnet, and structure brushes electricity with having
Machine is similar, also has rotor and stator, except for the difference that：The rotor of brush motor is coil windings, is connected with power output shaft, stator
It is permanent magnetic steel；The rotor of brushless electric machine is permanent magnetic steel, is connected with output shaft, and stator is winding coil, has eliminated brush electricity
Machine is used for the commutating brush of checker electromagnetic field, therefore referred to as brushless electric machine.Brushless electric machine relies on change to be input to stator line
The alternative frequency of the electric current on circle and waveform, form the magnetic field around the rotation of motor geometry axle center around winding coil, from
And drive the permanent magnetic steel on rotor to rotate.Because input is unidirectional current, electric current needs to be become alternating current, that is, pass through
Control panel accepts position sensor signal and positive and negative rotaring signal, for controlling the break-make of each electric bridge, produces continuous torque.
The rotor-position that existing permanent-magnet brushless DC electric machine is identified by the hall position sensor in control circuit,
Accuracy of identification is not high enough, thus the torque that on stator coil, alternating current produces is unstable, is susceptible to shake during low speed, and rotating speed
Also None- identified when very fast.
For solving the above problems, design a kind of permanent-magnet brushless DC electric machine with magnetic coder, by magnetic coder core
Four Hall elements being uniformly distributed along the circumference in piece and coded treatment, are effectively improved the accuracy of identification to rotor angle, make
Motor output is more smooth, more reliable；And compared with traditional optical encoder, magnetic coder has anti-vibration, anticorrosive, anti-soil
Dye, the characteristic of anti-interference and wide temperature.
Content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of permanent magnetism with magnetic coder
Brshless DC motor, has the advantages that structure is simple, easy to assembly, high efficient and reliable, effectively improves the identification essence to rotor angle
Degree, and magnetic coder have anti-vibration, anticorrosive, anti-interference the features such as.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of permanent-magnet brushless DC electric machine with magnetic coder, including casing, control panel, rotor and be set in described turning
The stator in son outside；
Wherein, described casing includes drive end bearing bracket, rear end cap and outer tube, and drive end bearing bracket and rear end cap are fixed on outer tube two ends；
Described control panel is fixed at drive end bearing bracket medial center, and control panel center is provided with magnetic coder chip,
And magnetic coder chip is connected by circuit with control panel；
Described stator includes stator core and is wrapped in coil windings on stator core, and described stator core is fixing outside
In cylinder；
Described rotor includes central rotating shaft and rotor disk, and rotor disk is provided with permanent magnet, and rotor disk and central rotating shaft
Install with central axis；Central rotating shaft is arranged on drive end bearing bracket by bearing, on rear end cap, and install with central axis；Center turns
Be embedded with cylindrical permanent magnet at the front end center of axle, the front end face of cylindrical permanent magnet and magnetic coder chip near and do not paste
With.
Preferably, for ensureing the sensing to cylindrical permanent magnet magnetic field for the magnetic coder chip, described cylindrical permanent magnet
Gap between front end face and magnetic coder chip is in 0.6mm～0.9mm.
Preferably, it is provided with four Hall elements being uniformly distributed along the circumference in described magnetic coder chip, by chip
The logic circuit in portion is sampled to circumferential magnetic field.
Preferably, the circle diameter at four Hall element places is in 2.0mm～2.3mm.
Preferably, described magnetic coder chip includes coding circuit, and described coding circuit is connected with four Hall elements,
From the cylindrical permanent magnet Distribution of Magnetic Field detecting, Treatment Analysis go out the angle information of cylindrical permanent magnet.
Preferably, two relative Hall elements are linked together by described coding circuit by differential amplifier, obtain
To two analogue signals be converted into digital signal and filtered by digital filter miscellaneous by analog-digital converter (ADC) respectively
Obtain two digital signals incoming digital signal processor (DSP) are then processed and obtain angle (Angle) and digital quantity by sound
(Magnitude).
