CN107529384B - Micro- flywheel speed-measuring method and device based on linear hall element - Google Patents
Micro- flywheel speed-measuring method and device based on linear hall element Download PDFInfo
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- CN107529384B CN107529384B CN201318003430.5A CN201318003430A CN107529384B CN 107529384 B CN107529384 B CN 107529384B CN 201318003430 A CN201318003430 A CN 201318003430A CN 107529384 B CN107529384 B CN 107529384B
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Abstract
The present invention discloses micro- flywheel speed-measuring method and device based on linear hall element.The present invention uses linear hall element, so motor cost is low, installation procedure and pin count are few；In addition, because 360 ° of electrical angles are divided into six sections by the present invention in advance, after 0~60 ° of arcsine table is established, by comparing sensing voltage and reference voltage, according to the section where the positive and negative determination rotor of comparative result, value again based on sensing voltage is inquired about in the arcsine table, utilizes θ=θx+ (n-1) × 60 ° obtain the positional information of rotor, according toThe tach signal of micro- flywheel is obtained, the precision to test the speed is high.
Description
Technical field
The present invention relates to space microsatellite attitude control executing agency's high accuracy tachometric survey field, especially relate to
And micro- flywheel speed-measuring method based on linear hall element, further relate to micro- flywheel based on linear hall element and survey
Speed variator.
Background technology
In order to control the micro- flywheel in space, it is necessary to obtain accurate rotor-position, for three-phase brushless direct current
The detection method of machine rotor position has hall element sensor, photoelectric coded disk method, electric machine built-in position sensing
Device method, position-sensor-free position detection method etc..Design requirement of the electric machine built-in position sensor method to motor
It is higher, it is necessary in motor stator slot bury detection winding, without versatility.Position-sensor-free position
Detection method is the problem of people are keen to research, but is in static or motor in three-phase brushless dc motor and has just added
There is no the signal that can reflect rotor position information when electric, in motor stator winding, therefore cannot be used for three-phase
The initial alignment of brushless DC motor rotor.Conventional detection rotor-position mode has two kinds, and one kind is to use
Switch Hall element sensor, another method that can more accurately obtain rotor-position are to use optical encoder
(Photo encoder or be Optical encoder).Wherein, the price of photoelectric encoder relative to switch suddenly
The price of your element is high, and common switch Hall sensor, the rotor position that the square-wave signal of output is provided
Information resolution is very low, and rotor seat information resolution is low will to cause the precision that micro- flywheel tests the speed low, in addition,
In switch Hall sensor and the method for testing of photoelectric encoder, motor cost is high, installation procedure and pin count
It is more.
The content of the invention
The present invention solves the problems, such as it is that existing micro- flywheel tests the speed and motor cost height, installation procedure and pin count be present
The problem of more and precision is low.
To solve the above problems, the present invention provides a kind of micro- flywheel speed-measuring method based on linear hall element,
This method comprises the following steps：S1 three linear hall elements), are arranged on outside inside motor coil,
Ensure that three linear hall element end faces are horizontal during installation, three Hall elements are protected in stator shaft orientation
Hold highly consistent, be 1/3rd pole spans in the spacing of the circumferencial direction of stator axis；S2), in advance by 360 degree
Electrical angle is divided into six sections, and establishes 0~60 ° of arcsine table；S3 linear hall element), is obtained
Voltage is sensed, compares sensing voltage and reference voltage, according to where the positive and negative determination rotor of comparative result
Section；S4 analog-to-digital conversion), is carried out to the sensing voltage, based on transformation result in the arcsine table
Table look-up, and utilize θ=θx+ (n-1) × 60 ° obtain the positional information of rotor, according to
Obtain the tach signal of micro- flywheel.
As further scheme, the precision of the arcsine table is for r=int (2An-1×sin 60°)。
As further scheme, before analog-to-digital conversion is carried out to the sensing voltage, first to the sensing electricity
Pressure carries out filtering process and enhanced processing.
