CN108828258A - A kind of device and method improving fly-wheel motor rate accuracy - Google Patents
A kind of device and method improving fly-wheel motor rate accuracy Download PDFInfo
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- CN108828258A CN108828258A CN201810398229.3A CN201810398229A CN108828258A CN 108828258 A CN108828258 A CN 108828258A CN 201810398229 A CN201810398229 A CN 201810398229A CN 108828258 A CN108828258 A CN 108828258A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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Abstract
A kind of device and method improving fly-wheel motor rate accuracy, is related to satellite gravity anomaly component technology field, solves the not high disadvantage of fly-wheel motor low speed measurement accuracy.Including fly-wheel motor, sensitive area towards the gear sensor of fly-wheel motor rotor, signal processing circuit board, power signal line, signal processing circuit board mounting bracket and magnet steel.Tooth top and tooth paddy when being rotated using gear sensor sensitivity fly-wheel motor armature spindle periphery gear, the digital signal or analog signal of output handle to obtain standard block signal by signal processing circuit board, are sent by power signal line to fly-wheel motor controller and obtain fly-wheel motor magnitude of angular velocity information.The present invention is on the basis of existing fly-wheel motor Hall sensor tests the speed, increase the speed measuring device, overcome the not high disadvantage of fly-wheel motor low speed measurement accuracy, using non-contact measurement, will not structure to original system and electronics cause to bear, structure is simple, install convenient, small in size, light-weight, high reliablity.
Description
Technical field
The present invention relates to satellite gravity anomaly component technology field, and in particular to a kind of to improve fly-wheel motor rate accuracy
Device and method.
Background technique
Satellite gravity anomaly fly wheel system is defended by the revolving speed of control flywheel rotor using the variation adjustment of itself angular momentum
The posture of star has many advantages, such as that high reliablity, control precision are high and low in energy consumption, is the key that Modern Satellite gesture stability execution machine
Structure.Improve Satellite Attitude Control, it is necessary to first improve the stability and precision of fly wheel system, wherein improve fly-wheel motor
Rate accuracy it is extremely important.
Frequently with DC brushless motor as driving motor, the control system of fly-wheel motor passes fly wheel system frequently with Hall
Sensor measures revolving speed, has many advantages, such as that service efficiency is high, is not readily susceptible to pollution, high reliablity, small in size, light weight.But
It is tested the speed using Hall sensor, there are Hall element installation error, stator coil and rotor magnetic pole mismachining tolerances, and Hall to be caused to be surveyed
There is Hall number of pulses when error and fly-wheel motor low speed and lacks the not high problem of bring rate accuracy in speed.In order to obtain high score
Resolution, if measuring revolving speed using encoder or rotary transformer, the problems such as that there are volumes is big, system complex, high price, can not
It applies in gesture stability fly wheel system.
Therefore, it is necessary to a kind of devices that gesture stability fly-wheel motor low speed measurement accuracy can be improved.
Summary of the invention
For the not high disadvantage of above-mentioned satellite gravity anomaly fly-wheel motor low speed measurement accuracy, the present invention provides a kind of raising
The device and method of fly-wheel motor rate accuracy.Increase the device on the basis of existing Hall sensor, flywheel can be retained
The advantages of motor Hall sensor tests the speed, and the disadvantage that fly-wheel motor low speed measurement accuracy can be overcome not high.The device is by adopting
Revolving speed is measured with the position of contactless rotation measurement rotation axis, and method is simple, small in size, high reliablity, cost performance are high.
A kind of device improving fly-wheel motor rate accuracy, the gear including magnetic field induction facing towards fly-wheel motor rotor pass
Sensor, signal processing circuit board, power signal line, signal processing circuit board mounting bracket and magnet steel；Fly-wheel motor includes flywheel
Motor stator and fly-wheel motor rotor, fly-wheel motor armature spindle periphery are evenly distributed with tooth top and tooth paddy, and the gear teeth of gear are along circle
Circumferential direction is uniformly distributed, and the sideline of the gear teeth is radial direction, and parallel with the line at tooth top midpoint and the geometric center of gear；
The gear sensor is welded on signal processing circuit board, and magnet steel is fixed on by wiring hole and high-temp epoxy glue
On signal processing circuit board, position is and the symmetrical reverse side of gear sensor；
Signal processing circuit board provides power circuit for gear sensor, be followed by signal processing circuit and with fly-wheel motor control
The external interface circuit of device connection processed；Power circuit provides power input for signal processing circuit board；
The magnetic field induction direction of the gear sensor is consistent with fly-wheel motor direction of rotation, and gear sensor can incude
Tooth top and the variation of tooth paddy and output digit signals or analog signal when fly-wheel motor armature spindle periphery gear rotates；
When gear sensor output signal is digital signal, it is followed by the low current arteries and veins that signal processing circuit exports sensor
Rushing signal and being converted into voltage signal using output voltage amplitude after signal amplification voltage comparator circuit processing is supply voltage
Digital pulse signal, the digital pulse signal are connected with the input pin of fly-wheel motor controller, carry out step-by-step counting；
When gear sensor output signal is analog signal, it is followed by the sine or remaining that signal processing circuit exports sensor
String voltage signal output voltage amplitude after signal amplification voltage comparator circuit processing is the digital pulse signal of supply voltage,
The digital pulse signal is connected with the input pin of fly-wheel motor controller, carries out step-by-step counting；
The external interface circuit of fly-wheel motor controller connection receives the electricity of fly-wheel motor controller by power signal line
Source input and will treated gear sensor speed feedback signal to fly-wheel motor controller, realize testing the speed for fly-wheel motor.
