CN107517025A - A kind of motor position feedback device and its signal processing method - Google Patents
A kind of motor position feedback device and its signal processing method Download PDFInfo
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- CN107517025A CN107517025A CN201710765487.6A CN201710765487A CN107517025A CN 107517025 A CN107517025 A CN 107517025A CN 201710765487 A CN201710765487 A CN 201710765487A CN 107517025 A CN107517025 A CN 107517025A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a kind of motor position feedback device and its signal processing method, belong to the technical field of motor.A kind of motor position feedback device and its signal processing method include being arranged at the two analog quantity Hall sensors in stator coil or on the pcb board in magnet steel magnetic field range, and two analog quantity Hall sensor electric phase spatially in difference 90 ° setting, and signal condition of the signal Jing Guo some, calculate tangent value and arc-tangent value, and output position information；The present invention realizes the determination of rotor position information, space more saves by setting two analog quantity Hall sensors to be respectively induced the sine value and cosine value of A phase windings magnetic field spatially, compactedness is higher, and cost is lower, beneficial to production in enormous quantities, and winding zero-bit has just been set when mounted, demarcated without the later stage, using more convenient, and without machine driving, robustness is good, motor service life is extended, and signal passes through signal condition process, improves the accuracy of rotor position information.
Description
Technical field
The present invention relates to the technical field of motor, is specifically related to a kind of motor position feedback device and its signal transacting side
Method.
Background technology
Motor is as power set, not only rapid reaction, and power output is steady, easily controllable；Meanwhile the energy of motor
Consumption is more cleaned, and therefore, is favored by all trades and professions.
In recent years, the development of axial magnetic field permanent magnet motor is very fast, and especially the permagnetic synchronous motor of iron-core-free, this motor are
Tray type structure, axial dimension is shorter, and this motor without salient pole nature or has faint salient pole nature, therefore right
The permagnetic synchronous motor of this iron-core-free is difficult to adopt the control method of no sensor.Traditional, go out the tip of the axis in motor
Upper installation encoder, such as absolute value Hiperface encoders, digital incremental encoder or rotary transformer.But installing additional
After encoder, the change of axial dimension can be caused big, cause the not compact of structure, add the cost of motor, but also need to be in electricity
The demarcation at zero-bit angle is carried out before machine control, the use on motor causes influence, is unfavorable for the magneto of this iron-core-free
Development.
The content of the invention
For the above-mentioned problems in the prior art, now aim to provide at a kind of motor position feedback device and its signal
Reason method, with stator coil or two analog quantity Hall sensors on the pcb board in magnet steel magnetic field range, and two
The electric phase of person spatially in 90 ° of settings of difference, by perceiving the magnetic field intensity of stator coil, is respectively induced motor position
The sine value and cosine value of feedback device and its signal processing method and its signal processing method phase winding magnetic field spatially, after
By obtained sine value and cosine value by amplitude control, deviation adjusting, phase adjustment and the letter for adding direct current biasing Four processes
After number conditioning, tangent value is obtained, and try to achieve arc-tangent value, so as to obtain the angle of rotor, obtain position signalling, avoid installation
The problem of what encoder was brought becomes large-sized, and structure is not compact；Hall sensor cost is low simultaneously, more conducively manufactures；And
And it has been determined that demarcating winding zero-bit without the later stage, use is more convenient, also keeps away during the winding null pick-up installation of motor
The problem of having exempted from the poor robustness that mechanicalness transmission belt comes, extend the service life of motor.
Concrete technical scheme is as follows：
A kind of motor position feedback device, has the feature that, including：Two analog quantity Hall sensors, two analog quantitys
The electric phase of Hall sensor is spatially in 90 ° of settings of difference, and two analog quantity Hall sensors are arranged at stator coil
In, or two analog quantity Hall sensors are arranged on the pcb board in the magnet steel magnetic field range in motor.
A kind of above-mentioned motor position feedback device, wherein, the coil that stator coil makes for PCB technology, or stator line
Enclose the coil made for wire winding.
A kind of above-mentioned motor position feedback device, wherein, two analog quantity Hall sensors are affixed on determining for PCB technology making
Subcoil.
A kind of above-mentioned motor position feedback device, wherein, two analog quantity Hall sensors embedment wire winding makes
Stator coil.
