CN107565762A - Magnetic encoder, motor and its angle computation method - Google Patents
Magnetic encoder, motor and its angle computation method Download PDFInfo
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- CN107565762A CN107565762A CN201710780771.0A CN201710780771A CN107565762A CN 107565762 A CN107565762 A CN 107565762A CN 201710780771 A CN201710780771 A CN 201710780771A CN 107565762 A CN107565762 A CN 107565762A
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Abstract
The present invention provides a kind of magnetic encoder, motor and its angle computation method, and it includes：Magnetic conductive disk, the annular magnetic steel being fixed in magnetic conductive disk, and encoder plate, the surface of encoder plate set four equally distributed linear hall elements of ring, and all linear hall elements are located at the intracavitary surrounded by the annular magnetic steel；The encoder plate is provided with the encoder algo control circuit being connected with all linear hall elements.Annular magnetic steel is fixed on inside magnetic conductive disk by the present invention, and linear hall element is placed in annular magnetic steel, realizes the anti-interference of maximum, improves the signal output precision of linear hall element.
Description
Technical field
The present invention relates to the encoder techniques field of motor, more particularly to a kind of magnetic encoder, motor and its angle
Spend computational methods.
Background technology
Magnetic encoder is the Novel encoder to grow up in recent years.Compared with photoelectric encoder, in miniaturization, antivibration
Dynamic, high frequency sound, low cost etc. have obvious advantage.The magnetic encoder of low price is all mainly low essence in the market
Degree, low resolution, encoder is an independent device, not high with controller integrated level, non-for mechanical erection status requirement
Chang Gao, therefore, it is difficult to be applied to the sewing machine system with high-precision requirement.
Chinese patent 201611205360.0 is related to a kind of sewing machine drive and sewing machine.The magnetic of sewing machine drive
Encoder system includes the disk and alternate arctic element and South Pole element being magnetized, the arctic element and South Pole element
As incremental markings.The latter is designed to include：Loopful increment track, the loopful increment track surround the circle of ferrite disk
Zhou Yanshen；And annular section increment track, the annular section increment track are designed to the ring part on ferrite disk
Point.Result is the magnetic encoder system of the servomotor for sewing machine.Made in the application using magnetic encoder system
Used for encoder, but its precision is still limited, it is difficult to meet the high-precision requirement of sewing machine.
The content of the invention
In view of the above the shortcomings that prior art, it is an object of the invention to provide a kind of magnetic encoder, motor and
Its angle computation method, for solving, magnetic encoder installation accuracy in the prior art is low to be difficult to asking suitable for high-precision requirement
Topic.
In order to achieve the above objects and other related objects, the present invention provides a kind of magnetic encoder, and it includes：Magnetic conductive disk,
The annular magnetic steel being fixed in magnetic conductive disk, and encoder plate, the surface of encoder plate set four equally distributed lines of ring
Property Hall element, all linear hall elements are located at the intracavitary that is surrounded by the annular magnetic steel；The encoder plate be provided with
The connected encoder algo control circuit of all linear hall elements.
Preferably, the surface of the encoder plate is provided with four positioning seats, be embedded in each positioning seat one it is described linear
Hall element.
Preferably, the positioning seat is plastic feet.
Preferably, the encryption algorithm control circuit includes cordic algorithm units and angle modification unit.
Preferably, signal processing circuit, signal processing circuit and the encoder algo are additionally provided with the encoder plate
Control circuit is connected, and each linear hall element passes through signal processing circuit and the encoder algo control circuit phase
Even.
Preferably, the annular magnetic steel is the single pair pole magnet steel of radial magnetizing.