Invention additionally discloses a kind of micro- flywheel speed measuring device based on linear hall element, the speed measuring device includes
Three linear hall elements, reference power supply, comparison circuit, analog to digital conversion circuit, memory and processor,
Wherein, three linear hall elements are arranged on outside inside motor coil, and linear hall element end face
Level, three Hall elements keep highly consistent in stator shaft orientation, between the circumferencial direction of stator axis
Away from for 1/3rd pole spans；Analog-digital conversion circuit as described is connected to the linear hall element, changes the sense
Survey voltage is digital quantity；The comparison circuit connects the linear hall element and reference power supply, relatively more linear
The sensing voltage and reference voltage of Hall element, transmission comparative result to the processor；The memory is pre-
First it is stored with 0~60 ° of arcsine table；The processor is according to the positive and negative determination of the comparative result of comparison circuit
Section where rotor, inquired about, utilized in the arcsine table based on transformation result
θ=θx+ (n-1) × 60 ° combine the section determined and obtain the positional information of rotor, according toObtain the tach signal of micro- flywheel.
As further scheme, the speed measuring device also includes filter circuit and amplifying circuit, and the comparison is electric
It is specifically the input that the linear hall element is connected to filter circuit that road, which is connected to the linear hall element,
End, the output end of filter circuit are connected to the input of amplifying circuit, and the output end of amplifying circuit is connected to institute
State comparison circuit；It is specifically the linear Hall that analog-digital conversion circuit as described, which is connected to the linear hall element,
Element is connected to the input of filter circuit, and the output end of filter circuit is connected to the input of amplifying circuit,
The output end of amplifying circuit is connected to analog-digital conversion circuit as described.
Compared with prior art, the present invention has advantages below：
Because the present invention uses linear hall element, so, motor cost is low, and installation procedure and pin count are few,
Further, since 360 ° of electrical angles are divided into six sections by the present invention in advance, and establish 0~60 ° of arcsine
After table, by comparing sensing voltage and reference voltage, according to where the positive and negative determination rotor of comparative result
Section, also based on sensing voltage value inquired about in the arcsine table, and utilize θ=θx+(n-1)×60°
The positional information of rotor is obtained, according toThe tach signal of micro- flywheel is obtained, so,
The precision to test the speed is high.
Brief description of the drawings
Fig. 1 is the structural representation of micro- flywheel speed measuring device of the invention based on linear hall element；
Fig. 2 is that the linear hall element of the present invention is installed on the schematic diagram of motor；
Fig. 3 is that the linear hall element of micro- flywheel speed measuring device based on linear hall element of the present invention produces
Sensing voltage oscillogram；
Fig. 4 is the filter circuit schematic diagram of micro- flywheel speed measuring device of the invention based on linear hall element；
Fig. 5 is the schematic diagram of the amplifying circuit of micro- flywheel speed measuring device of the invention based on linear hall element；
Fig. 6 is the signal flow graph of micro- flywheel speed measuring device of the invention based on linear hall element.
Embodiment
, below will knot to describe technology contents, construction feature, institute's reached purpose and effect of the present invention in detail
Close embodiment and coordinate accompanying drawing to be described in detail.
Fig. 1 to Fig. 6 is referred to, micro- flywheel speed measuring device of the invention based on linear hall element includes three lines
Property Hall element (1A, 1B, 1C), reference power supply (2A, 2B, 2C), comparison circuit (3A, 3B,
3C), analog to digital conversion circuit (4A, 4B, 4C), memory and processor 5.Three linear Hall members
Part (1A, 1B, 1C) is arranged on outside inside motor coil, and linear hall element (1A, 1B, 1C)
End face is horizontal, and three Hall elements (1A, 1B, 1C) keep highly consistent in stator shaft orientation, fixed
The spacing of the circumferencial direction of sub- axle is 1/3rd pole spans.Three linear hall elements (1A, 1B, 1C)
Produce electromagnetic induction with the magnet coil of motor for a moment, so as to produce sensing voltage (Ha, Hb, Hc).
