CN107276323B

CN107276323B - Angle detection equipment, rotating body and motor system

Info

Publication number: CN107276323B
Application number: CN201710647598.7A
Authority: CN
Inventors: 高翔
Original assignee: Suzhou Yuze Intelligent Technology Co ltd
Current assignee: Suzhou Yuze Intelligent Technology Co ltd
Priority date: 2017-08-01
Filing date: 2017-08-01
Publication date: 2024-04-19
Anticipated expiration: 2037-08-01
Also published as: CN107276323A

Abstract

The invention provides angle detection equipment, a rotating body and a motor system, and belongs to the technical field of detection. The angle detection device comprises a rotation angle detection device and a signal processing device; the rotation angle detection device comprises at least one set of detection coil system, each set of detection coil system comprises at least 4 parallel multi-bridge arm bridge circuits formed by a plurality of coils, two parallel connection points of the multi-bridge arm bridge circuits are led out to serve as excitation leads, and one lead is led out from the contact points of the upper bridge arm and the lower bridge arm of each column of bridge arms to serve as signal leads. The signal processing device comprises an excitation circuit, a signal acquisition circuit and an angle calculation circuit. The differential signals of two signal leads and the differential signals of the other two signal leads are all changed along with the rotation angle of the rotor. The rotating body comprises the angle detection device and a rotating body. The invention has high measurement accuracy and reliability, can effectively process and calculate the signal of the inductive rotary transformer, and has simpler structure.

Description

Angle detection equipment, rotating body and motor system

Technical Field

The invention belongs to the technical field of detection, and relates to detection equipment, in particular to angle detection equipment, a rotating body and a motor system.

Background

The industries such as electric automobiles, industrial automation, robots, textile machinery, aerospace and the like are all free from high-performance control of rotating motors, so that a motor rotation angle sensor is required, and the motor rotation angle sensor is often required to be applied to a high-temperature environment. Currently, a photoelectric angle encoder is widely used because it can easily detect a rotation angle of a motor, but it cannot be used in a high temperature environment because it includes a photoelectric element and a semiconductor element. A resolver is a sensor that can detect a rotation angle, and can be used in a high-temperature environment because it does not use a photoelectric conversion device.

The existing inductive rotary transformer is provided with two excitation wires and two signal wires, wherein one of the two signal wires is a sine signal, and the other signal wire is a cosine signal. In the long-distance transmission process, the detection accuracy is adversely affected by surrounding signal interference, and in particular, in the case of strong surrounding interference, the rotation angle of the rotor may not be measured normally.

In the current rotary transformer, a plurality of groups of windings are wound on the stator detection teeth, and three groups of windings are usually wound, so that the manufacturing process is complex, and the consistency of the rotary transformer is adversely affected due to different positions of the windings; meanwhile, as a plurality of groups of windings are wound on the same stator detection tooth, the problems of winding short circuit, wire breakage and the like are easy to occur due to vibration impact and the like in the production and use processes, and further the rotary transformer is invalid, and the reliability is poor.

The existing rotary transformer is basically an inductive rotary transformer, and the adaptability of the signal processing device and the inductive rotary transformer is poor, so that the signal processing technology more suitable for the inductive rotary transformer has stronger research significance and application value.

Disclosure of Invention

The invention aims to provide an angle detection device, a rotating body and a motor system, which have high measurement accuracy and reliability, can effectively process and calculate signals of an inductive rotary transformer and have a simple structure.

In order to achieve the above object, the solution of the present invention is:

An angle detection apparatus includes a rotation angle detection device and a signal processing device. The rotation angle detection device comprises a stator, a rotor and a plurality of coils; the stator comprises a stator yoke and stator detection teeth positioned on the stator yoke; each coil is wound on a stator detection tooth, and each stator detection tooth is wound with one coil at most, and the inductance of each coil changes along with the change of the rotation angle of the rotor so as to be used for detecting the rotation angle of the rotor; the rotation angle detection device comprises at least one set of detection coil system, each set of detection coil system comprises at least 4 parallel multi-bridge arm bridge circuits consisting of a plurality of coils, each row of bridge arms comprises at least two bridge arms, and each bridge arm comprises at least one coil; two leads are led out from two parallel connection points of the multi-bridge arm bridge circuit to serve as excitation leads, and one lead is led out from the contact points of the upper bridge arm and the lower bridge arm of each row of bridge arms to serve as signal leads; the signal processing device comprises an excitation circuit which is connected with the excitation lead and provides an excitation signal for the excitation lead; the signal acquisition circuit is connected with the signal lead so as to acquire signals output by the signal lead; the angle calculating circuit is connected with the signal acquisition circuit and used for calculating the rotation angle of the rotor; in each set of detection coil system, two signal leads are connected to the signal acquisition circuit, and differential signals of the signal leads generate first signal voltages which change along with the rotation angle of the rotor; the other two signal leads are connected to the signal acquisition circuit, and differential signals of the signal leads generate second signal voltages which change along with the rotation angle of the rotor so as to detect the rotation angle of the rotor according to the first signal voltages and the second signal voltages.

The rotor has rotor salient poles; the stator yoke, the stator detection teeth and the rotor salient poles are made of magnetic conductive materials.

Preferably, the multi-bridge arm bridge circuit comprises only 4 parallel columns of bridge arms; the rotation angle detection device contains 2 excitation leads and 4 signal leads in total.

Preferably, the stator detection tooth number is 8*K, and the rotor salient pole number is N; wherein K and N are positive integers; further preferably, K is equal to 1 and n is equal to 2.

Preferably, the stator detecting teeth are distributed along a circumferential surface of a side of the stator yoke closer to the rotor, and adjacent stator detecting teeth are spaced apart such that phases of the first signal voltage and the second signal voltage differ by a set angle.

Preferably, the stator further comprises stator decoupling teeth on which no coil is wound to reduce magnetic coupling between the stator detection teeth on which the coil is wound; the stator decoupling teeth are arranged on two sides of the stator detection teeth wound with the coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with the coils; the stator decoupling teeth are made of magnetic conductive materials.

Preferably, the stator further comprises stator auxiliary teeth, and coils are not wound on the stator auxiliary teeth so as to improve the symmetry of the magnetic circuit system; the stator auxiliary teeth are arranged on the outer sides of the stator detection teeth; the stator auxiliary teeth are made of magnetic conductive materials.

Preferably, the stator yoke spans an angle of less than 360 degrees.

Preferably, the shape of the rotor salient pole is set such that a varying portion of the inductance of each of the coils varies as a sine wave with a variation in the rotation angle of the rotor; or the shape of the rotor salient pole is set so that a variation portion of the inductance of each of the coils changes into a triangular wave as the rotation angle of the rotor changes.

Preferably, the angle detection apparatus has a stator housing, an end cover, a bearing, and a rotating shaft; the stator comprises a stator core, and the stator core is arranged on the stator shell; the rotor comprises a rotor core, and the rotor core is arranged on the rotating shaft and rotates together with the whole rotor;

Preferably, the rotor is arranged inside the stator; or the rotor is arranged outside the stator.

The rotation angle detection device comprises at least two sets of detection coil systems; at least two sets of detection coil systems are arranged on the same stator; the angle detection device has signal processing means equal in number to the detection coil systems, which are connected in one-to-one correspondence with the signal processing means. Preferably, at least two of said signal processing means share the same excitation circuit, and/or share the same time control circuit, and/or share the same angle calculation circuit.

Preferably, between each set of the detection coil systems, the excitation leads are shared, and the signal leads are independent; or the excitation leads and the signal leads are independent among the detection coil systems.

The angle detection device comprises at least two rotation angle detection devices; the angle detection device comprises signal processing devices, the number of which is equal to that of the detection coil systems, and the signal processing devices are connected with the detection coil systems in a one-to-one correspondence. Preferably, at least two of said signal processing means share the same excitation circuit, and/or share the same time control circuit, and/or share the same angle calculation circuit.

Preferably, the at least two rotation angle detection means include at least a first rotation angle detection means and a second rotation angle detection means; the rotor of the first rotation angle detection device includes only 1 rotor salient pole; the rotor of the second rotation angle detection device comprises 2 or more rotor salient poles; at least the rotor of the first rotation angle detecting means and the rotor of the second rotation angle detecting means are arranged to rotate in synchronization.

Preferably, the number of teeth detected by the stator of the first rotation angle detecting device is 8×m, and m is a positive integer.

Preferably, in the second rotation angle detecting device, the stator detecting tooth number is 8*X, and the rotor salient pole number is (y+1); wherein X and Y are positive integers.

The signal acquisition circuit is a signal sampling circuit; or the signal acquisition circuit is a synchronous detection circuit.

The excitation signal is a sine wave voltage source signal, a sine wave current source signal, a rectangular wave voltage source signal or a trapezoidal wave voltage source signal.

The angle detection device comprises only one signal acquisition circuit which is shared by time sharing to detect different output signals of the rotation angle detection device in a period; or the angle detection device comprises two signal acquisition circuits for respectively detecting different output signals of the rotation angle detection device.

The signal processing device also comprises a time control circuit; the time control circuit is connected with the excitation circuit and the signal acquisition circuit, so as to control the excitation circuit to provide the excitation signal and control the signal acquisition beat of the signal acquisition circuit.

Preferably, the time control circuit is further connected to the angle calculation circuit to control the angle calculation circuit to calculate the rotation angle of the rotor at a prescribed timing.

Preferably, the signal processing means comprises two of said signal acquisition circuits.

The input end of the signal acquisition circuit is connected with a filter so as to carry out filtering processing on the signals output by the signal lead;

preferably, the signal processing means comprises two sets of the filter and the signal acquisition circuit.

Preferably, the filter is a bandpass filter.

Preferably, the filter is a low-resistance filter, and the low-resistance filter is a low-frequency blocking filter.

And a low-pass filter is connected between the signal acquisition circuit and the angle calculation circuit so as to carry out low-pass filtering processing on the signal output by the signal acquisition circuit.

Preferably, the signal processing means comprises two sets of the low pass filters and the signal acquisition circuit.

The signal acquisition circuit comprises a differential link.

The angle detection device further comprises a differential amplifying circuit; the input end of the differential amplification circuit is connected with at least two signal leads of the rotation angle detection device so as to receive the output signal of the rotation angle detection device and perform differential amplification processing; the output end of the differential amplification circuit is connected with the input end of the signal acquisition circuit so as to send the signals subjected to differential amplification to the signal acquisition circuit.

Preferably, the signal processing device comprises two groups of the differential amplifying circuit and the signal acquisition circuit.

Preferably, a filter is further provided between the signal lead of the rotation angle detection device and the differential amplifying circuit.

The signal acquisition circuit is an analog circuit; or the signal acquisition circuit is a digital circuit; or the signal acquisition circuit is a digital and analog hybrid circuit.

The angle calculation circuit is a digital circuit; or the angle calculation circuit is a digital and analog hybrid circuit.

The stator detecting teeth are distributed along a circumferential surface of a side of the stator yoke closer to the rotor, and adjacent stator detecting teeth are arranged at a set angle such that a ratio of the first signal voltage and the second signal voltage is a tangent function with respect to a rotation angle of the rotor.