A method of fly-wheel motor rate accuracy being improved, this method is realized by following steps：
Step 1: fly-wheel motor controller powers on, and powered on by power signal line to speed measuring device；
Step 2: the fly-wheel motor controller is to flywheel transmission speed instruction 0, whether the communication of test flywheel control system
Normally；If communication is normal, step 3 is executed, if communication is abnormal, the problem of being likely to occur is checked, repeats step 2, directly
It is normal to communication；
Step 3: instructing to flywheel transmission speed, flywheel rotor accelerates since 0, drives fly-wheel motor armature spindle periphery
It is rotated along gear, the gear sensor incudes the tooth top and the variation of tooth paddy, output digit signals or analog signal of the gear；
Step 4: the digital signal that signal processing circuit exports gear sensor, i.e. low current pulse signal is converted into
Voltage signal is the digital pulse signal of supply voltage using output voltage amplitude after signal amplification voltage comparator circuit processing,
Or the analog signal for exporting gear sensor, i.e., sinusoidal or cosinusoidal voltage signal amplify at voltage comparator circuit by signal
Output voltage amplitude is the digital pulse signal of supply voltage after reason, finally by digital pulse signal and fly-wheel motor controller
Input pin is connected, and carries out step-by-step counting, realizes that fly-wheel motor tests the speed.
Beneficial effects of the present invention：When the present invention is rotated using gear sensor sensitivity fly-wheel motor armature spindle periphery gear
Tooth top and tooth paddy, the digital signal or analog signal of output handle to obtain standard block signal, lead to by signal processing circuit board
It crosses power signal line and send to fly-wheel motor controller and obtain fly-wheel motor magnitude of angular velocity information.The present invention is in existing fly-wheel motor
On the basis of Hall sensor tests the speed, increase the speed measuring device, overcomes the not high disadvantage of fly-wheel motor low speed measurement accuracy, adopt
With non-contact measurement, will not structure to original system and electronics cause to bear, structure is simple, install convenient, it is small in size,
Light-weight, high reliablity, cost performance are high.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of high-precision fly-wheel motor speed measuring device of the present invention；
Fig. 2 is the schematic diagram of signal processing circuit board in a kind of high-precision fly-wheel motor speed measuring device of the present invention；
Wherein Fig. 2 a is the signal processing circuit board schematic diagram of gear sensor output digit signals, and Fig. 2 b is that gear sensor exports mould
The signal processing circuit board schematic diagram of quasi- signal.
Specific embodiment
Specific embodiment one illustrates present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of fly-wheel motor rate accuracy that improves
Device, including fly-wheel motor 1, magnetic field induction facing towards fly-wheel motor rotor 1-2 gear sensor 2, signal processing circuit board
3, power signal line 4, signal processing circuit board mounting bracket 5 and magnet steel 6.
The fly-wheel motor 1 includes fly-wheel motor stator 1-1 and fly-wheel motor rotor 1-2, fly-wheel motor armature spindle periphery
Tooth top 1-3 and tooth paddy 1-4 are evenly distributed on edge.Fly-wheel motor rotor is ferromagnetic material.The gear teeth of gear are along the circumferential direction equal
The sideline of even distribution, the gear teeth is radial direction, and parallel with the line at tooth top midpoint and the geometric center of gear.Certain flywheel DC
Brushless electric motor rotor outer diameter is 35mm, stator outer diameter 25mm.The design a height of 5mm of tooth, the number of teeth 100, adjacent two gear teeth are ipsilateral
Angle is 3.6 °, this angle is also probe minimum minute of angle detected, i.e. resolving power.The fly-wheel motor 1 is that outer rotor is straight
Flow brushless motor.