The waveform for sensing voltage is as shown in Figure 3.
Refer to Fig. 1 and combine Fig. 4 and Fig. 5, in the present embodiment, the comparison circuit (3A, 3B,
3C), analog to digital conversion circuit (4A, 4B, 4C) and processor 5 use ARM processing units.The ratio
Connect the linear hall element and reference power supply 2 compared with circuit 3, compare the sensing voltage of linear hall element with
Reference voltage, transmission comparative result to the processor 5.Shown filter circuit (6A, 6B, 6C) be for
The stability of ripple enhancing signal is eliminated, amplifying circuit (7A, 7B, 7C) is to be able to will be faint
Linear hall element (1A, 1B, 1C) sensing sensing voltage amplification, possess filter circuit (6A, 6B,
6C) and in the case of amplifying circuit (7A, 7B, 7C), the comparison circuit 3 be connected to it is described it is linear suddenly
Your element is specifically the input that the linear hall element is connected to filter circuit (6A, 6B, 6C), is filtered
The output end of wave circuit (6A, 6B, 6C) is connected to amplifying circuit (7A, 7B, 7C) input,
The output end of amplifying circuit (7A, 7B, 7C) is connected to the comparison circuit 3.Analog-digital conversion circuit as described
It is specifically that the linear hall element is connected to filtering that (4A, 4B, 4C), which is connected to the linear hall element,
The input of circuit (6A, 6B, 6C), the output end of filter circuit (6A, 6B, 6C), which is connected to, puts
The input of big circuit (7A, 7B, 7C), the output end of amplifying circuit (7A, 7B, 7C) accordingly connect
It is connected to analog-digital conversion circuit as described 4 (4A, 4B, 4C).Amplifying circuit and filter circuit can use existing skill
Circuit in art, will not be repeated here, than amplifying circuit and filter circuit as shown in Figure 4 and Figure 5.
Fig. 1 and Fig. 6 are referred to, the sensing voltage conversion of analog quantity is digital quantity by analog-digital conversion circuit as described 4,
The processor 5 is existed according to the section where the positive and negative determination rotor of comparative result based on transformation result
Inquired about in the arcsine table, utilize θ=θx+ (n-1) × 60 ° combine the section determined and obtain the position of rotor
Confidence ceases.In the present invention, 360 ° of electrical angles are divided into numbering according to the positive and negative value of three-phase sine-wave is
1-6 6 sections, each section are 60 °.Each corresponding two sections of linear hall element, such as Fig. 3
Shown, linear hall element 1A corresponds to section 1 (sector 1) and section 4 (sector 4), linear Hall member
Part 1B corresponds to section 2 (sector 2) and section 5 (sector 5), and linear hall element 1C corresponds to the (fan of section 3
Area 3) and section 6 (sector 6).The comparison circuit 3 compares sensing voltage and reference voltage, in sensing electricity
When pressure is more than reference voltage, positive sign is taken, when sensing voltage is less than reference voltage, takes negative sign, such as,
When linear hall element 1A sensing voltage is more than reference voltage, positive sign (+Ha) is taken, shows linear Hall
Element 1A, when linear hall element 1A sensing voltage is less than reference voltage, takes negative sign in section 1
(- Ha), show linear hall element 1A in section 4.According to the positive and negative of transformation result, you can it is determined that electricity
Machine rotor is currently in which section of 1-6, and in electric motor starting, the information can be used for determining the initial of rotor
Position, in motor operation, the information can be used as electric current commutation signal, so as to realize AC servo
In with switch Hall sensor identical function.