A kind of signal processing method, has the feature that, including above-mentioned motor position feedback device, is divided into following step
Suddenly：
Step 1, two analog quantity Hall sensors are respectively induced A phase windings magnetic field sine value Vsin spatially and remaining
String value Vcos；
Step 2, signal condition is carried out to sine value Vsin and cosine value Vcos values；
Step 3, tangent value (Vsin/Vcos) is calculated, and calculate arc-tangent value, outgoing position signal.
A kind of above-mentioned signal processing method, wherein, signal condition includes amplitude control process, deviation adjusting process, phase
Position adjustment process and add four parts of direct current biasing process, and by the sequencing of completion be followed successively by amplitude control process, partially
Poor adjustment process, phase adjustment process and plus direct current biasing process.
A kind of above-mentioned signal processing method, wherein, amplitude control process is using operational amplification circuit, and passes through adjustment
The parameter of operational amplification circuit, the influence to signal amplitude in phase modulation process is incorporated in, makes corresponding AC signal amplitude
Peak-peak is exported close to 1Vpp.
A kind of above-mentioned signal processing method, wherein, deviation adjusting process includes positivity bias adjustment and negative sense deviation is adjusted
Whole, deviation adjusting can use add circuit or subtraction circuit to be adjusted.
A kind of above-mentioned signal processing method, wherein, phase adjustment process comes to AC signal by using phase-shift circuit
Carry out the advanced of phase angle or hysteresis adjustment.
A kind of above-mentioned signal processing method, wherein, it is using add circuit, to Vsin and Vcos to add direct current biasing process
Add DC offset voltage, such as 2.5V DC offset voltage.
The good effect of above-mentioned technical proposal is：1st, the magnet steel magnetic field range in the stator coil of motor or in motor
Two analog quantity Hall sensors are set on interior pcb board, and are in spatially phase by the electric phase of two analog quantity Hall sensors
Poor 90 ° of settings, by the signal detected, obtain the positional information of rotor, method is simple, and space is smaller, more compact structure；2、
Only two analog quantity Hall sensors need to be set, cost is lower, more conducively manufactures, and more meets the high-volume of enterprise's pipeline system
Production；3rd, the winding zero-bit of motor uses when two sensorses are installed it has been determined that the later stage need not carry out the demarcation of winding zero-bit
It is more convenient；4th, signal is produced by sensor, eliminates mechanical transmission, robustness is more preferable, extends the use of motor
Life-span；5th, the positional information of rotor has carried out signal condition to signal before the determination, and as a result more accurate, precision is higher.
Brief description of the drawings
Fig. 1 is a kind of structure chart of the embodiment of motor position feedback device of the present invention；
Fig. 2 is a kind of another mounting means of motor position feedback device of the present invention；
Fig. 3 is a kind of structure chart at a visual angle of another mounting means of motor position feedback device of the present invention；
Fig. 4 is a kind of flow chart of signal processing method of the present invention；
Fig. 5 is the reverse amplification circuit of a preferred embodiment of the present invention；
Fig. 6 is the circuit diagram of the reverser of a preferred embodiment of the present invention；
Fig. 7 is the add circuit of a preferred embodiment of the present invention；
Fig. 8 is the subtraction circuit of a preferred embodiment of the present invention；
Fig. 9 is the phase-shift circuit of the phase angular advance of a preferred embodiment of the present invention；
Figure 10 is the phase-shift circuit of the phase angular lag of a preferred embodiment of the present invention.
In accompanying drawing：1st, stator coil；2nd, the pcb board in the magnet steel magnetic field range in motor；3rd, analog quantity hall sensing
Device；4th, stator case；41st, through hole；5th, magnet steel；6th, bolt.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below
Apply example combination accompanying drawing 1 to be specifically addressed technical scheme provided by the invention to accompanying drawing 10, but herein below is not as the present invention
Restriction.
Fig. 1 is a kind of structure chart of the embodiment of motor position feedback device of the present invention；Fig. 2 is one kind electricity of the present invention
Another mounting means of machine position feedback device；Fig. 3 is a kind of another installation of motor position feedback device of the present invention
The structure chart at one visual angle of mode.As shown in Figure 1, Figure 2 and shown in Fig. 3, the motor position feedback device that the present embodiment provides includes：
Two analog quantity Hall sensors 3.