Beneficial effect：A kind of permanent-magnet brushless DC electric machine with magnetic coder that the present invention provides, with respect to prior art,
There is advantages below：1st, structure is simple, easy to assembly, high efficient and reliable, and by be uniformly distributed along the circumference in magnetic coder chip four
Individual Hall element and coded treatment, are effectively improved the accuracy of identification to rotor angle, make the output of motor more smooth, more
Reliable；2nd, compared with traditional optical encoder, magnetic coder has anti-vibration, anticorrosive, antipollution, anti-interference and wide temperature etc.
Feature.
Brief description
Fig. 1 is a kind of overall structure diagram of the permanent-magnet brushless DC electric machine with magnetic coder of the present invention；
Fig. 2 is coding circuit fundamental diagram in a kind of permanent-magnet brushless DC electric machine with magnetic coder of the present invention；
In figure includes：1st, drive end bearing bracket, 2, rear end cap, 3, outer tube, 4, control panel, 5, magnetic coder chip, 6, stator ferrum
Core, 7, central rotating shaft, 8, rotor disk, 9, cylindrical permanent magnet, 10, Hall element, 11, differential amplifier, 12, analog digital conversion
Device, 13, digital filter, 14, digital signal processor
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the present invention.
Be illustrated in figure 1 a kind of permanent-magnet brushless DC electric machine with magnetic coder, including casing, control panel 4, rotor and
It is set in the stator outside described rotor；
Wherein, described casing includes drive end bearing bracket 1, rear end cap 2 and outer tube 3, and drive end bearing bracket 1 and rear end cap 2 are fixed on outer tube 3
Two ends；
Described control panel 4 is fixed at drive end bearing bracket 1 medial center, and control panel 4 center is provided with magnetic coder core
Piece 5, and magnetic coder chip 5 is connected by circuit with control panel 4；
Described stator includes stator core 6 and is wrapped in coil windings on stator core, and described stator core 6 is fixed on
In outer tube 3；
Described rotor includes central rotating shaft 7 and rotor disk 8, and rotor disk 8 is provided with permanent magnet, and rotor disk 8 and center
Rotating shaft 7 is installed with central axis；Central rotating shaft 7 is arranged on drive end bearing bracket 1 by bearing, on rear end cap 2, and with central axis peace
Dress；It is embedded with cylindrical permanent magnet 9, the front end face of cylindrical permanent magnet 9 and magnetic coder core at the front end center of central rotating shaft 7
Piece 5 near and do not paste and.
In the present embodiment, for ensureing the sensing to cylindrical permanent magnet 9 magnetic field for the magnetic coder chip 5, described cylinder is forever
Gap between the front end face of magnet 9 and magnetic coder chip 5 is 0.8mm.
In the present embodiment, in described magnetic coder chip 5, it is provided with four Hall elements 10 being uniformly distributed along the circumference.
In the present embodiment, the circle diameter at four Hall element 10 places is 2.2mm.
In the present embodiment, described magnetic coder chip 5 includes coding circuit, and described coding circuit is by two relative Halls
Sensor 10 is linked together by differential amplifier 11, and two obtaining analogue signal passes through analog-digital converter 12 respectively
(ADC) it is converted into digital signal and noise is filtered by digital filter 13, then obtain two digital signals are accessed number
Word signal processor 14 (DSP) processes and obtains angle (Angle) and digital quantity (Magnitude).
In the present embodiment, magnetic coder has incremental angle output and absolute angle output function.Incremental angle output letter
Number it is divided into A, B two-way, Magnet rotates a circle relative to magnetic coder chip, A, channel B respectively exports 256 recurrent pulses, two-way is believed
Number 1/2 pulse of phase, can judge rotation direction according to advanced or lagged relationship, can obtain 10 by 4 frequencys multiplication
Resolution.Absolute angle is defined as the magnetic pole of Magnet and the angle of Hall array by magnetic coder chip, and Magnet often rotates one
In week, magnetic coding chip will export the signal of 512 absolute angle, can be read by SPI communication.Absolute angle be 0 or
When 1023, INDEX passage will export a zero pulse, it is possible to use this signal resets measured value, eliminate cumulative errors.