Fig. 1 and Fig. 6 are referred to, in the present invention, establishes one 0~60 ° of arcsine table, the arcsine table
The memory is stored in, in the present embodiment, the precision of arcsine table is r=int (2An-1×sin 60°).Motor
After starting, judge that rotor is presently in section using the above method, then, using analog to digital conversion circuit by line
Property Hall element sensing voltage conversion into digital quantity, respectively using+Ha ,-Ha ,-Hc, Hb, Hc ,-Hb
Represent, in order to further improve precision, voltage will be sensed respectively in analog to digital conversion circuit (4A, 4B, 4C)
After digitlization, then digitized voltage signal is filtered (as shown in Figure 6).Determine to turn according to positive and negative
Behind section where sub, in the digital quantity for sensing voltage changed according to analog to digital conversion circuit in arcsine table
Table look-up, utilize formula θ=θx+ (n-1) × 60 ° obtain the positional information of rotor, and θ is the current position of rotor in formula
Put, θxFor angle of tabling look-up, n is sector number.After obtaining rotor position information, rotor angle increment is calculated
To the differential of speed sampling time, you can obtain spinner velocity, specifically utilize formula
Obtaining the tach signal of micro- flywheel, θ (k) and θ (k-1) is respectively the position at k moment and k-1 moment in formula,
Δ T is the sampling time.
In summary, because the present invention uses linear hall element, so, motor cost is low, installation procedure
It is few with pin count, further, since 360 ° of electrical angles are divided into six sections by the present invention in advance, and establish 0~
60 ° of arcsine table, compare sensing voltage and reference voltage, turned according to the positive and negative determination motor of comparative result
Section where sub, is also inquired about, and utilize based on transformation result in the arcsine table
θ=θx+ (n-1) × 60 ° obtain the positional information of rotor, according toObtain micro- flywheel
Tach signal, so, the precision to test the speed is high.
Based on the technical thought of said apparatus, invention additionally discloses a kind of based on the micro- of linear hall element
Flywheel speed-measuring method comprises the following steps：S1, three linear hall elements are arranged on it is outer inside motor coil
Side, ensure that three linear hall element end faces are horizontal when mounted, three Hall elements are in stator
Axially retain highly consistent, be 1/3rd pole spans in the spacing of the circumferencial direction of stator axis；S2), in advance will
360 ° of electrical angles are divided into six sections, and establish 0~60 ° of arcsine table；S3 linear Hall member), is obtained
The sensing voltage of part, compare sensing voltage and reference voltage, according to the positive and negative determination rotor of comparative result
The section at place；S4 analog-to-digital conversion), is carried out to the sensing voltage, based on transformation result in the arcsine
Inquired about in table, and using obtaining the positional information of rotor, according to obtaining the tach signal of micro- flywheel.
This method also has the advantages of aforementioned means, and its implementation is no longer gone to live in the household of one's in-laws on getting married herein referring to the narration of device part
State.
Claims (4)
1. micro- flywheel speed-measuring method based on linear hall element, it is characterized in that：This method comprises the following steps：
S1 three linear hall elements), are arranged on outside inside motor coil, when mounted described in guarantee
Three linear hall element end faces are horizontal, and three Hall elements keep highly consistent in stator shaft orientation,
The spacing of the circumferencial direction of stator axis is 1/3rd pole spans；
S2 360 degree of electrical angles), are divided into six sections in advance, each section is 60 °, and establish 0~
60 ° of arcsine table；
S3), obtain the sensing voltage of linear hall element, compare sensing voltage and reference voltage, according to than
Section where the positive and negative determination rotor of relatively result；
S4 analog-to-digital conversion), is carried out to the sensing voltage, looked into based on transformation result in the arcsine table
Table, and utilize θ=θx+ (n-1) × 60 ° obtain the positional information of rotor, according to
To the tach signal of micro- flywheel；θ is the current position of rotor in formula, θxFor angle of tabling look-up, n is sector number,
θ (k) and θ (k-1) is respectively the position at k moment and k-1 moment, and Δ T is the sampling time.