Specifically, it is provided with two on pcb board 2 in the stator coil 1 of motor or the magnet steel magnetic field range in motor
Analog quantity Hall sensor 3, and two analog quantity Hall sensors 3 are when mounted, and the electric phase in space is set for 90 ° in difference
Put, ensure that the signal that two analog quantity Hall sensors 3 sense is respectively the sine value Vsin of A phase windings magnetic field spatially
With cosine value Vcos, it is easy to the determination of processing and position signalling of the later stage to signal.
Specifically, stator coil 1 includes the coil that PCB technology makes and the coil that wire winding makes, when for PCB technology
During the stator coil 1 of making, two analog quantity Hall sensors 3 are affixed on stator coil 1；When the stator line made for wire winding
When enclosing 1, in two analog quantity Hall sensors 3 embedment stator coil 1, as big as possible saves arrangement space, ensure that motor
The compactedness of structure.
More specifically, when two analog quantity Hall sensors 3 are affixed on or are embedded on stator coil 1, two analog quantity Halls pass
Sensor 3 is located on the medial and lateral edge of rotor magnetic steel 5 or in the direct sphere of action of the axial magnetic field of rotor magnetic steel 5.Rotor
Magnet steel 5 is axial multipole magnetization, while uses sinus wave patters, its magnetic field is had sinuso sine protractor on outer ledge.When two
When analog quantity Hall sensor 3 is installed on the surface of pcb board, two analog quantity Hall sensors 3 are close to the outside of rotor magnetic steel 5
On edge, now, two analogue hall sensors 3 pass through the through hole 41 in stator case 4.
More specifically, the pcb board 2 in the magnet steel magnetic field range in motor is located at the outer edge of magnet steel 5, in electricity
Pcb board 2 in the magnet steel magnetic field range of machine is fixed in stator case 4 by bolt 6, and two analog quantity Hall sensors 3 weld
In on the pcb board 2 in the magnet steel magnetic field range in motor, both spatially differ 90 degree of electrical angles, that is, correspond respectively to A
0 phase of phase winding and 90 degree of phases.The center line of the detection induction region of two analog quantity Hall sensors 3 passes through rotor magnetic
The center of steel 5, it ensure that the accuracy of two Hall sensor signal detections.
Fig. 4 is a kind of flow chart of signal processing method of the present invention；Fig. 5 is reversely putting for a preferred embodiment of the present invention
Big circuit；Fig. 6 is the circuit diagram of the reverser of a preferred embodiment of the present invention；Fig. 7 is the addition of a preferred embodiment of the present invention
Circuit；Fig. 8 is the subtraction circuit of a preferred embodiment of the present invention；Fig. 9 is the phase angular advance of a preferred embodiment of the present invention
Phase-shift circuit；Figure 10 is the phase-shift circuit of the phase angular lag of a preferred embodiment of the present invention.As shown in Figures 1 to 10, it is based on
A kind of signal processing method that motor position feedback device provided by the present invention obtains comprises the following steps：
Step 1, two analog quantity Hall sensors are respectively induced A phase windings magnetic field sine value Vsin spatially and remaining
String value Vcos；
Step 2, signal condition is carried out to sine value Vsin and cosine value Vcos；
Step 3, tangent value (Vsin/Vcos) is calculated, and calculate arc-tangent value, and outgoing position signal.
By above-mentioned signal processing method, the position signalling of rotor has been determined more accurately, and process is simple,
It is easily operated.
More specifically, need to be to the sine value Vsin and cosine that sense on two analog quantity Hall sensors in step 2
Value Vcos carries out signal condition, and signal condition includes amplitude control process, deviation adjusting process, phase adjustment process and added straight
Flow biasing process four parts, and the analog signal sine value Vsin and cosine value Vcos sensed in signal condition by completion
Sequencing be followed successively by amplitude control process, deviation adjusting process, phase adjustment process and add direct current biasing process, realize
Processing to induced signal, further ensure the accuracy of motor rotor position information.