The discernible rotor-position precision of this magnetic rotary encoder is ± 0.35 °, and traditional Hall element can recognize that
Rotor-position precision be ± 30 °, so using magnetic rotary encoder permagnetic synchronous motor operate more smooth, by torque pulsation
Near minimum, because chip identification positional precision is high, motor will not be shaken in low speed, and can export high pulling torque.
The above be only the preferred embodiment of the present invention it should be pointed out that：Ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of permanent-magnet brushless DC electric machine with magnetic coder it is characterised in that include casing, control panel (4), rotor and
It is set in the stator outside described rotor；
Wherein, described casing includes drive end bearing bracket (1), rear end cap (2) and outer tube (3), and drive end bearing bracket (1) and rear end cap (2) are fixed
At outer tube (3) two ends；
Described control panel (4) is fixed at drive end bearing bracket (1) medial center, and control panel (4) center is provided with magnetic coder
Chip (5), and magnetic coder chip (5) is connected by circuit with control panel (4)；
Described stator includes stator core (6) and is wrapped in coil windings on stator core (6), and described stator core (6) is solid
It is scheduled in outer tube (3)；
Described rotor includes central rotating shaft (7) and rotor disk (8), and rotor disk is provided with permanent magnet on (8), and rotor disk (8) with
Central rotating shaft (7) is installed with central axis；Central rotating shaft (7) is arranged on drive end bearing bracket (1) by bearing, on rear end cap (2), and with
Central axis is installed；It is embedded with cylindrical permanent magnet (9), before cylindrical permanent magnet (9) at the front end center of central rotating shaft (7)
End face and magnetic coder chip (5) near and do not paste and.
2. a kind of permanent-magnet brushless DC electric machine with magnetic coder according to claim 1 is it is characterised in that described cylinder
Gap between the front end face of shape permanent magnet (9) and magnetic coder chip (5) is in 0.6mm～0.9mm.
3. a kind of permanent-magnet brushless DC electric machine with magnetic coder according to claim 1 is it is characterised in that described magnetic is compiled
It is provided with, in code device chip (5), four Hall elements (10) being uniformly distributed along the circumference.
4. a kind of permanent-magnet brushless DC electric machine with magnetic coder according to claim 3 is it is characterised in that four Halls
The circle diameter that sensor (10) is located is in 2.0mm～2.3mm.
5. a kind of permanent-magnet brushless DC electric machine with magnetic coder according to claim 3 is it is characterised in that described magnetic is compiled
Code device chip (5) includes coding circuit, and described coding circuit is connected with four Hall elements (10), from the cylinder detecting
In permanent magnet (9) Distribution of Magnetic Field, Treatment Analysis go out the angle information of cylindrical permanent magnet (9).