Tooth top 1-3 and tooth paddy 1-4 becomes when the gear sensor 2 can incude the rotation of fly-wheel motor armature spindle periphery gear
Change simultaneously output digit signals or analog signal, wherein digital signal is TTL signal, and analog signal is that sinusoidal signal or cosine are believed
Number.
The gear sensor 2 is welded on signal processing circuit board 3, and magnetic field induction face is close to fly-wheel motor armature spindle
Periphery gear teeth tips, spacing is 2mm~3.5mm, and magnetic field induction face vertical line is vertical with motor shaft, and passes through electrical axis.Root
According to whether needing to measure steering selection binary channels or single channel form, wherein single channel form is not capable of measuring steering.Gear sensing
The magnetic field induction direction of device 2 is consistent with motor direction of rotation.
The signal processing circuit board 3 be gear sensor 2 power circuit 3-1 is provided, be followed by signal processing circuit 3-2 and
The external interface circuit 3-3 being connect with fly-wheel motor controller.3 size of signal processing circuit board depends on flywheel casing inner wall and arrives
The area of placement-and-routing in the distance and circuit board of shaft gear, the device circuit board is with a thickness of 1.5mm.Signal processing circuit board
On 3 at the opposite location of welded gear sensor 2, two sides are distributed with two mounting holes, for being fixed to mounting bracket
On, installation pore size is 2.5mm.
Power circuit 3-1 is that signal processing circuit board 3 provides power input.Output signal is that the gear of digital signal senses
Device 2, is followed by signal processing circuit 3-2 the low current pulse signal that sensor exports is converted into voltage signal putting using signal
Output voltage amplitude is the digital pulse signal of supply voltage, the digital pulse signal and flywheel after big voltage comparator circuit processing
The input pin of electric machine controller is connected, and carries out step-by-step counting；
Output signal is the gear sensor 2 of analog signal, is followed by the sine that signal processing circuit 3-2 exports sensor
Or cosinusoidal voltage signal output voltage amplitude after signal amplification circuit and voltage comparator circuit processing is the number of supply voltage
Word pulse signal, the digital pulse signal are connected with the input pin of fly-wheel motor controller, carry out step-by-step counting.
The external interface circuit 3-3 of fly-wheel motor controller connection receives fly-wheel motor controller by power signal line 4
Power input and will treated that 2 speed feedback signal of gear sensor gives fly-wheel motor controller.Signal processing circuit board
The signal processing circuit board 3 is fixed on outer casing inner wall by mounting bracket 5, specially uses screw and nut will by mounting hole
The signal processing circuit board 3 is fixed among two symmetrical L-type baffles, and uses D04 glue sealing.
The magnet steel 6 is fixed on signal processing circuit board 3 by wiring hole and high-temp epoxy glue, and position is and gear
The symmetrical reverse side of sensor 2 notices that avoiding wiring hole and the position of wiring and gear sensor 2 from being formed interferes.Magnet steel magnetic field is big
Small is 100mT, and magnetic pole is towards gear sensor magnetic field induction face.
Specific embodiment two, present embodiment are to be surveyed using a kind of raising fly-wheel motor described in specific embodiment one
The method of the device of fast precision, this method are realized by following steps：
Step 1: checking connection, powered on to fly-wheel motor controller, and by power signal line on speed measuring device
Electricity；
Step 2: checking connection, to the fly-wheel motor controller to flywheel transmission speed instruction 0, flywheel is tested
Whether control system communication is normal；If flywheel control system returns to test acknowledgement frame, shows that communication is normal, execute step
Three, if flywheel control system does not return to test acknowledgement frame, show to communicate abnormal, checks the failure that is likely to occur as surveyed
Whether examination instruction is correct, wiring circuit contact is bad, breaks etc., repeats step 2, normal until communicating；
Step 3: instructing to flywheel transmission speed, flywheel rotor accelerates since 0, drives fly-wheel motor armature spindle periphery
It is rotated along gear, the gear sensor incudes the tooth top and the variation of tooth paddy, output digit signals or analog signal of the gear；
Step 4: the digital signal that signal processing circuit exports gear sensor, i.e. low current pulse signal is converted into
Voltage signal is the digital pulse signal of supply voltage using output voltage amplitude after signal amplification voltage comparator circuit processing,
Or the analog signal for exporting gear sensor, i.e., sinusoidal or cosinusoidal voltage signal amplify at voltage comparator circuit by signal
Output voltage amplitude is the digital pulse signal of supply voltage after reason, finally by digital pulse signal and fly-wheel motor controller
Input pin is connected, and carries out step-by-step counting, realizes that fly-wheel motor tests the speed；
Step 5：The rate accuracy of this speed measuring device is calculated.