2. micro- flywheel speed-measuring method based on linear hall element as claimed in claim 1, it is characterized in that：
Before analog-to-digital conversion is carried out to the sensing voltage, processing and amplification first are filtered to the sensing voltage
Processing.
3. micro- flywheel speed measuring device based on linear hall element, it is characterized in that：The speed measuring device includes three
Linear hall element, three reference power supplies, three comparison circuits, three analog to digital conversion circuits, three storages
Device and a processor, wherein,
Three linear hall elements are arranged on outside inside motor coil, and linear hall element end face water
Flat, three Hall elements keep highly consistent in stator shaft orientation, in the spacing of the circumferencial direction of stator axis
For 1/3rd pole spans；
Analog-digital conversion circuit as described is connected to the linear hall element, changes the sensing voltage as numeral
Amount；
The comparison circuit connects the linear hall element and reference power supply, compares the sense of linear hall element
Survey voltage and reference voltage, transmission comparative result to the processor；
The memory is previously stored with 0~60 ° of arcsine table；
The processor is according to the section where the positive and negative determination rotor of the comparative result of comparison circuit, base
Inquired about in transformation result in the arcsine table, utilize θ=θx+ (n-1) × 60 ° combine the section determined and obtained
To the positional information of rotor, according toObtain the tach signal of micro- flywheel；θ in formula
For the current position of rotor, θxFor angle of tabling look-up, n is sector number, and θ (k) and θ (k-1) are respectively the k moment
With the position at k-1 moment, Δ T is the sampling time.
4. micro- flywheel speed measuring device based on linear hall element as claimed in claim 3, it is characterized in that：
The speed measuring device also includes filter circuit and amplifying circuit, and the comparison circuit is connected to the linear Hall
Element is specifically the input that the linear hall element is connected to filter circuit, and the output end of filter circuit connects
The input of amplifying circuit is connected to, the output end of amplifying circuit is connected to the comparison circuit；The modulus turns
It is specifically that the linear hall element is connected to filter circuit to change circuit and be connected to the linear hall element
Input, the output end of filter circuit are connected to the input of amplifying circuit, the output end connection of amplifying circuit
In analog-digital conversion circuit as described.
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| CN201318003430.5A CN107529384B (en) | 2013-07-12 | 2013-07-12 | Micro- flywheel speed-measuring method and device based on linear hall element |
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| CN201318003430.5A CN107529384B (en) | 2013-07-12 | 2013-07-12 | Micro- flywheel speed-measuring method and device based on linear hall element |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426364A (en) * | 2020-04-16 | 2020-07-17 | 北京控制工程研究所 | Propellant residual quantity measuring method based on multi-source data fusion |
| CN111740672A (en) * | 2020-05-26 | 2020-10-02 | 东南大学深圳研究院 | Permanent magnet synchronous motor angle detection method and system based on linear Hall sensor |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
| CN112986608A (en) * | 2021-03-31 | 2021-06-18 | 长光卫星技术有限公司 | Micro-nano satellite reaction flywheel speed measurement method based on linear Hall |
-
2013
- 2013-07-12 CN CN201318003430.5A patent/CN107529384B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426364A (en) * | 2020-04-16 | 2020-07-17 | 北京控制工程研究所 | Propellant residual quantity measuring method based on multi-source data fusion |
| CN111740672A (en) * | 2020-05-26 | 2020-10-02 | 东南大学深圳研究院 | Permanent magnet synchronous motor angle detection method and system based on linear Hall sensor |
| CN111740672B (en) * | 2020-05-26 | 2023-07-25 | 东南大学深圳研究院 | Permanent magnet synchronous motor angle detection method and system based on linear Hall sensor |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
| CN112986608A (en) * | 2021-03-31 | 2021-06-18 | 长光卫星技术有限公司 | Micro-nano satellite reaction flywheel speed measurement method based on linear Hall |
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