CN108322109A - Displacement motor sensor, method for sensing and motion controller - Google Patents
Displacement motor sensor, method for sensing and motion controller Download PDFInfo
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- CN108322109A CN108322109A CN201810325709.7A CN201810325709A CN108322109A CN 108322109 A CN108322109 A CN 108322109A CN 201810325709 A CN201810325709 A CN 201810325709A CN 108322109 A CN108322109 A CN 108322109A
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- motor
- displacement
- current fluctuation
- module
- motion controller
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000007493 shaping process Methods 0.000 claims abstract description 26
- 230000003321 amplification Effects 0.000 claims abstract description 9
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009885 systemic effect Effects 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
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Classifications
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
A kind of displacement motor sensor, including：Obtain end, the current fluctuation signal for obtaining motor commutation pole；Transformer, for amplifying current fluctuation signal；Shaping filter module, for being filtered shaping to the current fluctuation signal by amplification, to obtain required square-wave signal；Computing module, the movement position for calculating motor according to square-wave signal.A kind of motion controller, including：Instruction input module, for receiving control instruction input by user；Displacement motor sensor is used for the movement position of measurement motor；Operation control module, for calculating the displacement needed for motor according to the measured value of control instruction and the movement position of motor, the displacement needed for motor generates driving instruction and exports to motor.The position sensing of common electric machine can be realized in the structure that displacement motor sensor, method for sensing and motion controller provided by the invention are not necessarily to change common electric machine, widely used, be easily achieved.
Description
Technical field
The invention belongs to motor position field of measuring technique, are a kind of displacement motor sensor, sensing side specifically
Method and motion controller.
Background technology
With the development of modern industry, the application of motor is more and more extensive, and it is defeated to become the indispensable power of all trades and professions
Go out device.In order to ensure the kinematic accuracy of motor, need to often position control be carried out to motor.Currently, common feedback control motor
Including types such as stepper motor, servo motors, meet different application needs.
In the prior art, displacement sensor is common a kind of sensor in motor position control, including encoder, Hall
The types such as sensor.Wherein, the motor with Hall sensor is hall electric machine.Hall electric machine utilizes Hall effect, works as Hall
When the rotor of motor passes through Hall sensor position, Hall sensor will produce corresponding signal, so that controller carries out
Memory, so that it is determined that the displacement that hall electric machine turns over.
For hall electric machine while realizing that position senses, there is also some drawbacks.For example, hall electric machine needs to increase Hall
Sensor simultaneously changes electric machine structure, while needing to increase independent power supply and signal acquisition line, makes the structure of hall electric machine very
Complexity is not easy to realize.And be not arranged in the common electric machine of Hall sensor, it can not realize that position senses by this way.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of displacement motor sensor, method for sensing and movements
Controller, the position sensing of common electric machine can be realized in the structure without changing common electric machine, widely used, be easily achieved.
The purpose of the present invention is achieved through the following technical solutions：
A kind of displacement motor sensor, including：
Obtain end, the current fluctuation signal for obtaining motor commutation pole；
Transformer, for amplifying the current fluctuation signal；
Shaping filter module, for being filtered shaping to the current fluctuation signal by amplification, to obtain required side
Wave signal；
Computing module, the movement position for calculating motor according to the square-wave signal.
As an improvement of the above technical solution, the number of primary turns of the transformer is less than secondary winding turns, described
Primary turns are electrically connected with the acquisition end, and the secondary coil and the input terminal of the shaping filter module are electrically connected.
As a further improvement of the above technical scheme, the transformer forms amplifier, the amplifier with transistor
The electric connection of input terminal and the acquisitions end, the output end of the amplifier and the input terminal of the shaping filter module are electrical
Connection.
As a further improvement of the above technical scheme, the acquisition end is electrically connected with the motor commutation pole.
As a further improvement of the above technical scheme, the computing module includes microcontroller, microprocessor or operation electricity
Road.
A kind of motion controller, including：
Instruction input module, for receiving control instruction input by user；
Displacement motor sensor described in any of the above item is used for the movement position of measurement motor；
Operation control module, described in being calculated according to the measured value of the control instruction and the movement position of the motor
Displacement needed for motor, the displacement needed for the motor generate driving instruction and export to the motor.
As an improvement of the above technical solution, described instruction input module includes operation button or touch screen.
As a further improvement of the above technical scheme, the operation control module includes microcontroller, microprocessor or fortune
Calculate circuit.
As a further improvement of the above technical scheme, the control instruction includes by the motor-driven movable body
Speed, acceleration and displacement.
A kind of displacement motor method for sensing, includes the following steps：
Obtain the current fluctuation signal of motor commutation pole；
Amplify the current fluctuation signal；
Shaping filter is carried out to the current fluctuation signal by amplification, to obtain required square-wave signal；
The movement position of motor is calculated according to the square-wave signal.