More specifically, signal is in amplitude control process, and using operational amplification circuit, operational amplification circuit includes reverse
Amplifying circuit and reverser, and by adjusting the parameter of reverse amplification circuit, such as the size of adjusting resistance value, after pass through reverser
Reverse signal after amplification is corrected, while in view of the influence in phase modulation process to signal amplitude, corresponding friendship can be made
The output of signal amplitude peak-peak is flowed for 1Vpp or so, realizes and detection signal is amplified, prevent by two analog quantitys suddenly
The amplitude of analog signal caused by your sensor is too small and influences the determination of motor rotor position information, improves accuracy.Such as Fig. 5
Shown in Fig. 6, in reverse amplification circuit, v01 is the output of amplifying circuit, and v0 is the output from analog quantity Hall sensor
Signal, Rt are the thermistor of PTC positive temperature coefficients, and Rf is adjustable resistance, following relation be present,
Change multiplication factor by adjusting Rf, while Rt has temperature compensation function, can compensate for after being raised due to temperature
Influence after field weakening.
Also, because amplifying circuit is reverse signal, therefore, v01 need to obtain v1 signals by reverser, complete amplitude control
System.
More specifically, deviation adjusting process includes positivity bias adjustment and negative sense deviation adjusting, and signal is in deviation adjusting
During, it can be realized by add circuit or subtraction circuit.When the average value of Vsin or Vcos signals is less than setting value, need
Positivity bias adjustment is carried out, during by add circuit to realize, switch is placed in VCC sides；During by subtraction circuit to realize, open
Pass is placed in-VCC sides.When the average value of Vsin or Vcos signals is more than setting value, it is necessary to negative sense deviation adjusting be carried out, by adding
When method circuit is to realize, switch is placed in-VCC sides；During by subtraction circuit to realize, switch is placed in VCC sides, suitable so as to obtain
Voltage swing.The inaccuracy of signal acquisition can be so prevented, improves the determination precision of motor rotor position information.
As shown in fig. 7, add circuit, if R21=R22=R23, now,
v2=v1+v01
In formula, v2 is the output signal after deviation adjusting, and v1 is the output signal after amplitude control, and v01 is deviation adjusting
Amount, v01 are obtained by bleeder circuit in figure.When v2 average value is less than setting value, switch S1 is placed in VCC sides, v2 is added one
Individual forward voltage；When v2 average value is more than setting value, switch S1 is placed in-VCC sides, v2 is added a negative voltage.It is logical
The size for crossing adjustment resistor Ra can obtain suitable voltage swing.
As shown in figure 8, subtraction circuit, if R24=R25, R26=R27, now,
v2=v1-v01
In formula, v2 is the output signal after deviation adjusting, and v1 is the output signal after amplitude control, and v01 is deviation adjusting
Amount, v01 are equally obtained by bleeder circuit, are not marked bleeder circuit in Fig. 7, obtained using identical method in Fig. 6.When putting down for v2
When average is less than setting value, switch S1 is placed in-VCC sides, v2 is subtracted a negative voltage；When v2 average value is more than setting value
When, switch S1 is placed in VCC sides, v2 is subtracted a forward voltage.Size by adjusting resistor Ra can obtain suitable electricity
Press size.
More specifically, at the phase angle of the Vsin or Vcos signals after deviation adjusting process it is possible that advanced
Or lag issues, in phase adjustment process, when the phase angle of Vsin or Vcos signals lags, by shown in Fig. 9
The phase-shift circuit of phase angular advance carries out the advanced adjustment at phase angle；When the phase angle of Vsin or Vcos signals occurs advanced,
The hysteresis that phase angle is carried out by the phase-shift circuit of the phase angular lag shown in Figure 10 adjusts, and further ensures rotor position
The accuracy that confidence breath determines.I.e. by adjusting the size of adjustable potentiometer RP1 and RP2 in Fig. 9 and Figure 10, phase shift can reach
Purpose.Coordinate the size of adjusting resistance value in amplitude control process, Vsin and Vcos AC signals shake after making phase adjustment process
Width peak-peak is 1Vpp.
More specifically, during adding direct current biasing, using add circuit, DC offset voltage is added to Vsin and Vcos,
DC offset voltage is fixed voltage value, i.e., the output signal V3 of phase adjustment process in figure 9 and in figure 10 adds a fixation
Magnitude of voltage, such as 2.5V DC offset voltage, ensure that feedback device is compatible with existing encoder, meet interface advise
Model.