Two or more auxiliary teeth are arranged on the circumferential surface of the stator detection teeth, which is close to the rotor, and the auxiliary teeth are made of magnetic conductive materials.

Preferably, the shape and position of the additional teeth are set so that the inductance of the coil on the stator detection teeth varies sinusoidally with the rotation angle of the rotor, so that the ratio of the first signal voltage to the second signal voltage is a tangent function with respect to the rotation angle of the rotor to detect the rotation angle of the rotor.

Preferably, 3 auxiliary teeth are arranged on each stator detection tooth.

The exciting circuit, the signal acquisition circuit and the angle calculation circuit are realized by a signal processing chip; preferably, a band-pass filter is arranged between the signal processing chip and the rotation angle detection device; preferably, a low-resistance filter is arranged between the signal processing chip and the rotation angle detection device, and the low-resistance filter is a low-frequency blocking filter; preferably, the signal processing chip is an R/D converter chip.

A rotator comprising the angle detection device described above, the rotator further comprising a rotator body. The angle detection device is mounted with the rotary body such that a rotation angle of a rotor of a rotation angle detection means of the angle detection device is in a regular relationship with a rotation angle of the rotary body to detect the rotation angle of the rotary body by the angle detection device.

The rotor core of the rotation angle detection device is arranged on the rotating shaft of the rotating body, and synchronously rotates with the rotating body to form an integrated structure so as to detect the rotation angle of the rotating body; the stator of the rotation angle detection device is arranged on a stator shell shared with the rotator body; preferably, the rotating body is a motor or a generator.

Or the rotation angle detection device is fixed at the end part of the rotator body; the rotating shaft of the rotating angle detection device is connected with the rotating shaft of the rotating body so that the rotating angle detection device and the rotating body synchronously rotate; preferably, the rotating shaft of the rotation angle detection device is connected with the rotating shaft of the rotating body through a coupling; preferably, the rotating body is a motor or a generator.

A motor system including the above-described rotating body, the motor system further including a motor drive circuit; the motor driving circuit is connected with the signal processing device to drive the motor according to the signal output by the signal processing device.

Preferably, the rotating body is a permanent magnet generator or a permanent magnet motor. Further preferably, the number of salient poles of the rotation angle detecting device is equal to the pole pair number of the permanent magnet rotor of the rotating body; or when the number of the convex poles of the rotation angle detection device is 1, the pole pair number of the permanent magnet rotor of the rotating body is any positive integer.

Preferably, the signal processing means includes a low-resistance filter and an R/D converter, the low-resistance filter being connected between the rotation angle detecting means and the R/D converter.

By adopting the scheme, the invention has the beneficial effects that: the rotor position signal adopts a differential mode, so that the influence of external interference in the signal transmission process can be greatly reduced in the application of longer signal lines. Meanwhile, at most 1 coil can be wound on each stator detection tooth, so that the production process is greatly simplified, the consistency of the rotation angle detection device is effectively prevented from being adversely affected due to different positions of the windings, and the short circuit risk among different windings on the same stator detection tooth in the prior art is overcome.

In the case where the angle spanned by the stator yoke of the rotation angle detection device is smaller than 360 degrees, miniaturization and weight saving of the rotation angle detection device are greatly promoted. By arranging the stator decoupling teeth and/or the stator auxiliary teeth, the mode of actively avoiding magnetic coupling interference greatly optimizes the precision of the rotation angle detection device, improves the quick response performance of the rotation angle detection device and simplifies the system structure of the rotation angle detection device.

Compared with a multi-rotary transformer system with equal reliability in the prior art, the invention has the advantages that two or more sets of detection coil systems can be arranged on one rotation angle detection device, the number of the rotation angle detection devices required to be arranged is small, the occupied volume is small, and the cost is greatly reduced; compared with a multi-rotary transformer system with the same number of rotary transformers in the prior art, the reliability is greatly improved when the occupied volumes are the same.

In the rotation angle detection system of the present invention, at least two rotation angle detection devices are used in combination, and it is possible to obtain the absolute position of the motor rotor with high accuracy.

According to the invention, more than two auxiliary teeth are arranged on the stator detection teeth, so that a high-precision small-volume angle detection system can be realized.

Meanwhile, the angle detection equipment provided by the invention provides a technology capable of providing effective signal processing for the inductive rotation angle detection device, and can effectively excite, sample and calculate the rotation angle of the inductive rotation angle detection device to obtain a relatively accurate rotation angle of the rotary transformer.

Drawings

Fig. 1 is a schematic diagram showing the overall structure of an angle detecting apparatus according to a first embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a stator and a rotor of a rotation angle detecting device according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram showing the overall structure of a rotation angle detecting device according to a first embodiment of the present invention;

fig. 4 is a schematic diagram of a multi-bridge arm circuit according to a first embodiment of the present invention;

FIG. 5 is a schematic diagram of a signal processing device according to a first embodiment of the present invention;

FIG. 6 is a schematic cross-sectional view of a stator and a rotor of a rotation angle detecting device according to a second embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of a stator and a rotor of a rotation angle detecting device according to a third embodiment of the present invention;

fig. 8 is a schematic cross-sectional view of a stator and a rotor of a rotation angle detection device according to a fourth embodiment of the present invention;

Fig. 9a is a circuit diagram of a first multi-leg bridge circuit according to a fourth embodiment of the present invention;

Fig. 9b is a circuit diagram of a second multi-leg bridge circuit according to a fourth embodiment of the present invention;

fig. 10a is a schematic cross-sectional view of a stator and a rotor of a first rotation angle detecting device according to a fifth embodiment of the present invention;

Fig. 10b is a schematic cross-sectional view of a stator and a rotor of a second rotation angle detecting device according to a fifth embodiment of the present invention;

fig. 11a is a circuit diagram of a first multi-leg bridge circuit according to a fifth embodiment of the present invention;

fig. 11b is a circuit diagram of a second multi-leg bridge circuit according to a fifth embodiment of the present invention;

fig. 12 is a schematic structural diagram of a signal processing device according to a sixth embodiment of the present invention;

fig. 13 is a schematic structural diagram of a signal processing device according to a seventh embodiment of the present invention;

Fig. 14 is a schematic structural diagram of a signal processing device according to an eighth embodiment of the present invention;

Fig. 15a is a schematic cross-sectional view of a stator of a rotation angle detecting device according to a ninth embodiment of the present invention;

FIG. 15b is a schematic cross-sectional view of a rotor of a rotation angle detecting device according to a ninth embodiment of the present invention;

fig. 16 is a circuit diagram of a multi-leg circuit according to a ninth embodiment of the present invention;

fig. 17 is a schematic view showing a structure of a connection between a rotation angle detecting device and a rotating body in an eleventh embodiment of the present invention;

FIG. 18 is a schematic view showing a structure of a connection between a rotation angle detecting device and a rotating body according to a twelfth embodiment of the present invention;

fig. 19 is a schematic structural view of a motor system in a thirteenth embodiment of the present invention.

Detailed Description

The invention will be further described with reference to examples of embodiments shown in the drawings.

The invention provides angle detection equipment, which comprises a rotation angle detection device and a signal processing device.

In the present invention, the rotation angle detecting device includes a stator, a rotor, and a plurality of coils. The stator includes a stator yoke and stator sense teeth located on the stator yoke. Each coil is wound on the stator detection teeth, and each stator detection tooth is wound with one coil at most, and the inductance of each coil changes along with the change of the rotation angle of the rotor so as to be used for detecting the rotation angle of the rotor. The rotation angle detection device comprises at least one set of detection coil system, each set of detection coil system comprises at least 4 parallel multi-bridge arm bridge circuits consisting of a plurality of coils, each row of bridge arms comprises at least two bridge arms, and each bridge arm comprises at least one coil. Two leads are led out from two parallel connection points of the multi-bridge arm bridge circuit to serve as excitation leads, and one lead is led out from the contact points of the upper bridge arm and the lower bridge arm of each row of bridge arms to serve as signal leads.

In the invention, the signal processing device comprises an excitation circuit which is connected with an excitation lead and provides an excitation signal for the excitation lead; the device comprises a first signal acquisition circuit and a second signal acquisition circuit which are connected with the signal lead, so as to acquire signals output by the signal lead; and the angle calculating circuit is connected with the signal acquisition circuit and used for calculating the rotation angle of the rotation angle detecting device.

In each set of detection coil system, at least two signal leads are connected to a first signal acquisition circuit, and differential signals of the two signal leads generate a first signal voltage which changes along with the rotation angle of a rotor; the other two signal leads are connected to a second signal acquisition circuit, and differential signals thereof (i.e., of the other two signal leads) generate a second signal voltage that varies with the rotation angle of the rotor, so as to detect the rotation angle of the rotor from the first signal voltage and the second signal voltage. The first signal acquisition circuit and the second signal acquisition circuit may be mutually independent circuits; the signal acquisition circuit can also be shared, namely the signal acquisition circuit shared by time sharing, and the signal acquisition circuit shared by time sharing acquires the signals of at least two signal leads acquired by the first signal acquisition circuit and the signals of the other two leads acquired by the second signal acquisition circuit in one period.

In the present invention, the rotor has rotor salient poles; the stator yoke, the stator detection teeth and the rotor salient poles are all made of magnetic conductive materials.

First embodiment:

the angle detection device comprises a rotation angle detection means and a signal processing means. The rotation angle detection device comprises only one set of detection coil system. Fig. 1 is a schematic diagram showing the overall structure of the angle detection apparatus.

In this embodiment, the number of stator detection teeth of the rotation angle detection device is 8, the number of rotor salient poles is 2 (according to the number of stator detection teeth being 8*K, the number of rotor salient poles is N, wherein K and N are positive integers, thus, in this embodiment, K is equal to 1 and N is equal to 2). Fig. 2 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core and the rotor includes a rotor core. The stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are uniformly distributed on the inner circumference of the stator core; the 2 rotor salient poles are uniformly distributed on the outer circumference of the rotor core along the circumference of the rotor core.

Each stator sensing tooth has an insulated bobbin (not shown in fig. 2) thereon. Each stator detecting tooth is wound with 1 coil, 8 coils are distributed on 8 stator detecting teeth along the circumference, and the 8 stator detecting teeth are sequentially 1101, 1102, 1103, 1104, 1105, 1106, 1107 and 1108 along the circumference and clockwise (for simplicity of the drawing, all stator detecting teeth are not marked in fig. 2, and only a plurality of stator detecting teeth are marked). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shape of the salient pole of the rotor is selected by electromagnetic simulation so that the variation portion of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

Fig. 3 is a schematic view showing the entire structure of the rotation angle detecting device. The rotation angle detection device comprises a stator 2, a rotor 3, a rotating shaft 4, a bearing 5, a stator casing 6, end covers 701 and 702 on two sides, a bearing chamber and six outgoing lines 801, 802, 803, 804, 805 and 806. The rotor core is fixed to the rotation shaft 4 and can rotate together with the rotation shaft 4. A bearing 5 is mounted on the rotation shaft 4, and the bearing 5 supports the rotor 3 to smoothly rotate. The stator core is fixed in the stator housing 6. The bearing chambers are arranged on the two side end covers 701 and 702 of the rotation angle detection device, and the outer ring of the bearing 5 is arranged in the bearing chambers of the two end covers 701 and 702, so that the center line of the rotating shaft 4 is ensured to be consistent with the center line of the inner circle of the stator 2.