6. a kind of permanent-magnet brushless DC electric machine with magnetic coder according to claim 5 is it is characterised in that described coding
Two relative Hall elements (10) are linked together by circuit by differential amplifier (11), two obtaining analogue signal
Respectively digital signal is converted into by analog-digital converter (12) and noise filtered by digital filter (13), then will obtain
Two digital signals incoming digital signal processor (14) process and obtain angle and digital quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792202.3A CN106451928A (en) | 2016-08-31 | 2016-08-31 | Permanent magnet brushless direct current motor equipped with magnetic encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792202.3A CN106451928A (en) | 2016-08-31 | 2016-08-31 | Permanent magnet brushless direct current motor equipped with magnetic encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106451928A true CN106451928A (en) | 2017-02-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610792202.3A Pending CN106451928A (en) | 2016-08-31 | 2016-08-31 | Permanent magnet brushless direct current motor equipped with magnetic encoder |
Country Status (1)
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107026539A (en) * | 2017-05-22 | 2017-08-08 | 华中科技大学 | Integrated magnetic coder and Hall switch determine the external rotor permanent magnet synchronous machine of position |
| CN107294242A (en) * | 2017-07-20 | 2017-10-24 | 深圳市雅腾电机有限公司 | Robot arm joint motor |
| CN107317438A (en) * | 2017-07-17 | 2017-11-03 | 中国科学院长春光学精密机械与物理研究所 | A kind of brushless electric machine and head with the brushless electric machine, aerial photography device |
| CN107565762A (en) * | 2017-09-01 | 2018-01-09 | 浙江众邦机电科技有限公司 | Magnetic encoder, motor and its angle computation method |
| CN108646571A (en) * | 2018-07-12 | 2018-10-12 | 北京航空航天大学 | A kind of gyro frame servo system high precision position discrimination method |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
| CN113783392A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Brushless direct current motor control method |
| CN113783367A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Intelligent voice-controlled brushless direct current motor |
| CN113794409A (en) * | 2021-09-24 | 2021-12-14 | 广东麦珂威尔健康科技有限公司 | Body-building equipment driving device based on magnetic encoder and control method thereof |
| CN114089231A (en) * | 2021-11-02 | 2022-02-25 | 湖南大学 | Magnetic sensor module, printed permanent magnet synchronous motor and application method thereof |
| WO2024001647A1 (en) * | 2022-06-29 | 2024-01-04 | 杭州海康机器人股份有限公司 | Motor and automated guided vehicle |
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| CN206099665U (en) * | 2016-08-31 | 2017-04-12 | 江苏大电机电有限公司 | Take magnetic encoder's permanent magnet brushless DC motor |
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| CN201348929Y (en) * | 2008-12-31 | 2009-11-18 | 深圳航天科技创新研究院 | Hall rotating transformer and Hall angle encoder manufactured by same |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107026539A (en) * | 2017-05-22 | 2017-08-08 | 华中科技大学 | Integrated magnetic coder and Hall switch determine the external rotor permanent magnet synchronous machine of position |
| CN107026539B (en) * | 2017-05-22 | 2024-04-19 | 华中科技大学 | Outer rotor permanent magnet synchronous motor with position determined by integrating magnetic encoder and Hall switch |
| CN107317438A (en) * | 2017-07-17 | 2017-11-03 | 中国科学院长春光学精密机械与物理研究所 | A kind of brushless electric machine and head with the brushless electric machine, aerial photography device |
| CN107294242A (en) * | 2017-07-20 | 2017-10-24 | 深圳市雅腾电机有限公司 | Robot arm joint motor |
| CN107565762A (en) * | 2017-09-01 | 2018-01-09 | 浙江众邦机电科技有限公司 | Magnetic encoder, motor and its angle computation method |
| CN108646571B (en) * | 2018-07-12 | 2020-10-30 | 北京航空航天大学 | High-precision position identification method for gyro frame servo system |
| CN108646571A (en) * | 2018-07-12 | 2018-10-12 | 北京航空航天大学 | A kind of gyro frame servo system high precision position discrimination method |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
| CN113783392A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Brushless direct current motor control method |
| CN113783367A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Intelligent voice-controlled brushless direct current motor |
| CN113783392B (en) * | 2021-09-09 | 2024-08-16 | 芜湖德力电机有限公司 | Brushless direct current motor control system |
| CN113794409A (en) * | 2021-09-24 | 2021-12-14 | 广东麦珂威尔健康科技有限公司 | Body-building equipment driving device based on magnetic encoder and control method thereof |
| CN113794409B (en) * | 2021-09-24 | 2024-03-15 | 广东麦珂威尔健康科技有限公司 | Body-building equipment driving device based on magnetic encoder and control method thereof |
| CN114089231A (en) * | 2021-11-02 | 2022-02-25 | 湖南大学 | Magnetic sensor module, printed permanent magnet synchronous motor and application method thereof |
| WO2024001647A1 (en) * | 2022-06-29 | 2024-01-04 | 杭州海康机器人股份有限公司 | Motor and automated guided vehicle |
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Application publication date: 20170222 |
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