The present invention also provides a kind of motor of carrying magnetic encoder, and it includes：Motor, the motor housing being connected with motor,
Motor housing forms the cavity of accommodating motor shaft tail end with motor, and magnetic encoder as described above, institute are fixed with cavity
State magnetic conductive disk to be fixed on motor shaft tail end, the encoder plate is located at motor housing medial surface
The present invention also provides a kind of computational methods of the motor anglec of rotation, and the motor encodes for above-described carrying magnetic
The motor of device, its computational methods are specially：Motor drive motor shaft rotates, and drives annular magnetic steel to rotate, four it is described it is linear suddenly
The change in location of annular magnetic steel described in your element senses, four linear hall elements export two-way orthogonal differential voltage signal, compiled
After code device algorithm control circuit receives two-way orthogonal differential voltage signal, cordic algorithm is carried out to it and obtains arc tangent angle, θ
1, arc tangent angle, θ 1 is the current anglec of rotation of motor.
Preferably, angle modification unit is provided with the encryption algorithm control circuit, when obtaining the arc tangent angle, θ 1
Afterwards, then angle modification will be carried out in the input angle amending unit of arc tangent angle, θ 1, specific modification method is：Angle modification unit
Inside prestore an angle modification form, the arc tangent angle, θ 1 is demarcated according to the angle modification form, final output is repaiied
Motor anglec of rotation θ 2 after just.
As described above, magnetic encoder, motor and its angle computation method of the present invention, have the advantages that：
Annular magnetic steel is fixed on inside magnetic conductive disk by the present invention, and linear hall element is placed in annular magnetic steel, realizes maximum
Anti-interference, improve the signal output precision of linear hall element；The present invention is equal using four linear hall element rings in addition
Even distribution, i.e., two neighboring 90 ° of interval, exports two-way orthogonal differential voltage signal, overcomes because of annular magnetic when motor shaft rotates
Machine error caused by steel setting-up eccentricity etc., improve signal output precision, and the interference between energy suppression common mode signal, band of the present invention
Magnetic encoder is easily installed use, and improves signal output precision.
Brief description of the drawings
Fig. 1 is shown as the motor schematic diagram of the carrying magnetic encoder of the present invention.
Fig. 2 is shown as the scheme of installation of the linear hall element of the present invention.
Fig. 3 is shown as the scheme of installation of the single pair pole magnet steel of the present invention.
Fig. 4 is shown as the schematic flow sheet of the angle computation method of the motor of the present invention.
Component label instructions
1 motor housing
2 encoder plates
201 signal processing circuits
202 cordic algorithm units
203 angle modification units
3 linear hall elements
4 annular magnetic steels
5 magnetic conductive disks
6 motors
7 positioning seats
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
Fig. 1 is referred to Fig. 4.It should be clear that structure depicted in this specification institute accompanying drawing, ratio, size etc., only to
Coordinate the content disclosed in specification, so that those skilled in the art understands and reads, being not limited to the present invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influenceing the effect of present invention can be generated and the purpose that can reach, all should still fall in disclosed skill
In the range of art content can cover.Meanwhile in this specification it is cited as " on ", " under ", "left", "right", " centre " and
The term of " one " etc., understanding for narration is merely convenient to, and is not used to limit the enforceable scope of the present invention, its relativeness
It is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable category of the present invention.
The present invention provides a kind of magnetic encoder, and as shown in Fig. 2 and Fig. 3, it includes：Magnetic conductive disk 5, it is fixed in magnetic conductive disk
Annular magnetic steel 4, and encoder plate 2, the surface of encoder plate 2 sets the equally distributed linear hall element 3 of four rings,
All linear hall elements 3 are located at the intracavitary surrounded by the annular magnetic steel 4；The encoder plate 2 is provided with linear with institute
The connected encoder algo control circuit of Hall element 3.Annular magnetic steel 4 is fixed on inside magnetic conductive disk by the present invention, and by line
Property Hall element 3 be placed in annular magnetic steel 4, magnetic conductive disk 5 plays shielding action to outside magnetic interference, improves linear hall element
3 signal output precision.