In this embodiment, the rotation angle detection device includes only one set of detection coil system, where the detection coil system includes only 4 parallel multi-bridge-arm bridge circuits composed of the above 8 coils, each bridge arm includes two bridge arms, and each bridge arm is connected with one coil. The stator detecting teeth are distributed along a circumferential surface of a side of the stator yoke closer to the rotor, and adjacent stator detecting teeth are arranged at 45 degrees apart such that the first signal voltage and the second signal voltage are 90 degrees out of phase. In this embodiment, the 8 coils are divided into 8 groups in total. Each set of stator coils comprises 1 coil. The 8 groups of stator coils are connected into a multi-bridge arm bridge circuit as shown in fig. 4. In fig. 4, arm X _AC is formed by coil Y1 on stator detection tooth 1101, arm X _AD is formed by coil Y7 on stator detection tooth 1107, arm X _AE is formed by coil Y2 on stator detection tooth 1102, arm X _AF is formed by coil Y8 on stator detection tooth 1108, arm X _BC is formed by coil Y3 on stator detection tooth 1103, arm X _BD is formed by coil Y5 on stator detection tooth 1105, arm X _BE is formed by coil Y4 on stator detection tooth 1104, and arm X _BF is formed by coil Y6 on stator detection tooth 1106.

The 6 contacts A, B, C, D, E, F of the multi-arm bridge circuit are led out by 6 leads as lead wires 801, 802, 803, 804, 805, 806 of the rotation angle detection device, wherein the lead wires 801 and 802 are excitation lead wires and the lead wires 803, 804, 805, 806 are signal lead wires. Therefore, the rotation angle detection device includes 2 excitation wires and 4 signal wires in total.

Fig. 5 is a schematic structural diagram of a signal processing device in this embodiment. The signal processing device comprises an excitation circuit, a signal acquisition circuit, a time control circuit and an angle calculation circuit. The signal acquisition circuit comprises a first signal acquisition circuit and a second signal acquisition circuit. The first signal acquisition circuit is used for acquiring a first feedback signal (namely two output signals of the rotation angle detection device, namely a signal at a C, D end in the embodiment) in the feedback signals, and the second signal acquisition circuit is used for acquiring a second feedback signal (namely the other two output signals of the rotation angle detection device, namely a signal at a E, F end in the embodiment) in the feedback signals.

The output end of the excitation circuit outputs an excitation signal, and is connected with excitation ends A and B of the rotation angle detection device; the feedback signal end C, D, E, F of the rotation angle detection device is connected with the input end of the signal acquisition circuit, specifically, the C, D end is connected with the first signal acquisition circuit, and the E, F end is connected with the second signal acquisition circuit. The time control circuit controls the exciting circuit to output an exciting signal and controls the first signal acquisition circuit and the second signal acquisition circuit to acquire and process feedback signals of the rotation angle detection device according to a set beat to obtain position signals; the sampled position signal is sent to an angle calculation circuit, and the angle calculation circuit calculates the rotation angle according to the position signal. In this embodiment, the first signal acquisition circuit and the second signal acquisition circuit both include a differential link.

In the present invention, the first signal acquisition circuit and the second signal acquisition circuit may be the same signal acquisition circuit (i.e. share one signal acquisition circuit), and the signal acquisition circuits are shared in a time-sharing manner, so that signals acquired by the first signal acquisition circuit and the second signal acquisition circuit in this embodiment are acquired in a time-sharing manner in one period.

In this embodiment, the signal acquisition circuit is a signal sampling circuit (in the present invention, the signal acquisition circuit may be a synchronous detection circuit).

In this embodiment, the principle of signal generation and processing is as follows:

The inductances of the coils on the stator detection teeth 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108 are L101, L102, L103, L104, L105, L106, L107, L108, respectively. As can be seen from fig. 2, as the rotation angle of the rotor changes, the gap between each stator detecting tooth and the rotor salient pole changes, so that the inductance of each coil changes accordingly, and the number of the change cycles is 2. The inductance of each coil as a function of the rotation angle θm ₁ of the rotor can be expressed as:

l101=l105=l1+lm ₁*sin(2θm₁) formula (101)

L102=l106=l1+lm ₁*sin(2θm₁ -90) formula (102)

L103=l107=l1+lm ₁*sin(2θm₁ -180) formula (103)

L104=l108=l1+lm ₁*sin(2θm₁ -270) formula (104)

Wherein L1 is a dc component of each inductor in the present embodiment (the dc components of each inductor in the present embodiment are equal);

lm ₁ is the fundamental wave amplitude of each inductor in the present embodiment (the fundamental wave amplitudes of each inductor in the present embodiment are equal);

θm ₁ is the rotation angle of the rotor in this embodiment.

Referring to the bridge circuit diagram of figure 4,

The inductance l_ac of leg X _AC is: l_ac=l101 (105)

The inductance l_ad of leg X _AD is: l_ad=l107 (106)

The inductance l_ae of leg X _AE is: l_ae=l102 (107)

The inductance l_af of leg X _AF is: l_af=l108 (108)

The inductance l_bc of leg X _BC is: l_bc=l103 (109)

The inductance l_bd of leg X _BD is: l_bd=l105 (110)

The inductance l_be of bridge arm X _BE is: l_be=l104 (111)

The inductance l_bf of bridge arm X _BF is: l_bf=l106 (112)

Referring to fig. 4 and according to equations (101) - (112), the ratio of the differential signal voltage (first signal voltage) between the contacts C and D and the signal voltage (second differential signal voltage) between the contacts E and F of the multi-leg bridge circuit is a tangent function with respect to the rotation angle of the rotor can be easily obtained by simple calculation of the circuit. In this embodiment, the node C, D is connected to the first signal acquisition circuit, the node E, F is connected to the second signal acquisition circuit, and the angle calculation circuit can calculate the rotation angle of the rotor according to the first signal voltage and the second signal voltage.

Because the rotor position signal detection adopts a differential mode, the influence of external signal interference in the signal transmission process can be greatly reduced in the application of longer signal lines. Meanwhile, the embodiment can realize that at most 1 coil is wound on each stator detection tooth, greatly simplifies the production process, effectively prevents the consistency of the rotation angle detection device from being adversely affected due to different positions of the windings, and effectively avoids the risk of short circuit among different windings on the same stator detection tooth in the prior art.

Second embodiment:

In this embodiment, the angle detection apparatus includes a rotation angle detection device and a signal processing device. The rotation angle detection device comprises only one set of detection coil system. The overall structure of the angle detection apparatus can be exemplified by fig. 1 of the first embodiment.

In this embodiment, the number of teeth detected by the stator of the rotation angle detecting device is 8, and the number of salient poles of the rotor is 2. In addition, in the rotation angle detection device, 8 stator decoupling teeth are arranged, coils are not wound on the stator decoupling teeth, and the stator decoupling teeth are made of magnetic conductive materials. Fig. 6 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core and the rotor includes a rotor core. The stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detecting teeth are uniformly distributed along the stator core, 8 stator decoupling teeth are uniformly distributed along the circumference of the stator core, and 2 rotor salient poles are uniformly distributed on the outer circumference of the rotor core along the circumference of the rotor core. One stator decoupling tooth is designated by reference numeral 9 in fig. 6.

Each stator sensing tooth has an insulated bobbin (not shown in fig. 6) thereon. Each stator detecting tooth is wound with 1 coil, 8 coils are distributed along the circumference on 8 stator detecting teeth, and the 8 stator detecting teeth are sequentially 2101, 2102, 2103, 2104, 2105, 2106, 2107 and 2108 distributed along the circumference clockwise (for simplicity of the drawing, all stator detecting teeth are not marked in fig. 6, and only a plurality of stator detecting teeth are marked). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shape of the salient pole of the rotor is selected by electromagnetic simulation so that the variation portion of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

The overall structural schematic of the rotation angle detecting device can be referred to fig. 3 in the first embodiment.

In this embodiment, the rotation angle detecting device includes a set of detecting coil system including 4 parallel multi-bridge circuits composed of the above 8 coils. The stator detecting teeth are distributed along the circumferential surface of the side of the stator yoke closer to the rotor, and adjacent stator detecting teeth are arranged at a certain angle (here, 45 degrees apart; in the same multi-bridge arm circuit of the same embodiment of the invention, the angles of the adjacent stator detecting teeth are not necessarily equal), so that the phases of the first signal voltage and the second signal voltage are different by 90 degrees. In this embodiment, the 8 coils are divided into 8 groups in total. Each group of stator coils comprises 1 coil; the inductance of each coil varies with the rotation angle of the rotor. A circuit diagram of a multi-bridge circuit formed by connecting 8 groups of stator coils can be referred to fig. 4 of the first embodiment. At this time, arm X _AC is constituted by coil Y1 on stator detecting tooth 2101, arm X _AD is constituted by coil Y7 on stator detecting tooth 2107, arm X _AE is constituted by coil Y2 on stator detecting tooth 2102, arm X _AF is constituted by coil Y8 on stator detecting tooth 2108, arm X _BC is constituted by coil Y3 on stator detecting tooth 2103, arm X _BD is constituted by coil Y5 on stator detecting tooth 2105, arm X _BE is constituted by coil Y4 on stator detecting tooth 2104, and arm X _BF is constituted by coil Y6 on stator detecting tooth 2106.

The 6 contacts A, B, C, D, E, F of the multi-arm bridge circuit are respectively led out by 6 leads to be used as lead wires of the rotation angle detection device. Of the six lead wires, two lead wires are excitation lead wires, and four lead wires are signal lead wires.

The signal processing apparatus of the present embodiment is the same as that of the subsequent eighth embodiment, and the circuit diagram can be referred to fig. 14 of the subsequent eighth embodiment. Similarly, the output end of the excitation circuit outputs an excitation signal, and is connected with excitation ends A and B of the rotation angle detection device; the feedback signal end C, D, E, F of the rotation angle detection device is respectively connected with the input ends of the first signal acquisition circuit and the second signal acquisition circuit.

By the above arrangement of the stator detecting teeth and windings, it is easy to derive from the same analysis method as the first embodiment that the ratio of the differential signal voltage (first signal voltage) between the contacts C and D to the differential signal voltage (second signal voltage) between the contacts E and F is a tangent function with respect to the rotation angle of the rotor. In this embodiment, a differential amplifying circuit is provided before the first signal acquisition circuit and the second signal acquisition circuit. Therefore, in this embodiment, the node C, D is connected to the first signal acquisition circuit through the filter and the differential amplification circuit, the node E, F is connected to the second signal acquisition circuit through the filter and the differential amplification circuit, and the angle calculation circuit can calculate the rotation angle of the rotor according to the first signal voltage and the second signal voltage.

In addition to the advantages of the first embodiment, the present embodiment reduces the magnetic coupling effect between the stator sense teeth and improves the test signal because the stator employs stator auxiliary teeth (on which no coils are wound). The stator decoupling teeth are arranged on two sides of the stator detection teeth wound with the coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with the coils.