The speed testing mode that present embodiment is stated is improved accuracy computation by taking 100 gear as an example, is surveyed using Hall sensor
Speed, when number of pole-pairs is 8, fly-wheel motor turns over a circle, 8 Hall pulses of single-phase output, and gear sensor exports 100 arteries and veins
Punching, precision at least improve 4 times.
Claims (6)
1. a kind of device for improving fly-wheel motor rate accuracy, the gear including magnetic field induction facing towards fly-wheel motor rotor is sensed
Device (2), signal processing circuit board (3), power signal line (4) and magnet steel (6)；Fly-wheel motor (1) includes fly-wheel motor stator (1-
1) with fly-wheel motor rotor (1-2), fly-wheel motor armature spindle periphery is evenly distributed with tooth top (1-3) and tooth paddy (1-4), feature
It is that the gear teeth of gear are distributed uniformly and circumferentially, the sidelines of the gear teeth is radial direction, and the geometry with tooth top midpoint and gear
The line at center is parallel；
The gear sensor (2) is welded on signal processing circuit board (3), and magnet steel (6) passes through wiring hole and high-temp epoxy glue
It is fixed on signal processing circuit board (3), position is and gear sensor (2) symmetrical reverse side；
Signal processing circuit board (3) is that gear sensor (2) provide power circuit, are followed by signal processing circuit and and fly-wheel motor
The external interface circuit of controller connection；Power circuit provides power input for signal processing circuit board；
The magnetic field induction direction of the gear sensor (2) is consistent with fly-wheel motor direction of rotation, and gear sensor (2) can be felt
Tooth top and the variation of tooth paddy and output digit signals or analog signal when fly-wheel motor armature spindle periphery gear being answered to rotate；
When gear sensor output signal is digital signal, it is followed by the low current pulse that signal processing circuit exports sensor and believes
Number it is converted into the number that voltage signal is supply voltage using output voltage amplitude after signal amplification voltage comparator circuit processing
Pulse signal, the digital pulse signal are connected with the input pin of fly-wheel motor controller, carry out step-by-step counting；
When gear sensor output signal is analog signal, it is followed by the sine or cosine electricity that signal processing circuit exports sensor
Pressing signal output voltage amplitude after signal amplification voltage comparator circuit processing is the digital pulse signal of supply voltage, the number
Word pulse signal is connected with the input pin of fly-wheel motor controller, carries out step-by-step counting；
The external interface circuit of fly-wheel motor controller connection receives the power supply of fly-wheel motor controller by power signal line (4)
Input and will treated gear sensor (2) speed feedback signal to fly-wheel motor controller, realize testing the speed for fly-wheel motor.
2. a kind of high-precision fly-wheel motor speed measuring device according to claim 1, which is characterized in that the gear sensor
(2) it hangs down close to fly-wheel motor armature spindle periphery gear teeth tips, spacing 2mm-3.5mm, and magnetic field induction face in magnetic field induction face
Line is vertical with motor shaft and passes through electrical axis.
3. a kind of high-precision fly-wheel motor speed measuring device according to claim 1, which is characterized in that signal processing circuit board
(3) size depends on the face of placement-and-routing on fly-wheel motor outer casing inner wall to the distance of fly-wheel motor shaft gear and circuit board
Product, with a thickness of 1.5mm；
On the signal processing circuit board (3) at the opposite location of welded gear sensor (2), two sides are distributed with two peaces
Hole is filled, installation pore size is 2.5mm.
4. a kind of high-precision fly-wheel motor speed measuring device according to claim 1, which is characterized in that further include signal processing
The signal processing circuit board (3) is fixed on outer casing inner wall by circuit board mounting bracket (5), specially uses screw and nut
The signal processing circuit board (3) is fixed on two symmetrical L-type baffles by mounting hole, and uses D04 glue sealing.
5. a kind of high-precision fly-wheel motor speed measuring device according to claim 1, which is characterized in that the fly-wheel motor
It (1) is external-rotor DC. brush-less.