It is with above-mentioned magnetic encoder in the present embodiment as shown in figure 1, being a specific embodiment of above-mentioned magnetic encoder
Motor, it includes：Motor 6, the motor housing 1 being connected with motor 6, motor housing 1 form accommodating motor shaft tail end with motor
Cavity, as shown in Figure 3, magnetic conductive disk 5 and the annular magnetic steel being fixed in magnetic conductive disk 4 are fixed with motor shaft tail end,
Encoder plate 2 is provided with motor housing medial surface, the surface of encoder plate 2 sets the equally distributed linear Hall member of four rings
Part 3, as shown in Figure 2, all linear hall elements 3 are located at the intracavitary surrounded by the annular magnetic steel 4；On the encoder plate 2
Provided with the encoder algo control circuit being connected with all linear hall elements 3.The present invention is set using in the fixation of motor shaft tail end
Magnetic conductive disk 5 is put, annular magnetic steel 4 is fixed on inside magnetic conductive disk, and linear hall element 3 is placed in annular magnetic steel 4, magnetic conduction
Disk 5 plays shielding action to outside magnetic interference, improves the signal output precision of linear hall element 3；The present invention uses in addition
Four rings of linear hall element 3 are uniformly distributed, i.e., two neighboring 90 ° of interval, two-way orthogonal differential are exported when motor shaft rotates
Voltage signal, the machine error caused by setting-up eccentricity of annular magnetic steel 4 etc. is overcome, improve signal output precision, and can suppress
Interference between common-mode signal, carrying magnetic encoder of the present invention is easily installed use, and improves signal output precision.
To improve the installation accuracy of linear hall element, reduce machine error, on the surface of encoder plate 2 in the present embodiment
Provided with four positioning seats 7, as shown in Figure 2, a linear hall element 3 is embedded in each positioning seat 7.Positioned by setting
Seat 7 ensures that the ring of four linear hall elements 3 is uniform, improves installation accuracy, reduces sin and cos voltage signals phase and misses
Difference, improve the signal output precision of four linear hall elements.Positioned for ease of installation, positioning seat 7 is plastics in the present embodiment
Base.
Encryption algorithm control circuit in the present embodiment includes cordic algorithm units 202 and angle modification unit 203, sees
Shown in Fig. 4, the rotation of four linear hall element sensing annular magnetic steels produces sin ± and cos ± signals, passes through cordic algorithms
Unit 202 obtains arc tangent angle, θ 1, and high-precision motor anglec of rotation θ 2 is obtained finally by angle modification unit.The present invention
In cordic algorithms be Coordinate Rotation Digital computational methods, it passes through displacement and plus and minus calculation, can recursive calculation common mathematical function
Value, such as Sin, Cos, the function such as Sinh, Cosh.
To improve the precision of gained angle value, signal processing circuit 201 is additionally provided with encoder plate 2 in the present embodiment, is seen
Shown in Fig. 4, signal processing circuit 201 is connected with encoder algo control circuit, and each linear hall element 3 passes through signal
Process circuit 201 is connected with encoder algo control circuit.
To improve signal detection precision, it is easy to use, the annular magnetic steel 4 in the present embodiment is the single pair pole magnetic of radial magnetizing
Steel.
The present invention also provides a kind of angle computation method of motor, and the motor is above-described carrying magnetic encoder
Motor, its computational methods are specially：The drive motor shaft of motor 6 rotates, and drives annular magnetic steel 4 to rotate, four linear Halls
Element 3 senses the change in location of the annular magnetic steel 4, and four linear hall elements 3 export two-way orthogonal differential voltage signal, compiled
After code device algorithm control circuit receives two-way orthogonal differential voltage signal, cordic algorithm is carried out to it and obtains arc tangent angle, θ
1, arc tangent angle, θ 1 is the current anglec of rotation of motor.