Third embodiment:

In this embodiment, the number of teeth detected by the stator of the rotation angle detecting device is 8, and the number of salient poles of the rotor is 8. Meanwhile, 1 stator auxiliary tooth (2 stator auxiliary teeth are arranged) is respectively arranged on two outer sides of the integral stator detection tooth, a coil is not wound on the stator auxiliary tooth, and the stator auxiliary tooth is made of a magnetic conductive material. Further, in this embodiment, the stator yoke spans less than 360 degrees. Fig. 7 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core and the rotor includes a rotor core. The stator core and the rotor core are formed by stamping silicon steel sheets. In the embodiment, 8 stator detection teeth are uniformly distributed along the stator core, and the included angle between each stator detection tooth is 11.25 degrees; the angle between the first stator auxiliary tooth 1001 and the stator detection tooth 3101 is 11.25 degrees, and the angle between the second stator auxiliary tooth 1002 and the stator detection tooth 3108 is 11.25 degrees; the 8 rotor salient poles are uniformly distributed on the outer circle of the rotor core along the circumference of the rotor core.

Each stator sensing tooth has an insulated bobbin (not shown in fig. 7) thereon. Each stator detecting tooth is wound with 1 coil, 8 coils are arranged on 8 stator detecting teeth, and the 8 stator detecting teeth are sequentially 3101, 3102, 3103, 3104, 3105, 3106, 3107 and 3108 distributed clockwise along the circumference (for simplicity of the drawing, all stator detecting teeth are not marked in fig. 7, and only a plurality of stator detecting teeth are marked). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shape of the salient pole of the rotor is selected by electromagnetic simulation so that the variation portion of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

In this embodiment, the rotation angle detecting device includes only one set of detecting coil system, and the detecting coil system includes a multi-bridge arm bridge circuit formed by the above 8 coils and connected in parallel in 4 columns. The stator detecting teeth are distributed along the circumferential surface of the side of the stator yoke closer to the rotor, and adjacent stator detecting teeth are arranged at a set angle (11.25 degrees here) so that the phases of the first signal voltage and the second signal voltage are 90 degrees apart. In this embodiment, the 8 coils are divided into 8 groups in total. Each group of stator coils comprises 1 coil; the inductance of each coil varies with the rotation angle of the rotor. The 8 groups of stator coils are connected into a multi-bridge circuit, and the circuit diagram of the multi-bridge circuit can be referred to fig. 4 of the first embodiment. At this time, arm X _AC is constituted by coil Y1 on stator detection tooth 3101, arm X _AD is constituted by coil Y7 on stator detection tooth 3107, arm X _AE is constituted by coil Y2 on stator detection tooth 3102, arm X _AF is constituted by coil Y8 on stator detection tooth 3108, arm X _BC is constituted by coil Y3 on stator detection tooth 3103, arm X _BD is constituted by coil Y5 on stator detection tooth 3105, arm X _BE is constituted by coil Y4 on stator detection tooth 3104, and arm X _BF is constituted by coil Y6 on stator detection tooth 3106.

The 6 contacts A, B, C, D, E, F of the multi-arm bridge circuit are respectively led out by 6 leads to be used as lead wires of the rotation angle detection device. Of the 6 lead wires, two lead wires are excitation lead wires, and the other four lead wires are signal lead wires.

The signal processing apparatus of the present embodiment is the same as that of the subsequent eighth embodiment, and the circuit diagram can be referred to fig. 14 of the subsequent eighth embodiment. Similarly, the output end of the excitation circuit outputs an excitation signal, which is connected to excitation ends a and B of the rotation angle detecting device, and the feedback signal end C, D, E, F of the rotation angle detecting device is connected to the input ends of the first signal acquisition circuit and the second signal acquisition circuit, respectively.

By the above arrangement of the stator detecting teeth and windings, it is easy to derive from the same analysis method as the first embodiment that the ratio of the differential signal voltage (first signal voltage) between the contacts C and D to the differential signal voltage (second signal voltage) between the contacts E and F is a tangent function with respect to the rotation angle of the rotor. In this embodiment, a differential amplifying circuit is provided before the first signal acquisition circuit and the second signal acquisition circuit. Therefore, in the present embodiment, the contact C, D is connected to the first signal acquisition circuit through the filter and the differential amplification circuit, the contact E, F is connected to the second signal acquisition circuit through the filter and the differential amplification circuit, and the angle calculation circuit can calculate the rotation angle of the rotor based on the first signal voltage and the second signal voltage.

In addition to having the advantages of the first embodiment, the present embodiment can reduce the volume, weight and manufacturing cost of the detection system because the stator yoke spans less than 360 degrees and is not a complete circle. In addition, the stator auxiliary teeth are further arranged, namely, the stator teeth which are positioned outside the whole stator detection teeth and are not wound with coils are arranged, so that symmetry of the magnetic circuit system is improved, and detection accuracy is improved (if the stator auxiliary teeth are not arranged, magnetic resistances of the stator detection teeth on the outermost side and the stator detection teeth on the inner side are inconsistent, so that fundamental wave amplitude and direct current components of inductance of coils on each stator detection tooth are inconsistent, and adverse effects are caused on detection accuracy).

Fourth embodiment:

In this embodiment, the angle detection apparatus includes one rotation angle detection device and two signal processing devices. The rotation angle detection device comprises two sets of detection coil systems (the number of the detection coil systems is equal to that of the signal processing devices), and the two sets of detection coil systems are arranged on the same stator. The two sets of detection coil systems are connected with the two signal processing devices in a one-to-one correspondence.

In this embodiment, the number of teeth detected by the stator of the rotation angle detecting device is 16, and the number of poles of the rotor is 4. Fig. 8 is a schematic cross-sectional view of the stator and rotor of the rotation angle detecting device in this embodiment. The stator comprises a stator core, the rotor comprises a rotor core, and the stator core and the rotor core are formed by stamping silicon steel sheets. In the embodiment, 16 stator detection teeth are uniformly distributed along the inner surface of the stator core; the 4 rotor salient poles are uniformly distributed along the outer circumferential surface of the rotor core.

Each stator sensing tooth has an insulated bobbin (not shown in fig. 8) thereon. Each stator detecting tooth is wound with 1 coil, 16 coils are distributed along the circumference on 16 stator detecting teeth, and the 16 stator detecting teeth are sequentially 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 (for simplicity of the drawing, all stator detecting teeth are not marked in fig. 8, and only a plurality of stator detecting teeth are marked). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shape of the salient pole of the rotor is selected by electromagnetic simulation so that the variation portion of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

In this embodiment, the rotation angle detecting device includes two sets of detecting coil systems, which are a first detecting coil system and a second detecting coil system. The first detection coil system includes coils wound around the stator detection teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, the second detection coil system includes coils wound around the stator detection teeth 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116, and the two detection coil systems respectively belong to two independent rotation angle detection device detection coil systems, and the two detection coil systems respectively form a first multi-bridge arm bridge circuit and a second multi-bridge circuit. The schematic circuit diagrams of the first multi-bridge type circuit and the second multi-bridge type circuit after connection are shown in fig. 9a and 9b, respectively.

In fig. 9a, leg X _A1C1 is formed by coil Y1 on stator sense tooth 4101, leg X _A1D1 is formed by coil Y7 on stator sense tooth 4107, leg X _A1E1 is formed by coil Y2 on stator sense tooth 4102, leg X _A1F1 is formed by coil Y8 on stator sense tooth 4108, leg X _B1C1 is formed by coil Y3 on stator sense tooth 4103, leg X _B1D1 is formed by coil Y5 on stator sense tooth 4105, leg X _B1E1 is formed by coil Y4 on stator sense tooth 4104, and leg X _B1F1 is formed by coil Y6 on stator sense tooth 4106.

In fig. 9b, leg X _A2C2 is formed by coil Y9 on stator sense teeth 4109, leg X _A2D2 is formed by coil Y15 on stator sense teeth 4115, leg X _A2E2 is formed by coil Y10 on stator sense teeth 4110, leg X _A2F2 is formed by coil Y16 on stator sense teeth 4116, leg X _B2C2 is formed by coil Y11 on stator sense teeth 4111, leg X _B2D2 is formed by coil Y13 on stator sense teeth 4113, leg X _B2E2 is formed by coil Y12 on stator sense teeth 4112, and leg X _B2F2 is formed by coil Y14 on stator sense teeth 4114.

Two leads are led out from the joints A1 and B1 to serve as excitation signal leads of the first detection coil system, and four leads are led out from the joints C1, D1, E1 and F1 to serve as position signal leads of the first detection coil system.

Two leads are led out from the joints A2 and B2 to serve as excitation signal leads of the second detection coil system, and four leads are led out from the joints C2, D2, E2 and F2 to serve as position signal leads of the second detection coil system.

In this embodiment, the excitation leads are independent and the signal leads are independent between the two sets of detection coil systems. In the present invention, the detection coil systems (the rotation angle detection device of the present invention may include two or more detection coil systems) may be provided in each set, or may be provided in common with the excitation leads, and the signal leads may be independent.

In this embodiment, the first signal processing apparatus and the second signal processing apparatus are the same as those in the eighth embodiment, and the circuit diagrams can be referred to as fig. 14 in the eighth embodiment. The first detection coil system is connected with the first signal processing device, specifically, the output end of the excitation circuit of the first signal processing device outputs excitation signals, the excitation signals are connected with the contacts A1 and B1 of the first detection coil system, and the feedback signal ends C1, D1, E1 and F1 of the first detection coil system are respectively connected with the input ends of the two signal acquisition circuits of the first signal processing device through a filter and a differential amplifying circuit. The second detection coil system is connected with a second signal processing circuit, specifically, the output end of an excitation circuit of the second signal processing device outputs an excitation signal, the excitation signal is connected with the joints A2 and B2 of the second detection coil system, and the feedback signal ends C2, D2, E2 and F2 of the second detection coil system are respectively connected with the input ends of two signal acquisition circuits of the second signal processing device through a filter and a differential amplifying circuit.

The first detection coil system detects the inductances of the coils on the teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108 to be L101, L102, L103, L104, L105, L106, L107, L108, respectively. As can be seen from fig. 8, as the rotation angle of the rotor changes, the gap between each stator detecting tooth and the rotor salient pole changes, so that the inductance of each coil changes accordingly, and the number of the change cycles is 4. The inductance of each coil as a function of the rotation angle θm ₄ of the rotor can be expressed as:

L101=l105=l4+lm ₄*sin(4θm₄) formula (401)

L102=l106=l4+lm ₄*sin(4θm₄ -90) formula (402)

L103=l107=l4+lm ₄*sin(4θm₄ -180) formula (403)

L104=l108=l4+lm ₄*sin(4θm₄ -270) formula (404)

Wherein L4 is a dc component of each inductor in the present embodiment (the dc components of each inductor in the present embodiment are equal);

Lm ₄ is the fundamental wave amplitude of each inductor in the present embodiment (the fundamental wave amplitudes of each inductor in the present embodiment are equal);

θm ₄ is the rotation angle of the rotor in this embodiment.