The motor position feedback device and its signal processing method that the present embodiment provides, including be arranged in stator coil 1
Or two analog quantity Hall sensors 3 on the pcb board 2 in the magnet steel magnetic field range in motor, and two analog quantity when mounted
The electric phase of Hall sensor 3 is spatially in 90 ° of settings of difference, and signal is by including amplitude control, deviation adjusting, phase
Position adjustment and the signal condition process for adding four parts of direct current biasing, calculate tangent value and arc-tangent value, and carry-out bit confidence
Breath；By setting two analog quantity Hall sensors 3 to be respectively induced the sine value Vsin and cosine value of A phase windings magnetic field spatially
Vcos, the determination of rotor position information is realized, simple in construction, space more saves, and compactedness is higher, and analog quantity hall sensing
The cost of device 3 is lower, more conducively produces in enormous quantities；Meanwhile the setting of winding zero-bit is just realized when mounted, marked without the later stage
Fixed, using more convenient, and without machine driving, robustness is more preferable, extends the service life of motor, and signal passes through signal
Conditioning process, improve the accuracy of rotor position information.
Preferred embodiments of the present invention are these are only, not thereby limit embodiments of the present invention and protection domain, it is right
For those skilled in the art, it should can appreciate that and all be replaced with being equal made by description of the invention and diagramatic content
Change and obviously change resulting scheme, should be included in protection scope of the present invention.
Claims (10)
- A kind of 1. motor position feedback device, it is characterised in that including：Two analog quantity Hall sensors, two analog quantity Halls pass The electric phase of sensor is in spatially 90 ° of settings of difference, and two analog quantity Hall sensors are arranged in stator coil, or two Analog quantity Hall sensor is arranged on the pcb board in the magnet steel magnetic field range in motor.
- 2. a kind of motor position feedback device according to claim 1, it is characterised in that the stator coil is PCB works The coil that skill makes, or stator coil are the coil that wire winding makes.
- A kind of 3. motor position feedback device according to claim 2, it is characterised in that the two analog quantitys hall sensing Device is affixed on the stator coil of PCB technology making.
- A kind of 4. motor position feedback device according to claim 2, it is characterised in that the two analog quantitys hall sensing The stator coil that device embedment wire winding makes.
- A kind of 5. signal processing method, it is characterised in that including motor position feedback device described in Claims 1 to 4, be divided into Lower step：Step 1, two analog quantity Hall sensors are respectively induced the sine value Vsin and cosine value of A phase windings magnetic field spatially Vcos；Step 2, signal condition is carried out to sine value Vsin and cosine value Vcos values；Step 3, tangent value (Vsin/Vcos) is calculated, and calculate arc-tangent value, outgoing position signal.
- 6. a kind of signal processing method according to claim 5, it is characterised in that the signal condition controls including amplitude Process, deviation adjusting process, phase adjustment process and add four parts of direct current biasing process, and by complete sequencing according to Secondary is amplitude control process, deviation adjusting process, phase adjustment process and plus direct current biasing process.
- 7. a kind of signal processing method according to claim 6, it is characterised in that the amplitude control process is using fortune Amplifying circuit is calculated, and by adjusting the parameter of operational amplification circuit, is incorporated in the influence to signal amplitude in phase modulation process, AC signal amplitude peak-peak is exported close to 1Vpp corresponding to making.
- 8. a kind of signal processing method according to claim 6, it is characterised in that the deviation adjusting process includes forward direction Deviation adjusting and negative sense deviation adjusting, the deviation adjusting can use add circuit or subtraction circuit to be adjusted.
- A kind of 9. signal processing method according to claim 6, it is characterised in that the phase adjustment process by using Phase-shift circuit to carry out AC signal the advanced of phase angle or hysteresis adjustment.
- 10. a kind of signal processing method according to claim 6, it is characterised in that described plus direct current biasing process is to adopt With add circuit, DC offset voltage is added to Vsin and Vcos, such as 2.5V DC offset voltage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710765487.6A CN107517025A (en) | 2017-08-30 | 2017-08-30 | A kind of motor position feedback device and its signal processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765487.6A CN107517025A (en) | 2017-08-30 | 2017-08-30 | A kind of motor position feedback device and its signal processing method |
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| CN201710765487.6A Pending CN107517025A (en) | 2017-08-30 | 2017-08-30 | A kind of motor position feedback device and its signal processing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111327233A (en) * | 2020-02-17 | 2020-06-23 | 浙江科技学院 | Method and system for detecting position of permanent magnet motor |
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| CN105099300A (en) * | 2014-05-06 | 2015-11-25 | 德昌电机(深圳)有限公司 | Controller, special-purpose integrated circuit, stepper motor, actuator and application thereof |
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Application publication date: 20171226 |