To adapt to high-precision demand, angle modification unit is provided with encryption algorithm control circuit in the present embodiment, when must
To after above-mentioned arc tangent angle, θ 1, then angle modification will be carried out in the input angle amending unit of arc tangent angle, θ 1, specific amendment
Method is：Prestore an angle modification form in angle modification unit, according to the angle modification form to the arc tangent angle, θ 1
Demarcated, the revised motor anglec of rotation θ 2 of final output.The acquisition pattern of angle modification form is in the present embodiment：It is logical
Cross on the motor shaft of a standard electromotor and a photoelectric encoder is installed, then make its rotation, obtain photoelectric encoder acquisition
Standard electromotor revolves the interior different rotation angle value that turns around, and accordingly, the motor of the present invention is also revolved and turns around, pass through above-mentioned four
Individual Hall linear element obtains revolving the angle value corresponding to interior different rotation angle value that turns around from standard electromotor, both formation pair
Form is answered, motor and standard electromotor rotation equal angular, the angle value that photoelectric encoder exports with Hall linear element are compared
Compared with obtaining angle compensation value, have above-mentioned angle compensation value in angle modification form.When in angle modification, it will need to only test
Obtained arc tangent angle, θ 1 is demarcated via corresponding angle compensation value.By angle modification form can by it is above-mentioned anyway
Cut the error of angle, θ 1 to remove, so as to obtain high-precision motor anglec of rotation θ 2.
The present invention using four linear hall elements obtain two paths of differential signals solution mechanical erection in axial error it is diagonal
The influence of degree, magnetic conductive disk is added outside linear hall element and annular magnetic steel so as to shield external magnetic field interference, is passed through
Cordic algorithm calculates arc tangent angle, θ 1, in order to make angle precision of the present invention higher, adapts to more application fields, adds angle
Degree amendment link, final resolution ratio can reach about 14-16bit.
In summary, magnetic encoder of the invention, motor and its angle computation method, fixed using in motor shaft tail end
Magnetic conductive disk is set, annular magnetic steel is fixed on inside magnetic conductive disk, and linear hall element is placed in annular magnetic steel, is realized most
Big anti-interference, improve the signal output precision of linear hall element；The present invention uses four linear hall element rings in addition
To being uniformly distributed, i.e., two neighboring 90 ° of interval, two-way orthogonal differential voltage signal is exported when motor shaft rotates, is overcome because of ring
Machine error caused by shape magnet steel setting-up eccentricity etc., improve signal output precision, and the interference between energy suppression common mode signal, this hair
Oolemma magnetic encoder is easily installed use, and improves signal output precision.So the present invention effectively overcomes prior art
In various shortcoming and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
- A kind of 1. magnetic encoder, it is characterised in that including：Magnetic conductive disk, the annular magnetic steel being fixed in magnetic conductive disk, and coding Device plate, the surface of encoder plate set four equally distributed linear hall elements of ring, all linear hall elements be located at by The intracavitary that the annular magnetic steel surrounds；The encoder plate is provided with the encoder algo control being connected with all linear hall elements Circuit processed.
- 2. magnetic encoder according to claim 1, it is characterised in that：The surface of the encoder plate is provided with four positioning , it is embedded a linear hall element in each positioning seat.
- 3. magnetic encoder according to claim 2, it is characterised in that：The positioning seat is plastic feet.
- 4. magnetic encoder according to claim 1, it is characterised in that：The encryption algorithm control circuit includes cordic Algorithm unit and angle modification unit.
- 5. magnetic encoder according to claim 1, it is characterised in that：Signal transacting electricity is additionally provided with the encoder plate Road, signal processing circuit are connected with the encoder algo control circuit, and each linear hall element passes through signal transacting Circuit signal is connected with the encoder algo control circuit.
- 6. magnetic encoder according to claim 1, it is characterised in that：The annular magnetic steel is the single pair pole of radial magnetizing Magnet steel.
- A kind of 7. motor of carrying magnetic encoder, it is characterised in that including：Motor, the motor housing being connected with motor, outside motor Shell forms the cavity of accommodating motor shaft tail end with motor, is fixed with cavity such as any one of claim 1 to claim 6 institute The magnetic encoder stated, the magnetic conductive disk are fixed on motor shaft tail end, and the encoder plate is located at motor housing medial surface.