With the above arrangement of the stator detecting teeth and windings, it is easy to obtain according to the same analysis method as the first embodiment, the ratio of the differential signal voltage (first signal voltage) between the contacts C1 and D1 to the differential signal voltage (second signal voltage) between the contacts E1 and F1 is a tangent function with respect to the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C1 and D1 are connected to the first signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, and the contacts E1 and F1 are connected to the second signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the first signal voltage and the second signal voltage.

Similarly, the second detecting coil system detects the inductances of the coils on the teeth 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 as L109, L110, L111, L112, L113, L114, L115, L116, respectively. As can be seen from fig. 8, as the rotation angle of the rotor changes, the gap between each stator detecting tooth and the rotor salient pole changes, so that the inductance of each coil changes accordingly, and the number of the change cycles is 4. The inductance of each coil as a function of the rotation angle θm ₄ of the rotor can be expressed as

L109=l113=l4+lm ₄*sin(4θm₄) formula (405)

L110=l114=l4+lm ₄*sin(4θm₄ -90) formula (406)

L111=l115=l4+lm ₄*sin(4θm₄ -180) formula (407)

L112=l116=l4+lm ₄*sin(4θm₄ -270) formula (408)

Wherein L4 is a dc component of each inductor in the embodiment;

Lm ₄ is the fundamental amplitude of each inductor in this embodiment,

Θm ₄ is the rotation angle of the rotor in this embodiment.

By the above arrangement of the stator detecting teeth and windings, it is easy to derive from the same analysis method as the first embodiment that the ratio of the differential signal voltage (third signal voltage) between the contacts C2 and D2 to the differential signal voltage (fourth signal voltage) between the contacts E2 and F2 is a tangent function with respect to the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C2 and D2 are connected to one signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, and the contacts E2 and F2 are connected to the other signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the third signal voltage and the fourth signal voltage.

Therefore, in addition to the advantages of the first embodiment, the two sets of detection coil systems are arranged on the same stator, one set of detection coil system can be used as a standby system in the use process, and when the currently used detection coil system fails, the other set of detection coil system is switched to continue to work, so that the reliability of detecting the rotation angle of the rotor is greatly improved; the two sets of detection coil systems can work simultaneously to detect the rotation angle, detection results are mutually compared, and the reliability of the detection results can be greatly improved. Compared with a multi-rotation angle detection system with equal reliability in the prior art, the number of rotation angle detection devices required to be arranged is small, the occupied volume is small, and the cost is greatly reduced; compared with the multi-rotation angle detection system provided with the same number of rotation angle detection devices in the prior art, the reliability is greatly improved when the occupied volumes are the same.

In the present invention, two (or more) signal processing devices can share the same excitation circuit, and/or share the same timing circuit, and/or share the same angle calculation circuit.

Fifth embodiment:

In this embodiment, the angle detection apparatus includes two rotation angle detection devices (in the present invention, two or more rotation angle detection devices may be included) and two signal processing devices, each rotation angle detection device including only one set of detection coil system. Therefore, the rotation angle detecting device includes two sets of detecting coil systems in total (the number of detecting coil systems is equal to the number of signal processing devices and is connected in one-to-one correspondence). The two sets of detection coil systems are connected with the two signal processing devices in a one-to-one correspondence.

In this embodiment, the number of teeth detected by the stator of the first rotation angle detecting device is 8, and the number of salient poles of the rotor is 1; the stator detection tooth number of the second rotation angle detection device is 8, and the rotor salient pole number is 10; the first rotation angle detecting means and the second rotation angle detecting means are provided to rotate synchronously (in the present invention, the angle detecting device may include 1,2 or more rotation angle detecting means, the first rotation angle detecting means includes only 1 rotor salient pole, the second rotation angle detecting means includes 2 or more rotor salient poles, and at least the first rotation angle detecting means and the second rotation angle detecting means are provided to rotate synchronously).

Fig. 10a is a schematic cross-sectional view of a stator and a rotor of the first rotation angle detection device in the present embodiment; fig. 10b is a schematic cross-sectional view of the stator and the rotor of the second rotation angle detection device in this embodiment. In the first rotation angle detection device and the second rotation angle detection device, the stator comprises a stator core, the rotor comprises a rotor core, and the stator core and the rotor core are formed by stamping silicon steel sheets. The 8 stator detection teeth of the first rotation angle detection device and the second rotation angle detection device are uniformly distributed along the inner surface of the stator core where the stator detection teeth are positioned; the 10 rotor salient poles of the second rotation angle detecting device are uniformly distributed along the outer circumference of the rotor core of the second rotation angle detecting device.

Each stator detecting tooth of the first rotation angle detecting device and the second rotation angle detecting device has an insulating bobbin (not shown in fig. 10a and 10 b) thereon. Each stator detection tooth is wound with only 1 coil, and 8 coils are distributed along the circumference. In the first rotation angle detecting device, 8 stator detecting teeth are sequentially arranged in a circumferential clockwise direction in 5101A, 5102A, 5103A, 5104a,5105a, 5106A, 5107A, 5108A (for simplicity of the drawing, all stator detecting teeth are not labeled in fig. 10a, and only a plurality of stator detecting teeth are labeled). In the second rotation angle detecting device, 8 stator detecting teeth are sequentially arranged in a circumferential clockwise direction in 5101B, 5102B, 5103B, 5104B,5105B, 5106B, 5107B, 5108B (for simplicity of the drawing, all stator detecting teeth are not labeled in fig. 10B, and only a plurality of stator detecting teeth are labeled). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shape of the salient pole of the rotor is selected by electromagnetic simulation so that the variation portion of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

In this embodiment, the first rotation angle detecting device includes only one set of detecting coil systems, which is referred to as a first detecting coil system in this embodiment. The first sensing coil system includes coils wound around the stator sensing teeth 5101A, 5102A, 5103A, 5104a,5105a, 5106A, 5107A, 5108A. In this embodiment, the second rotation angle detecting device includes a set of detecting coil systems, which are referred to as second detecting coil systems in this embodiment. The second sensing coil system includes coils wound around the stator sensing teeth 5101B, 5102B, 5103B, 5104B,5105B, 5106B, 5107B, 5108B. The two sets of detection coil systems respectively belong to independent detection coil systems of the rotation angle detection device on the two stators, the two detection coil systems respectively form a multi-bridge arm bridge circuit of the first rotation angle detection device and a multi-bridge arm bridge circuit of the second rotation angle detection device, the two detection coil systems are respectively called a first multi-bridge arm bridge circuit and a second multi-bridge arm bridge circuit in the embodiment, and schematic circuit diagrams of the two detection coil systems are respectively shown in fig. 11a and 11 b.

In fig. 11A, leg X _A1C1 is formed by coil Y _A1 on stator detection tooth 5101A, leg X _A1D1 is formed by coil Y _A6 on stator detection tooth 5106A, leg X _A1E1 is formed by coil Y _A3 on stator detection tooth 5103A, leg X _A1F1 is formed by coil Y _A8 on stator detection tooth 5108A, leg X _B1C1 is formed by coil Y _A5 on stator detection tooth 5105A, leg X _B1D1 is formed by coil Y _A2 on stator detection tooth 5102A, leg X _B1E1 is formed by coil Y _A7 on stator detection tooth 5107A, and leg X _B1F1 is formed by coil Y _A4 on stator detection tooth 5104A.

In fig. 11B, leg X _A2C2 is formed by coil Y _B1 on stator sense teeth 5101B, leg X _A2D2 is formed by coil Y _B7 on stator sense teeth 5107B, leg X _A2E2 is formed by coil Y _B2 on stator sense teeth 5102B, leg X _A2F2 is formed by coil Y _B8 on stator sense teeth 5108B, leg X _B2C2 is formed by coil Y _B3 on stator sense teeth 5103B, leg X _B2D2 is formed by coil Y _B5 on stator sense teeth 5105B, leg X _B2E2 is formed by coil Y _B4 on stator sense teeth 5104B, and leg X _B2F2 is formed by coil Y _B6 on stator sense teeth 5106B.

In this embodiment, the first signal processing apparatus and the second signal processing apparatus are the same as those in the eighth embodiment, and the circuit diagrams can be referred to as fig. 14 in the eighth embodiment. The first detection coil system is connected with a first signal processing circuit, specifically, the output end of an excitation circuit of the first signal processing device outputs an excitation signal, the excitation signal is connected with contacts A1 and B1 of the first detection coil system, and feedback signal ends C1, D1, E1 and F1 of the first detection coil system are connected with the input end of a signal acquisition circuit of the first signal processing device through a filter and a differential amplifying circuit. The second detection coil system is connected with a second signal processing circuit, specifically, the output end of an excitation circuit of the second signal processing device outputs an excitation signal, the excitation signal is connected with the joints A2 and B2 of the second detection coil system, and the feedback signal ends C2, D2, E2 and F2 of the second detection coil system are connected with the input end of a signal acquisition circuit of the second signal processing device through a filter and a differential amplifying circuit.

By the above arrangement of the stator detecting teeth and windings, it is easy to derive from the same analysis method as the first embodiment that the ratio of the differential signal voltage (first signal voltage) between the contacts C1 and D1 to the differential signal voltage (second signal voltage) between the contacts E1 and F1 is a tangent function with respect to the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C1 and D1 are connected to the first signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, and the contacts E1 and F1 are connected to the second signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the first signal voltage and the second signal voltage. The number of cycles of this signal is 1, and thus the absolute position of the motor rotor can be obtained.

By the above arrangement of the stator detecting teeth and windings, it is easy to derive from the same analysis method as the first embodiment that the ratio of the differential signal voltage (third signal voltage) between the contacts C2 and D2 to the differential signal voltage (fourth signal voltage) between the contacts E2 and F2 is a tangent function with respect to the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C2 and D2 are connected to one signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, and the contacts E2 and F2 are connected to the other signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the third signal voltage and the fourth signal voltage. And the number of cycles of this signal is 10.

In the second rotation angle detection device, the inductance of the coil changes by 10 cycles every 1 revolution of the rotor, namely, the position signal changes by 1 cycle every 36 degrees of rotor, so that the detection accuracy is greatly improved by combining the result of the first rotation angle detection device and the test interval.

Therefore, the rotation angle detecting system according to the present embodiment can obtain the absolute position of the motor rotor with high accuracy by using the first rotation angle detecting device in combination with the second rotation angle detecting device in addition to the advantages of the rotation angle detecting device according to the first embodiment.

Sixth embodiment:

In this embodiment, the angle detection apparatus includes a rotation angle detection device and a signal processing device connected thereto, wherein the rotation angle detection device is the same as that in the first embodiment. In this embodiment, the excitation signal output by the excitation circuit in the signal processing apparatus is a sine wave voltage source signal (in the present invention, a sine wave current source signal, a rectangular wave voltage source signal, or a trapezoidal wave voltage source signal may also be used).

Fig. 12 is a schematic diagram showing the structure of the signal processing device in this embodiment. In this embodiment, the signal processing device includes an excitation circuit, two filters, two signal acquisition circuits, a time control circuit, and an angle calculation circuit. In fig. 12, as in the first embodiment, the first feedback signal is the signal output by the feedback signal terminals C and D, and the second feedback signal is the signal output by the feedback signal terminals E and F.