The beneficial effects of the invention are as follows：
End, transformer, shaping filter module and computing module are obtained by setting, according to the weak current of motor commutation pole
Fluctuation is acquired calculating, you can the movement position for determining common electric machine is realized the position sensing of common electric machine, and then carried out anti-
Feedback control, provides the motion controller of displacement motor sensor and high control precision with high measurement accuracy, general without changing
The structure of three-way motor, it is widely used, be easily achieved.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the displacement motor sensor that the embodiment of the present invention 1 provides；
Fig. 2 is the step flow diagram for the displacement motor method for sensing that the embodiment of the present invention 2 provides；
Fig. 3 is the structural schematic diagram for the motion controller that the embodiment of the present invention 3 provides；
Fig. 4 is the structural schematic diagram of the instruction input module for the motion controller that the embodiment of the present invention 3 provides.
Main element symbol description：
1000- motion controllers, 0100- displacement motor sensors, 0110- obtain end, 0120- amplifiers, 0121- transformations
Device, 0122- transistors, 0130- shaping filter modules, 0140- computing modules, 0200- instruction input modules, 0210- operators
Ontology, 0211- mounting holes, 0220- operation buttons, 0300- operation control modules, 2000- motors, 2100- motor commutations pole.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to displacement motor sensor, method for sensing and movement
Controller is described more fully.The preferred of displacement motor sensor, method for sensing and motion controller is given in attached drawing
Embodiment.But displacement motor sensor, method for sensing can be realized from motion controller by many different forms,
It is not limited to the examples described herein.Make to displacement motor sensor, sense on the contrary, purpose of providing these embodiments is
Survey method and the disclosure of motion controller are more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Herein in the explanation of displacement motor sensor, method for sensing and motion controller
Term used in book, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.It is used herein
Term " and/or " include one or more relevant Listed Items any and all combinations.
Embodiment 1
Referring to Fig. 1, the present embodiment discloses a kind of displacement motor sensor 0100, which includes
End 0110, transformer 0121, shaping filter module 0130 and computing module 0140 are obtained, for realizing the position of common electric machine 2000
Sensing is set, and then carries out feedback control, the motor driven systems with high control precision are provided.The displacement motor is sensed below
The main construction of device 0100 is specifically introduced.
Obtain the current fluctuation signal that end 0110 is used to obtain motor commutation pole 2100.Exemplarily, obtain end 0110 with
Motor commutation pole 2100 is electrically connected.Acquisition end 0110 can be used the modes such as metal pole, conducting wire and realize, to transmit current fluctuation
Signal.
Usually, multiple motor commutation poles 2100 are equipped in motor 2000.Motor commutation pole 2100 is also known as " pole ", " whole
Flow pole " or " interpole ", it is often built up by steel disc or is made of monoblock steel.It is mounted on the motor 2000 with commutator, is located at
In geometric center lines between main pole.Exemplarily, motor commutation pole 2100 is equipped in direct current generator 2000 more.
Winding is housed on motor commutation pole 2100, and is connected with armature winding, to establish magnetic field, is offset in differential gap
Armature field, and generate commutating potential in by the commutation element of brush short circuit and carry out compensating reactance potential as possible, to reduce spark
To improve condition of commutation.Motor commutation pole 2100 not only can ensure the long-term of motor 2000 to avoid scaling loss commutator and brush
Safe handling, and weaken the interference to nearby radio receiver or other communication lines.
When motor 2000 operates, rotor rotationally passes through motor commutation pole 2100.At the same time, motor commutation pole
Faint electromotive force will be generated in 2100, and causes the faint fluctuation of wherein current signal.Visibly, which, which fluctuates, is
The displacement that characterization motor 2000 turns over.By detecting the current signal, you can determine the correlations such as displacement and the rotating speed of motor 2000
Parameter realizes position sensing.
Transformer 0121 is for amplifying the current fluctuation signal, so that the faint fluctuation is amplified to the numerical value that can be observed
Range, that is, enter sensing range ability.In other words, the current signal size of 0121 output end of transformer should be located at shaping filter
In the process range of module 0130.
Exemplarily, the number of primary turns of transformer 0121 is less than secondary winding turns, keeps the voltage of primary coil small
In secondary coil, voltage amplification is realized.Wherein, primary turns are electrically connected with end 0110 is obtained, secondary coil and shaping filter
The input terminal of module 0130 is electrically connected, and current fluctuation signal is made to flow to shaping filter module 0130 from end 0110 is obtained.