6. a kind of method of device for improving fly-wheel motor rate accuracy according to claim 1, characterized in that this method
It is realized by following steps：
Step 1: fly-wheel motor controller powers on, and powered on by power signal line to speed measuring device；
Step 2: the fly-wheel motor controller is to flywheel transmission speed instruction 0, just whether the communication of test flywheel control system
Often；If communication is normal, step 3 is executed, if communication is abnormal, the problem of being likely to occur is checked, repeats step 2, until
Communication is normal；
Step 3: instructing to flywheel transmission speed, flywheel rotor accelerates since 0, drives fly-wheel motor armature spindle outer periphery tooth
Wheel rotation, the gear sensor incude the tooth top and the variation of tooth paddy, output digit signals or analog signal of the gear；
Step 4: the digital signal that signal processing circuit exports gear sensor, i.e. low current pulse signal is converted into voltage
Signal is the digital pulse signal of supply voltage using output voltage amplitude after signal amplification voltage comparator circuit processing, or
The analog signal that gear sensor is exported, i.e., sinusoidal or cosinusoidal voltage signal is after signal amplification voltage comparator circuit processing
Output voltage amplitude is the digital pulse signal of supply voltage, finally by the input of digital pulse signal and fly-wheel motor controller
Pin is connected, and carries out step-by-step counting, realizes that fly-wheel motor tests the speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810398229.3A CN108828258A (en) | 2018-04-28 | 2018-04-28 | A kind of device and method improving fly-wheel motor rate accuracy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810398229.3A CN108828258A (en) | 2018-04-28 | 2018-04-28 | A kind of device and method improving fly-wheel motor rate accuracy |
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| Publication Number | Publication Date |
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| CN108828258A true CN108828258A (en) | 2018-11-16 |
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| CN201810398229.3A Pending CN108828258A (en) | 2018-04-28 | 2018-04-28 | A kind of device and method improving fly-wheel motor rate accuracy |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679092A (en) * | 2020-06-05 | 2020-09-18 | 宜昌江峡船用机械有限责任公司 | Device and method for detecting rotating speed of flywheel of press machine |
| CN112383309A (en) * | 2020-11-13 | 2021-02-19 | 广东澳鸿科技有限公司 | Analog-to-digital conversion circuit of magnetoelectric revolution speed sensor |
| CN113148234A (en) * | 2021-04-07 | 2021-07-23 | 长光卫星技术有限公司 | Low-cost high-precision microsatellite reaction flywheel and control implementation method thereof |
| CN113295881A (en) * | 2021-06-17 | 2021-08-24 | 工业互联网创新中心（上海）有限公司 | High-precision wire feeding speed measuring device and method for general industrial welding machine |
| CN114165298A (en) * | 2021-11-25 | 2022-03-11 | 盛子测控科技(沈阳市)有限责任公司 | Method and device for realizing tracking and positioning of rotor blade phase lock by frequency multiplication-frequency division combination |
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| CN105811824A (en) * | 2014-12-30 | 2016-07-27 | 上海新跃仪表厂 | Micro/nano-satellite reaction flywheel control method based on linear Hall |
| CN106370887A (en) * | 2016-08-29 | 2017-02-01 | 武汉船用机械有限责任公司 | Winch rotation detection device and method |
| CN106526219A (en) * | 2016-11-24 | 2017-03-22 | 中国航空工业集团公司金城南京机电液压工程研究中心 | High-precision double-redundancy rotation direction-recognizable rotation speed sensor |
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| JP2006129660A (en) * | 2004-11-01 | 2006-05-18 | Nishishiba Electric Co Ltd | Speed detector |
| CN105811824A (en) * | 2014-12-30 | 2016-07-27 | 上海新跃仪表厂 | Micro/nano-satellite reaction flywheel control method based on linear Hall |
| CN106370887A (en) * | 2016-08-29 | 2017-02-01 | 武汉船用机械有限责任公司 | Winch rotation detection device and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679092A (en) * | 2020-06-05 | 2020-09-18 | 宜昌江峡船用机械有限责任公司 | Device and method for detecting rotating speed of flywheel of press machine |
| CN112383309A (en) * | 2020-11-13 | 2021-02-19 | 广东澳鸿科技有限公司 | Analog-to-digital conversion circuit of magnetoelectric revolution speed sensor |
| CN113148234A (en) * | 2021-04-07 | 2021-07-23 | 长光卫星技术有限公司 | Low-cost high-precision microsatellite reaction flywheel and control implementation method thereof |
| CN113295881A (en) * | 2021-06-17 | 2021-08-24 | 工业互联网创新中心（上海）有限公司 | High-precision wire feeding speed measuring device and method for general industrial welding machine |
| CN114165298A (en) * | 2021-11-25 | 2022-03-11 | 盛子测控科技(沈阳市)有限责任公司 | Method and device for realizing tracking and positioning of rotor blade phase lock by frequency multiplication-frequency division combination |
| CN114165298B (en) * | 2021-11-25 | 2024-01-09 | 盛子测控科技(沈阳市)有限责任公司 | Method and device for realizing phase-locked tracking and positioning of rotor blade by frequency multiplication and frequency division |
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Application publication date: 20181116 |