The output end of the excitation circuit outputs an excitation signal, and is connected with excitation ends A and B of the rotation angle detection device; the feedback signal end C, D of the rotation angle detection device is connected to the input end of the first filter of the signal processing device, and the output signal filtered by the first filter after interference is sent to the input end of the first signal acquisition circuit; the feedback signal end E, F of the rotation angle detection device is connected to the input end of the second filter of the signal processing device, and the output signal after interference is filtered by the second filter is sent to the input end of the second signal acquisition circuit. The signal acquisition circuits in this embodiment all include differential links. The time control circuit controls the exciting circuit to output exciting signals and controls the first signal acquisition circuit and the second signal acquisition circuit to sample the feedback signals of the rotating angle detection device according to the set sampling beats to obtain position signals, and the position signals after sampling are transmitted to the angle calculation circuit to calculate the rotating angle. In the invention, the first signal acquisition circuit and the second signal acquisition circuit can share one signal acquisition circuit, the signal acquisition circuits are shared in a time-sharing way, and signals acquired by the first signal acquisition circuit and the second signal acquisition circuit in the embodiment are acquired in a time-sharing way in one period.

In the invention, the first filter and the second filter are both bandpass filters; or the first filter and the second filter are low-resistance (low-frequency blocking) filters so as to perform direct-current component blocking processing on the signal output by the signal lead.

The angle detection principle of the present embodiment is similar to that of the first embodiment. Meanwhile, in the embodiment, the filter is introduced between the feedback signal and the signal acquisition circuit, so that the anti-interference capability of the angle detection system in the actual use site is greatly enhanced.

Seventh embodiment:

Fig. 13 is a schematic diagram showing the structure of a signal processing device in the present embodiment. In this embodiment, the signal processing device includes an excitation circuit, two filters, two signal acquisition circuits, a time control circuit, two low-pass filters, and an angle calculation circuit. In fig. 13, as in the first embodiment, the first feedback signal is the signal output by the feedback signal terminals C and D, and the second feedback signal is the signal output by the feedback signal terminals E and F.

The output end of the excitation circuit outputs an excitation signal and is connected with excitation ends A and B of the rotary transformer; the feedback signal ends C and D of the rotation angle detection device are connected to the input end of a first filter of the first signal processing device, and the output signal of the first filter is sent to the input end of the first signal acquisition circuit; the feedback signal ends E and F of the rotation angle detection device are connected to the input end of a second filter of the second signal processing device, and the output signal of the second filter is sent to the input end of the second signal acquisition circuit. The signal acquisition circuits in this embodiment all include differential links. The time control circuit controls the excitation circuit to output excitation signals and controls the first signal acquisition circuit to sample the feedback signals of the rotation angle detection device according to the set sampling beats to obtain position signals, the sampled position signals are respectively transmitted to the first low-pass filter and the second low-pass filter, the position signals after low-pass filtration are output to the angle calculation circuit, and the angle calculation circuit calculates the rotation angle. In the invention, the first signal acquisition circuit and the second signal acquisition circuit can share one signal acquisition circuit, the signal acquisition circuits are shared in a time-sharing way, and signals acquired by the first signal acquisition circuit and the second signal acquisition circuit are acquired in a time-sharing way in one period.

The angle detection principle of the present embodiment is similar to the first and sixth embodiments. Meanwhile, in the embodiment, a low-pass filter is additionally arranged between the signal acquisition circuit and the angle calculation circuit relative to the sixth embodiment, so that the high-frequency anti-interference influence of the angle detection system is greatly reduced.

Eighth embodiment:

Fig. 14 is a schematic diagram showing the structure of the signal processing device in the present embodiment. In this embodiment, the signal processing apparatus includes an excitation circuit, two filters, two differential amplifying circuits, two signal acquisition circuits, a time control circuit, and an angle calculation circuit. In fig. 14, as in the first embodiment, the first feedback signal is the signal output by the feedback signal terminals C and D, and the second feedback signal is the signal output by the feedback signal terminals E and F.

The output end of the excitation circuit outputs an excitation signal, and is connected with excitation ends A and B of the rotation angle detection device; the feedback signal end C, D of the rotation angle detection device is connected to the input end of the first filter of the signal processing device, the output signal filtered by the first filter after interference is sent to the first differential amplifying circuit, and the differential amplifying signal after passing through the first differential amplifying circuit enters the input end of the first signal acquisition circuit; the feedback signal end E, F of the rotation angle detection device is connected to the input end of the second filter of the signal processing device, the output signal after interference is filtered by the second filter is sent to the second differential amplifying circuit, and the differential amplifying signal after passing through the second differential amplifying circuit enters the input end of the second signal acquisition circuit. The time control circuit controls the exciting circuit to output exciting signals and controls the first signal acquisition circuit and the second signal acquisition circuit to sample the feedback signals of the rotating angle detection device according to the set sampling beats to obtain position signals, and the position signals after sampling are transmitted to the angle calculation circuit to calculate the rotating angle. In the invention, the first signal acquisition circuit and the second signal acquisition circuit can share one signal acquisition circuit, the signal acquisition circuits are shared in a time-sharing way, and signals acquired by the first signal acquisition circuit and the second signal acquisition circuit are acquired in a time-sharing way in a period; at this time, the first filter and the second filter share one filter, and the first differential amplifying circuit and the second differential amplifying circuit share one differential amplifying circuit.

The angle detection principle of the present embodiment is similar to that of the first embodiment, except that the differential operation required to be performed in the signal acquisition circuit in the first embodiment is completed in the differential amplification circuit. Meanwhile, in the embodiment, the filter is introduced between the feedback signal and the signal acquisition circuit, so that the anti-interference capability of the angle detection system in the actual use site is greatly enhanced.

Ninth embodiment:

the angle detection apparatus of the present embodiment includes a rotation angle detection device and a signal processing device connected thereto, wherein the signal processing device is the same as that in the eighth embodiment. In this embodiment, the excitation signal output by the excitation circuit in the signal processing apparatus is a sine wave voltage source signal (in the present invention, a sine wave current source signal, a rectangular wave voltage source signal, or a trapezoidal wave voltage source signal may also be used).

In this embodiment, the number of teeth detected by the stator of the rotation angle detecting device is 16, and the included angle between the detection teeth of each stator is 22.5 degrees; each stator detection tooth is provided with 3 auxiliary teeth (in the invention, each stator detection tooth can be provided with 2 or more auxiliary teeth), and the included angle between the adjacent auxiliary teeth on each detection tooth is 6 degrees (at this time, the center line of the auxiliary tooth positioned in the middle coincides with the center line of the stator detection tooth positioned in the middle). The material of the attached teeth is magnetic conductive material. Fig. 15a is a schematic cross-sectional view of a stator of the rotation angle detecting device. In this embodiment, the number of rotor salient poles of the rotation angle detecting device is 60, the 60 rotor salient poles are uniformly distributed along the rotor surface, and fig. 15b is a schematic cross-sectional view of the rotor of the rotation angle detecting device. As in the previous embodiments, the rotor of the rotation angle detection device in this embodiment is located inside the stator. Here, since the number of rotor salient poles is large, the stator and the rotor of the rotation angle detecting device are shown in fig. 15a and 15b, respectively, for clarity. The stator includes a stator core and the rotor includes a rotor core. The stator core and the rotor core are formed by stamping silicon steel sheets.

In this embodiment, the rotation angle detecting device includes a set of detecting coil systems including 16 coils, and 1 coil is wound on each stator detecting tooth. The 16 coils are connected to form a multi-arm circuit according to fig. 16.

The 16 stator detection teeth are sequentially 9101, 9102, 9103, 9104, 9105, 9106, 9107, 9108, 9109, 9110, 9111, 9112, 9113, 9114, 9115, 9116 distributed clockwise along the circumference (for simplicity of the drawing, all stator detection teeth are not labeled in fig. 15a, and only a few stator detection teeth are labeled). The inductance of each coil varies with the rotation angle of the rotor. In this embodiment, the shapes of the attached teeth and the rotor salient poles are selected through electromagnetic simulation, so that the changing portion of the inductance of the coil changes sinusoidally with the rotation angle of the rotor. In this embodiment, the direct current components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

In fig. 16, arm X _AC is formed by coils on stator detection tooth 9101 and stator detection tooth 9109, arm X _AD is formed by coils on stator detection tooth 9107 and stator detection tooth 9115, arm X _AE is formed by coils on stator detection tooth 9102 and stator detection tooth 9110, arm X _AF is formed by coils on stator detection tooth 9108 and stator detection tooth 9116, arm X _BC is formed by coils on stator detection tooth 9103 and stator detection tooth 9111, arm X _BD is formed by coils on stator detection tooth 9105 and stator detection tooth 9113, arm X _BE is formed by coils on stator detection tooth 9104 and stator detection tooth 9112, and arm X _BF is formed by coils on stator detection tooth 9106 and stator detection tooth 9114.

The 6 contacts A, B, C, D, E, F of the multi-arm bridge circuit are each led out with 6 leads as leads of the rotation angle detection device, wherein the leads led out from the contacts a and B are excitation leads, and the leads led out from the contact C, D, E, F are signal leads.

The signal processing apparatus in this embodiment is the same as that of the eighth embodiment. The output end of the excitation circuit outputs an excitation signal, and is connected with excitation ends A and B of the rotation angle detection device; the feedback signal end C, D of the rotation angle detection device is connected to the input end of the first filter of the signal processing device, the output signal filtered by the first filter after interference is sent to the first differential amplifying circuit, and the differential amplifying signal after passing through the first differential amplifying circuit enters the input end of the first signal acquisition circuit; the feedback signal end E, F of the rotation angle detection device is connected to the input end of the second filter of the signal processing device, the output signal after interference is filtered by the second filter is sent to the second differential amplifying circuit, and the differential amplifying signal after passing through the second differential amplifying circuit enters the input end of the second signal acquisition circuit. The time control circuit controls the exciting circuit to output exciting signals and controls the first signal acquisition circuit and the second signal acquisition circuit to sample the feedback signals of the rotating angle detection device according to the set sampling beats to obtain position signals, and the position signals after sampling are transmitted to the angle calculation circuit to calculate the rotating angle.

The inductances of the coils on the stator detection teeth 9101, 9102, 9103, 9104, 9105, 9106, 9107, 9108, 9109, 9110, 9111, 9112, 9113, 9114, 9115, 9116 are L101, L102, L103, L104, L105, L106, L107, L108, L109, L110, L111, L112, L113, L114, L115, L116, respectively. As can be seen from fig. 15a and 15b, as the rotation angle of the rotor changes, the gap between each stator detecting tooth and the rotor salient pole changes, so that the inductance of each coil changes accordingly, and the number of the change cycles is 60. The inductance of each coil as a function of the rotation angle θm ₈ of the rotor can be expressed as:

L101=l105=l109=l113=l9+lm ₉*sin(60θm₉) formula (901)

L102=l106=l110=l114=l9+lm ₉*sin(60θm₉ +90) formula (902)

L103=l107=l111=l115=l9+lm ₉*sin(60θm₉ +180) formula (903)

L104=l108=l112=l116=l9+lm ₉*sin(60θm₉ +270) formula (904)

Wherein L9 is a dc component of each inductor in the embodiment;

Lm ₉ is the fundamental wave amplitude of each inductor in this embodiment;

θm ₉ is the rotation angle of the rotor in this embodiment.