Exemplarily, transformer 0121 can form amplifier 0120 with transistor 0122, advanced optimize Current amplifier effect
Fruit.Wherein, the input terminal of amplifier 0120 is electrically connected with end 0110 is obtained, output end and the shaping filter mould of amplifier 0120
The input terminal of block 0130 is electrically connected, and forms complete circuit connection.
Shaping filter module 0130 is used to be filtered shaping to the current fluctuation signal by amplification, required to obtain
Square-wave signal.So-called shaping is to instigate edge to change slow signal waveform to become the precipitous rectangular wave in edge.So-called filtering,
Refer to filtering out specific band frequency in signal, to exclude noise jamming.
By the processing of shaping filter module 0130, the current fluctuation signal by amplification is shaped as ideal side
Wave signal meets the processing requirement of computing module 0140.It is appreciated that square-wave signal is determined according to the requirement of computing module 0140
It is fixed.Wherein, shaping filter module 0130 can be realized by shaping filter (such as Schmidt trigger is combined with filter).
Computing module 0140 is used to calculate the movement position of motor 2000 according to the square-wave signal.Due to motor commutation pole
What 2100 position was to determine on motor 2000, according to square-wave signal, computing module 0140 can determine working as motor 2000
Front position.In turn, in conjunction with 2000 position of motor of a upper measurement time, you can determine the moving displacement of motor 2000.
Exemplarily, the realization of the types such as microcontroller, microprocessor or computing circuit can be used in computing module 0140.
Wherein, microcontroller is a kind of IC chip, is to use very large scale integration technology at data
The central processing unit of reason ability, read-only memory, a variety of I/O mouthfuls and interrupts system, timer/counter etc. at random access memory
Function is integrated into the small and perfect microcomputer system constituted on one piece of silicon chip.
Wherein, the central processing unit that microprocessor is made of a piece of or several large scale integrated circuit.Microprocessor
Element have：Register file, arithmetic unit, sequential control circuit and data and address bus.
Wherein, computing circuit can be analog circuit, also can be digital circuit, have corresponding current handling capacity.
Embodiment 2
Fig. 1~2 are please referred to, the present embodiment discloses a kind of displacement motor method for sensing, and this approach includes the following steps：
A：Obtain the current fluctuation signal of motor commutation pole 2100；
B：Amplify the current fluctuation signal；
C：Shaping filter is carried out to the current fluctuation signal by amplification, to obtain required square-wave signal.It is appreciated that
Square-wave signal is determined according to the requirement of computing module 0140.
D：The movement position of motor 2000 is calculated according to the square-wave signal.
Embodiment 3
Fig. 1~4 are please referred to, the present embodiment discloses a kind of motion controller 1000, which includes
The displacement motor sensor 0100 that instruction input module 0200, embodiment 1 are introduced and operation control module 0300, for realizing
To the high-precision feedback control of motor 2000 and movable body.Specifically it is situated between to the main construction of the motion controller 1000 below
It continues.
Wherein, instruction input module 0200 is for receiving control instruction input by user, so that user is specifically moved
It controls.Wherein, real-time manual input mode (being manually operated by user) may be used in instruction input module 0200, can also
The control instruction of systemic presupposition is received from host computer by interface mode.
Exemplarily, instruction input module 0200 uses contact input mode, refers to for receiving control input by user
Order or Query Information.For example, instruction input module 0200 includes the types such as 0220/ mechanical keyboard of operation button, touch screen, with machine
Information input is realized in tool contact.
Further, instruction input module 0200 includes operator ontology 0210 and operation button 0220.Operator ontology
0210 is internally provided with accommodating chamber, for accommodating operation control module 0300.The surface of operator ontology 0210 is equipped at least one
Mounting hole 0211, for corresponding to installation operation button 0220, to realize different control functions.
Supplementary explanation, the control instruction includes speed, acceleration and displacement of the movable body driven by motor 2000 etc.
Target component realizes the specific control to movable body to provide necessary control targe for operation control module 0300.
As previously mentioned, displacement motor sensor 0100 is used for the movement position of measurement motor 2000, it is operation control module
0300 calculating provides numerical value basis, and the realization for the movable body realized to motor 2000 and driven by motor 2000 controls, with anti-
It presents control mode and ensures control accuracy.
Operation control module 0300 is used to be calculated according to the measured value of the control instruction and the movement position of motor 2000
Displacement needed for motor 2000, the displacement needed for motor 2000 generate driving instruction and export to motor 2000.
For example, according to target components such as user's input or speed, acceleration and the displacements of systemic presupposition, operation control module
0300 obtains speed-displacement curve corresponding with motor 2000, and according to the real-time measurement values of displacement motor sensor 0100, meter
Real time position, real-time speed and the real time acceleration of motor 2000 are calculated, and then carries out matching adjusting, until the correlation of motor 2000
Parameter matches unanimously with speed-displacement curve, that is, completes feedback control.