- A kind of 8. angle computation method of motor, it is characterised in that：The motor encodes for carrying magnetic as claimed in claim 7 The motor of device, its computational methods are specially：Motor drive motor shaft rotates, and drives annular magnetic steel to rotate, four it is described it is linear suddenly The change in location of annular magnetic steel described in your element senses, four linear hall elements export two-way orthogonal differential voltage signal, compiled After code device algorithm control circuit receives two-way orthogonal differential voltage signal, cordic algorithm is carried out to it and obtains arc tangent angle, θ 1, arc tangent angle, θ 1 is the current anglec of rotation of motor.
- 9. the angle computation method of motor according to claim 8, it is characterised in that：In the encryption algorithm control circuit Provided with angle modification unit, after arc tangent angle, θ 1 is obtained, then by the input angle amending unit of arc tangent angle, θ 1 Angle modification is carried out, specific modification method is：Prestore an angle modification form in angle modification unit, according to the angle modification table Lattice are demarcated to the arc tangent angle, θ 1, the revised motor anglec of rotation θ 2 of final output.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710780771.0A CN107565762A (en) | 2017-09-01 | 2017-09-01 | Magnetic encoder, motor and its angle computation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710780771.0A CN107565762A (en) | 2017-09-01 | 2017-09-01 | Magnetic encoder, motor and its angle computation method |
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| CN201710780771.0A Pending CN107565762A (en) | 2017-09-01 | 2017-09-01 | Magnetic encoder, motor and its angle computation method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989768A (en) * | 2017-04-19 | 2017-07-28 | 广东盈动高科自动化有限公司 | The real-time Li Sha of encoder educates the eccentric processing method of circle |
| CN110095142A (en) * | 2019-03-14 | 2019-08-06 | 哈尔滨理工大学 | A kind of angle value jump point suppressing method and device based on the fitting of single pair polar angle angle value |
| CN111006696A (en) * | 2019-12-16 | 2020-04-14 | 横店集团英洛华电气有限公司 | Magnetic encoder and angle calculation method thereof |
| CN111337059A (en) * | 2020-04-17 | 2020-06-26 | 浙江众邦机电科技有限公司 | Method and system for detecting looseness of belt pulley of lower-hanging motor of sewing machine |
| CN112039373A (en) * | 2020-09-03 | 2020-12-04 | 苏州臻迪智能科技有限公司 | Rotor angle detection method and device based on linear Hall system |
| CN115347742A (en) * | 2022-10-19 | 2022-11-15 | 常州市美特精密电机有限公司 | Direct current motor |
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| CN106451928A (en) * | 2016-08-31 | 2017-02-22 | 江苏大电机电有限公司 | Permanent magnet brushless direct current motor equipped with magnetic encoder |
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| CN106989768A (en) * | 2017-04-19 | 2017-07-28 | 广东盈动高科自动化有限公司 | The real-time Li Sha of encoder educates the eccentric processing method of circle |
| CN106989768B (en) * | 2017-04-19 | 2019-04-02 | 广东盈动高科自动化有限公司 | The real-time Li Sha of encoder educates the eccentric processing method of circle |
| CN110095142A (en) * | 2019-03-14 | 2019-08-06 | 哈尔滨理工大学 | A kind of angle value jump point suppressing method and device based on the fitting of single pair polar angle angle value |
| CN111006696A (en) * | 2019-12-16 | 2020-04-14 | 横店集团英洛华电气有限公司 | Magnetic encoder and angle calculation method thereof |
| CN111337059A (en) * | 2020-04-17 | 2020-06-26 | 浙江众邦机电科技有限公司 | Method and system for detecting looseness of belt pulley of lower-hanging motor of sewing machine |
| CN112039373A (en) * | 2020-09-03 | 2020-12-04 | 苏州臻迪智能科技有限公司 | Rotor angle detection method and device based on linear Hall system |
| CN115347742A (en) * | 2022-10-19 | 2022-11-15 | 常州市美特精密电机有限公司 | Direct current motor |
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Application publication date: 20180109 |