According to the above arrangement of the stator detecting teeth and windings, it is easy to obtain by simple calculation that the ratio of the differential signal voltage (first signal voltage) between the contacts C and D and the differential signal voltage (second signal voltage) between the contacts E and F of the multi-leg bridge circuit is a tangent function with respect to the rotation angle of the rotor. In this embodiment, the node C, D is connected to the first signal acquisition circuit through the filter and the differential amplification circuit, the node E, F is connected to the second signal acquisition circuit through the filter and the differential amplification circuit, and the angle calculation circuit can calculate the rotation angle of the rotor according to the first signal voltage and the second signal voltage.

From formula (901) -formula (904), the positions of the coils on the stator detection teeth 9101, 9105, 9109, and 9113 in the multi-leg circuit of fig. 16 can be interchanged; the positions of the coils on stator sense teeth 9102, 9106, 9110, and 9114 in the multi-leg circuit of fig. 16 can be interchanged; the positions of the coils on stator sense teeth 9103, 9107, 9111, and 9115 in the multi-leg circuit of fig. 16 can be interchanged; the positions of the coils on stator sense teeth 9104, 9108, 9112, and 9116 can be interchanged in the multi-leg circuit of fig. 16.

In addition to the advantages of the eighth embodiment, the additional teeth in the present embodiment can realize that the small rotation angle detecting device is used to obtain the position signal with high cycle number, that is, realize the high-precision position detection of the small rotation angle detecting device, and reduce the volume and weight of the system.

Tenth embodiment:

In this embodiment, the angle detection apparatus includes two rotation angle detection devices (in the present invention, two or more rotation angle detection devices may be included) and two signal processing devices, each rotation angle detection device including only one set of detection coil system. Therefore, the rotation angle detecting device includes two sets of detecting coil systems in total (in the present invention, the number of detecting coil systems is equal to the number of signal processing devices and are connected in one-to-one correspondence). The two sets of detection coil systems are connected with the two signal processing devices in a one-to-one correspondence.

Wherein the first rotation angle detection means is the same as the first rotation angle detection means in the fifth embodiment; the second rotation angle detection means is the same as the rotation angle detection means in the ninth embodiment, provided with additional teeth; both signal processing apparatuses are the same as those in the eighth embodiment.

In the first signal processing device, an output end of the excitation circuit outputs an excitation signal, and the excitation signal is connected with excitation ends A1 and B1 of the first rotation angle detection device; the feedback signal ends C1 and D1 of the first rotation angle detection device are connected to the input end of a first filter of the first signal processing device, an output signal filtered by the first filter after interference is sent to the first differential amplifying circuit, and a differential amplifying signal after passing through the first differential amplifying circuit enters the input end of the first signal acquisition circuit; the feedback signal ends E1 and F1 of the first rotation angle detection device are connected to the input end of a second filter of the signal processing device, the output signals after interference is filtered by the second filter are sent to a second differential amplification circuit, and the differential amplification signals after interference are sent to the input end of a second signal acquisition circuit. The time control circuit controls the exciting circuit to output exciting signals and controls the first signal acquisition circuit and the second signal acquisition circuit of the first signal processing device according to the set sampling beats to sample the feedback signals of the rotating angle detection device to obtain position signals, and the sampled position signals are transmitted to the angle calculation circuit to calculate the rotating angle.

According to the same analysis method as the first embodiment, it is easy to obtain the ratio of the differential signal voltage (first signal voltage) between the contacts C1 and D1 and the differential signal voltage (second signal voltage) between the contacts E1 and F1 as a function of the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C1 and D1 are connected to the first signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, and the contacts E1 and F1 are connected to the second signal acquisition circuit of the first signal processing device through the filter and the differential amplification circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the first signal voltage and the second signal voltage. The number of cycles of this signal per one revolution of the rotor is 1, whereby the absolute position of the motor rotor can be obtained.

In the second signal processing device, an output end of the excitation circuit outputs an excitation signal, and the excitation signal is connected with excitation ends A2 and B2 of the second rotation angle detection device; the feedback signal ends C2 and D2 of the second rotation angle detection device are connected to the input end of the first filter of the second signal processing device, the output signal filtered by the first filter is sent to the first differential amplifying circuit, and the differential amplifying signal after passing through the first differential amplifying circuit enters the input end of the first signal acquisition circuit; the feedback signal ends E2 and F2 of the second rotation angle detection device are connected to the input end of the second filter of the second signal processing device, the output signals after interference is filtered by the second filter are sent to the second differential amplifying circuit, and the differential amplifying signals after interference is sent to the input end of the second signal acquisition circuit. The time control circuit controls the exciting circuit to output exciting signals and controls the first signal acquisition circuit and the second signal acquisition circuit to sample and process feedback signals of the second rotation angle detection device according to the set sampling beats to obtain position signals, and the sampled position signals are transmitted to the angle calculation circuit to calculate the rotation angle.

According to the same analysis method as the first embodiment, it is easy to find that the ratio of the differential signal voltage (third signal voltage) between the contacts C2 and D2 to the differential signal voltage (fourth signal voltage) between the contacts E2 and F2 is a tangent function with respect to the rotation angle of the rotor. Therefore, in the present embodiment, the contacts C2 and D2 are connected to one signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, and the contacts E2 and F2 are connected to the other signal acquisition circuit of the second signal processing device through the filter and the differential amplifying circuit, so that the angle calculation circuit can calculate the rotation angle of the rotor based on the third signal voltage and the fourth signal voltage. And the cycle number of the signal is 60 for each rotation of the rotor.

In the second rotation angle detection device, the inductance of the coil changes by 60 cycles every 1 revolution of the rotor, namely, the position signal changes by 1 cycle every 6 degrees of rotor revolution, so that the detection precision is greatly improved by combining the result of the first rotation angle detection device and the test interval.

In the invention, the exciting circuit, the signal acquisition circuit and the angle calculation circuit can be realized by a signal processing chip. A band-pass filter or a low-resistance (low-frequency blocking) filter or a differential amplifier can be arranged between the signal processing chip and the rotation angle detection device. In the present invention, the signal processing chip may be an R/D converter chip.

In the invention, the time control circuit can also be connected with the angle calculation circuit to control the angle calculation circuit to calculate the rotation angle of the rotor according to a specified beat.

In the invention, the signal acquisition circuit can be set to be an analog circuit, a digital circuit or a digital and analog mixed circuit; the setting angle calculating circuit is a digital circuit or a mixed digital and analog circuit.

In the present invention (including the above embodiments), the rotation angle detection means may be a resolver.

In the rotation angle detection device of each of the above embodiments, the rotor is disposed inside the stator. In the present invention, the rotor may also be arranged outside the stator.

In the present invention, the angle calculation circuit can be a chip having an arctangent calculation and a division calculation (a proportional link).

In the rotation angle detection apparatus of each of the above embodiments, the shape of the rotor salient pole is set so that the changing portion of the inductance of each coil changes as a sine wave with the change of the rotation angle of the rotor. In the present invention, the shape of the rotor salient pole may also be set so that the varying portion of the inductance of each coil changes into a triangular wave with the change of the rotation angle of the rotor.

The invention also provides a rotating body with the angle detection device. The rotating body comprises a rotating body and the angle detection device. The rotation angle detection device of the angle detection device and the rotator body are arranged in a way that the rotation angle of the rotator of the rotation angle detection device and the rotation angle of the rotator body are in a regular relation (namely, the rotation angle of the rotator and the rotation angle of the rotator body are in a deterministic functional relation and can be converted mutually, in the following two embodiments, the rotation angle detection device and the rotator body can be connected by a gear mechanism and other technical means to enable the rotation angle of the rotator body to be in a certain proportional relation, and the like), so that the rotation angle of the rotator body can be obtained through the rotation angle detected by the angle detection device.

Eleventh embodiment:

In this embodiment, the rotor body is an electric motor (in the present invention, the rotor body may be a generator). Fig. 17 is a schematic view showing the structure of the connection of the rotation angle detection device and the rotator body in the present embodiment. In fig. 17, 1101 denotes a casing common to the rotation angle detecting device and the motor, 1102 denotes a stator of the rotation angle detecting device, and the stator 1102 of the rotation angle detecting device is mounted on the casing 1101 common to the rotor body; 1103 denotes a stator of the motor, 1104 denotes a rotor core of the rotation angle detection device, 1105 denotes a rotor core of the motor, 1104 of the rotation angle detection device rotates together with the rotor core 1105 of the motor, 1106 denotes a rotating shaft, 1104 of the rotation angle detection device is mounted on the rotor 1106 of the rotating body, 11071, 11072 denote front and rear covers, 1108 denote bearings, ensuring smooth rotation of the rotor relative to the stator, 11091, 11092, 11093, 11094, 11095, 11096 denote lead wires of the rotation angle detection device, 11091 and 11092 are excitation leads, 11093, 11094, 11095, 11096 are signal leads, 11010 denotes leads of the motor, 11011 denotes a rotation angle detection device coil, and 11012 denotes a motor coil. In this embodiment, the rotation angle detecting device of the angle detecting apparatus and the motor constitute an integral structure.

Twelfth embodiment:

In this embodiment, the rotor body is an electric motor (in the present invention, the rotor body may be a generator). Fig. 18 is a schematic view showing a structure of the connection of the rotation angle detection device and the rotator body in the present embodiment. In fig. 18, 1201 denotes a rotation angle detecting device, 1202 denotes a motor, 1203 denotes a motor shaft, 1204 denotes a rotation angle detecting device lead wire, 1205 denotes a motor lead wire, and 1206 is a screw. In this embodiment, the rotation angle detecting device 1201 is mounted on an end portion of the motor 1202, and the motor shaft 1203 and the rotation angle detecting device shaft are rotated synchronously with a coupling connection (not shown in fig. 18). It can be seen that in this embodiment, the rotation angle detecting device of the angle detecting apparatus is separated from the motor body.

The invention also provides a motor system comprising the rotating body. The motor system also includes a motor drive circuit. The motor driving circuit is connected with the signal processing device to drive the motor according to the signal output by the signal processing device.

Thirteenth embodiment:

In this embodiment, the rotor body is a permanent magnet motor (in the present invention, a permanent magnet generator may be used) and is connected to the rotation angle detecting device as in the eleventh embodiment (or as in the twelfth embodiment). Fig. 19 is a schematic diagram showing the structure of the motor system in the present embodiment.

In this embodiment, the rotation angle detecting device is the same as that of the second embodiment, and the number of rotor poles is 2. The motor is a three-phase permanent magnet motor having a pole pair number of permanent magnet rotors of 2 (in the present invention, the salient pole number of the rotation angle detecting device is equal to the pole pair number of the permanent magnet rotors of the rotor body, or when the salient pole number of the rotation angle detecting device is 1, the pole pair number of the permanent magnet rotors of the rotor body is any positive integer).