Exemplarily, the realization of the types such as microcontroller, microprocessor or computing circuit can be used in operation control module 0300.
Exemplarily, the output end of computing module 0140 and the input terminal of operation control module 0300 are electrically connected, and are ensured
The measured value of displacement motor sensor 0100 is input to operation control module 0300 fast and reliablely.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot limitation of the scope of the invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of displacement motor sensor, which is characterized in that including：
Obtain end, the current fluctuation signal for obtaining motor commutation pole；
Transformer, for amplifying the current fluctuation signal；
Shaping filter module is believed for carrying out shaping filter to the current fluctuation signal by amplification with obtaining required square wave
Number；
Computing module, the movement position for calculating motor according to the square-wave signal.
2. displacement motor sensor according to claim 1, which is characterized in that the number of primary turns of the transformer is small
In secondary winding turns, the primary turns are electrically connected with the acquisition end, the secondary coil and the shaping filter mould
The input terminal of block is electrically connected.
3. displacement motor sensor according to claim 1, which is characterized in that the transformer amplifies with transistor composition
Device, the input terminal of the amplifier are electrically connected with the acquisition end, the output end of the amplifier and the shaping filter mould
The input terminal of block is electrically connected.
4. displacement motor sensor according to claim 1, which is characterized in that the acquisition end and the motor commutation pole
It is electrically connected.
5. displacement motor sensor according to claim 1, which is characterized in that the computing module includes microcontroller, micro-
Processor or computing circuit.
6. a kind of motion controller, which is characterized in that including：
Instruction input module, for receiving control instruction input by user；
Claim 1-5 any one of them displacement motor sensors are used for the movement position of measurement motor；
Operation control module, for calculating the motor according to the measured value of the control instruction and the movement position of the motor
Required displacement, the displacement needed for the motor generate driving instruction and export to the motor.
7. motion controller according to claim 6, which is characterized in that described instruction input module include operation button or
Touch screen.
8. motion controller according to claim 6, which is characterized in that the operation control module includes microcontroller, micro-
Processor or computing circuit.
9. motion controller according to claim 6, which is characterized in that the control instruction includes being driven by the motor
Movable body speed, acceleration and displacement.
10. a kind of displacement motor method for sensing, includes the following steps：
Obtain the current fluctuation signal of motor commutation pole；
Amplify the current fluctuation signal；
Shaping filter is carried out to the current fluctuation signal by amplification, to obtain required square-wave signal；
The movement position of motor is calculated according to the square-wave signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810325709.7A CN108322109A (en) | 2018-04-12 | 2018-04-12 | Displacement motor sensor, method for sensing and motion controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810325709.7A CN108322109A (en) | 2018-04-12 | 2018-04-12 | Displacement motor sensor, method for sensing and motion controller |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07236288A (en) * | 1994-02-22 | 1995-09-05 | Asmo Co Ltd | Driving circuit for ultrasonic motor |
| CN103490682A (en) * | 2013-10-11 | 2014-01-01 | 重庆理工大学 | System and method for detecting location of rotor of alternating current servo motor |
| CN103916090A (en) * | 2013-01-07 | 2014-07-09 | 美国亚德诺半导体公司 | Multiple winding transformer coupled amplifier |
| CN105680744A (en) * | 2016-03-08 | 2016-06-15 | 江苏仁源电气有限公司 | Speed regulation device and speed regulation method of DC brush motor |
| US20160175024A1 (en) * | 2014-12-22 | 2016-06-23 | Ethicon Endo-Surgery, Inc. | High power battery powered rf amplifier topology |
| CN207968359U (en) * | 2018-04-12 | 2018-10-12 | 深圳市易控迪智能家居科技有限公司 | Displacement motor sensor and motion controller |
-
2018
- 2018-04-12 CN CN201810325709.7A patent/CN108322109A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07236288A (en) * | 1994-02-22 | 1995-09-05 | Asmo Co Ltd | Driving circuit for ultrasonic motor |
| CN103916090A (en) * | 2013-01-07 | 2014-07-09 | 美国亚德诺半导体公司 | Multiple winding transformer coupled amplifier |
| CN103490682A (en) * | 2013-10-11 | 2014-01-01 | 重庆理工大学 | System and method for detecting location of rotor of alternating current servo motor |
| US20160175024A1 (en) * | 2014-12-22 | 2016-06-23 | Ethicon Endo-Surgery, Inc. | High power battery powered rf amplifier topology |
| CN105680744A (en) * | 2016-03-08 | 2016-06-15 | 江苏仁源电气有限公司 | Speed regulation device and speed regulation method of DC brush motor |
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| Title |
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