In this embodiment, the signal processing device includes a low-resistance filter and an R/D converter, and the low-resistance filter is a low-frequency blocking filter connected between the rotation angle detecting device and the R/D converter. As shown in fig. 19, the R/D converter outputs an excitation signal to the excitation end of the rotation angle detecting device, the output signal of the rotation angle detecting device is transmitted to the input end of the signal processing device, and the position signal after low-resistance filtering is transmitted to the R/D converter to obtain the rotation angle of the rotor of the rotation angle detecting device, thereby obtaining the rotor angle of the motor. The R/D converter transmits this rotor angle to the motor drive circuit, which controls the motor in accordance with the signal of the rotor angle (i.e., the digitized angle data in fig. 19) and the operating command.

The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.

Claims

1. An angle detection apparatus, characterized in that: comprises a rotation angle detection device and a signal processing device;

The rotation angle detection device comprises a stator, a rotor and a plurality of coils; the stator comprises a stator yoke and stator detection teeth positioned on the stator yoke; each coil is wound on a stator detection tooth, and each stator detection tooth is wound with one coil at most, and the inductance of each coil changes along with the change of the rotation angle of the rotor so as to be used for detecting the rotation angle of the rotor; the stator detection teeth are distributed along a circumferential surface of one side of the stator yoke, which is closer to the rotor, and adjacent stator detection teeth are arranged at intervals of a set angle so that the ratio of the first signal voltage to the second signal voltage is a tangent function with respect to the rotation angle of the rotor;

The stator further comprises stator decoupling teeth, wherein coils are not wound on the stator decoupling teeth so as to reduce magnetic coupling between the stator detection teeth wound with the coils; the stator decoupling teeth are arranged on two sides of the stator detection teeth wound with the coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with the coils; the stator decoupling teeth are made of magnetic conductive materials;

The stator also comprises stator auxiliary teeth, and coils are not wound on the stator auxiliary teeth so as to improve the symmetry of the magnetic circuit system; the stator auxiliary teeth are arranged on the outer sides of the stator detection teeth; the stator auxiliary teeth are made of magnetic conductive materials;

The stator yoke spans an angle less than 360 degrees; the rotation angle detection device comprises at least one set of detection coil system, each set of detection coil system comprises at least 4 parallel multi-bridge arm bridge circuits consisting of a plurality of coils, each row of bridge arms comprises at least two bridge arms, and each bridge arm comprises at least one coil; two leads are led out from two parallel connection points of the multi-bridge arm bridge circuit to serve as excitation leads, and one lead is led out from the contact points of the upper bridge arm and the lower bridge arm of each row of bridge arms to serve as signal leads;

The signal processing device comprises an excitation circuit which is connected with the excitation lead and provides an excitation signal for the excitation lead; the signal acquisition circuit is connected with the signal lead so as to acquire signals output by the signal lead; the angle calculating circuit is connected with the signal acquisition circuit and used for calculating the rotation angle of the rotor; the device also comprises a time control circuit; the time control circuit is connected with the excitation circuit and the signal acquisition circuit to control the excitation circuit to provide the excitation signal and control the signal acquisition beat of the signal acquisition circuit, and is also connected with the angle calculation circuit to control the angle calculation circuit to calculate the rotation angle of the rotor according to a specified beat;

The exciting circuit, the signal acquisition circuit and the angle calculation circuit are realized by a signal processing chip; a low-resistance filter is arranged between the signal processing chip and the rotation angle detection device, and the low-resistance filter is a low-frequency blocking filter; in each set of detection coil system, two signal leads are connected to the signal acquisition circuit, and differential signals of the signal leads generate first signal voltages which change along with the rotation angle of the rotor; the other two signal leads are connected to the signal acquisition circuit, and differential signals of the signal leads generate second signal voltages which change along with the rotation angle of the rotor so as to detect the rotation angle of the rotor according to the first signal voltages and the second signal voltages, wherein the ratio of the first signal voltages to the second signal voltages is a tangent function of the rotation angle of the rotor.

2. The angle detection apparatus according to claim 1, wherein: the rotor has rotor salient poles; the stator yoke, the stator detection teeth and the rotor salient poles are made of magnetic conduction materials;

the multi-bridge arm bridge circuit only comprises 4 columns of bridge arms connected in parallel; the rotation angle detection device contains 2 excitation leads and 4 signal leads in total;

the number of the stator detection teeth is 8*K, and the number of the rotor salient poles is N; wherein K and N are positive integers; k is equal to 1, N is equal to 2;

Setting the shape of the rotor salient pole such that a varying portion of the inductance of each of the coils varies as a sine wave with a variation in the rotation angle of the rotor; or the shape of the rotor salient pole is set so that the changing portion of the inductance of each of the coils changes into a triangular wave with the change of the rotation angle of the rotor;

The angle detection equipment is provided with a stator casing, an end cover, a bearing and a rotating shaft; the stator comprises a stator core, and the stator core is arranged on the stator shell; the rotor comprises a rotor core, and the rotor core is arranged on the rotating shaft and rotates together with the whole rotor;

the rotor is arranged inside the stator; or the rotor is arranged outside the stator.

3. The angle detection apparatus according to claim 1, wherein: the rotation angle detection device comprises at least two sets of detection coil systems; at least two sets of detection coil systems are arranged on the same stator;

The angle detection device is provided with signal processing devices, the number of which is equal to that of the detection coil systems, and the detection coil systems are connected with the signal processing devices in a one-to-one correspondence manner;

At least two signal processing devices share the same excitation circuit, and/or share the same time control circuit, and/or share the same angle calculation circuit;

The excitation leads are shared among the sets of detection coil systems, and the signal leads are independent; or the excitation leads and the signal leads are independent among the detection coil systems.

4. The angle detection apparatus according to claim 1, wherein: the angle detection device comprises at least two rotation angle detection devices;

The angle detection equipment comprises signal processing devices, the number of which is equal to that of the detection coil systems, and the signal processing devices are connected with the detection coil systems in a one-to-one correspondence manner;

The at least two rotation angle detection devices at least comprise a first rotation angle detection device and a second rotation angle detection device; the rotor of the first rotation angle detection device includes only 1 rotor salient pole; the rotor of the second rotation angle detection device comprises 2 or more rotor salient poles; at least the rotor of the first rotation angle detecting means and the rotor of the second rotation angle detecting means are arranged to rotate synchronously;

The stator detection tooth number of the first rotation angle detection device is 8 x M, and M is a positive integer;

In the second rotation angle detecting device, the number of the detecting teeth of the stator is 8*X, and the number of the salient poles of the rotor is (Y+1); wherein X and Y are positive integers.

5. The angle detection apparatus according to claim 1, wherein: the signal acquisition circuit is a signal sampling circuit; or the signal acquisition circuit is a synchronous detection circuit.

6. The angle detection apparatus according to claim 1, wherein: the excitation signal is a sine wave voltage source signal, a sine wave current source signal, a rectangular wave voltage source signal or a trapezoidal wave voltage source signal.

7. The angle detection apparatus according to claim 1, wherein: the angle detection device comprises only one signal acquisition circuit which is shared by time sharing to detect different output signals of the rotation angle detection device in a period;

or the angle detection device comprises two signal acquisition circuits for respectively detecting different output signals of the rotation angle detection device.

8. The angle detection apparatus according to claim 1, wherein: the signal processing device comprises two signal acquisition circuits.

9. The angle detection apparatus according to claim 1, wherein: the input end of the signal acquisition circuit is connected with a filter so as to carry out filtering processing on the signals output by the signal lead;

The signal processing device comprises two groups of filters and a signal acquisition circuit;

The filter is a band-pass filter;

the filter is a low-resistance filter, and the low-resistance filter is a low-frequency blocking filter.

10. The angle detection apparatus according to claim 1, wherein: a low-pass filter is connected between the signal acquisition circuit and the angle calculation circuit so as to carry out low-pass filtering treatment on the signal output by the signal acquisition circuit;

the signal processing device comprises two groups of the low-pass filters and the signal acquisition circuit.

11. The angle detection apparatus according to claim 1, wherein: the signal acquisition circuit comprises a differential link.

12. The angle detection apparatus according to claim 1, wherein: the differential amplifying circuit is also included; the input end of the differential amplification circuit is connected with at least two signal leads of the rotation angle detection device so as to receive the output signal of the rotation angle detection device and perform differential amplification processing; the output end of the differential amplification circuit is connected with the input end of the signal acquisition circuit so as to send the signal subjected to differential amplification to the signal acquisition circuit;

the signal processing device comprises two groups of differential amplifying circuits and a signal acquisition circuit;

And a filter is further arranged between the signal lead of the rotation angle detection device and the differential amplifying circuit.

13. The angle detection apparatus according to claim 1, wherein: the signal acquisition circuit is an analog circuit;

or the signal acquisition circuit is a digital circuit;

Or the signal acquisition circuit is a digital and analog hybrid circuit.

14. The angle detection apparatus according to claim 1, wherein: the angle calculation circuit is a digital circuit;

Or the angle calculation circuit is a digital and analog hybrid circuit.

15. The angle detection apparatus according to claim 1, wherein: two or more auxiliary teeth are arranged on the circumferential surface of the stator detection teeth, which is close to the rotor, and the auxiliary teeth are made of magnetic conductive materials;

Setting the shape and the position of the auxiliary teeth, so that the inductance change part of the coil on the stator detection teeth varies sinusoidally with the rotation angle of the rotor, and the ratio of the first signal voltage to the second signal voltage is a tangent function relative to the rotation angle of the rotor so as to detect the rotation angle of the rotor;

and 3 auxiliary teeth are arranged on each stator detection tooth.

16. The angle detection apparatus according to claim 1, wherein: a band-pass filter is arranged between the signal processing chip and the rotation angle detection device;

the signal processing chip is an R/D converter chip.

17. A rotating body comprising the angle detection apparatus according to any one of claims 1 to 16, characterized in that: the rotary body is also included;

The angle detection device is mounted with the rotating body such that a rotation angle of the rotating body is detected by the angle detection device.

18. The rotating body according to claim 17, characterized in that: the rotor core of the rotation angle detection device is arranged on the rotating shaft of the rotating body, and synchronously rotates with the rotating body to form an integrated structure so as to detect the rotation angle of the rotating body; the stator of the rotation angle detection device is arranged on a stator shell shared with the rotator body; the rotating body is a motor or a generator;

Or the rotation angle detection device is fixed at the end part of the rotator body; the rotating shaft of the rotating angle detection device is connected with the rotating shaft of the rotating body so that the rotating angle detection device and the rotating body synchronously rotate; the rotating shaft of the rotating angle detection device is connected with the rotating shaft of the rotating body through a coupling; the rotator body is a motor or a generator.

19. An electric motor system comprising the rotating body according to claim 17 or 18, characterized in that: the motor system further includes a motor drive circuit; the motor driving circuit is connected with the signal processing device to drive the motor according to the signal output by the signal processing device;

The rotator body is a permanent magnet generator or a permanent magnet motor; the salient pole number of the rotation angle detection device is equal to the pole pair number of the permanent magnet rotor of the rotator body; or when the number of the convex poles of the rotation angle detection device is 1, the pole pair number of the permanent magnet rotor of the rotating body is any positive integer;

The signal processing device comprises a low-resistance filter and an R/D converter, wherein the low-resistance filter is connected between the rotation angle detection device and the R/D converter.