CN110023720B - 确定转动构件的至少一转动参数的确定系统 - Google Patents
确定转动构件的至少一转动参数的确定系统 Download PDFInfo
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Abstract
本发明涉及的确定系统包括:编码器(1),它的磁轨(2)具有被i个转换部(3)分开的北磁极和南磁极的交替;能够通过多个敏感零件(4)检测由所述编码器发出的周期磁场的转动传感器;敏感零件(4)沿磁轨(2)成角度地分布,同时在至少两个敏感零件(4)之间形成角度α,角度α用于使所述敏感零件输送的信号是正交的。
Description
技术领域
本发明涉及确定转动构件的至少一转动参数的确定系统,所述确定系统包括发出周期磁信号的编码器,以及能够检测所述磁场的转动传感器。
背景技术
在许多应用中,人们希望实时并以最佳质量了解转动构件的至少一转动参数,如它的位置、速度、加速度或移动方向。
为此,文件WO-2006/064169提出使用编码器,用于与活动构件固连在一起,并在编码器上形成能够在包括多个敏感零件的传感器的阅读距离发出准正弦磁场的磁轨。
有利的是,每个敏感零件包括至少一个基于具有隧道效应的磁致电阻(英文为TMR,即Tunnel MagnetoResistance)材料的图形(motif),例如文件WO-2004/083881中的例子所描述的,它的电阻随检测的磁场变化。
为了确定活动构件随检测磁场变化的移动参数,文件WO-2006/064169提出使表示每个敏感零件电阻的信号结合,以便输送可以用于计算所述参数的两个正交并且幅度相同的信号。
在某些应用中,编码器应具有较少数量的磁极对,一般小于6,使它的磁极宽度Lp变得较大,尤其是大约为十来毫米。
但是,这些宽的极输送磁性号,其正弦信号差并具有较小阅读气隙,需要使敏感零件远离磁轨,这将与所述信号的幅度相左并因此与通过敏感零件很好地检测所述信号相左。
另外,宽的极需要足够厚度的编码器,以保持磁信号的正弦性。这不利于将编码器纳入到小的尺寸中,并且使供电方法复杂化,因为更大的厚度应该是磁饱和的。
此类编码器的优点在于,每个极沿所述编码器半径的磁极宽度Lp与磁极对的数量Npp无关,因此可以使较少的磁极数量与跟要检测的磁信号的正弦性和幅度有关的敏感零件的适当就位相调和。
但是,现有技术提出敏感零件沿这种编码器的半径就位,这会产生一些问题。
然而,为了避免编码器发送的磁场的边界效应,敏感零件应该相对磁轨被定位在至少一对磁极的每侧,或者在每侧两个Lp再加上敏感零件就位所需的径向尺寸。
因此,编码器应具有大的高度,尤其是大于6.Lp,在某些集成件中可能不可用。
发明内容
本发明的目的是解决现有技术的问题,特别是提出确定转动构件的至少一转动参数的确定系统,在该确定系统中,检测磁信号的周期与幅度之间的折中可以得到满足,而不会引起输送所述信号的编码器的特殊体积约束,特别是与磁极对的数量少的磁编码器有关的约束。
为此本发明提出确定转动构件的至少一转动参数的确定系统,所述确定系统包括:
-编码器,用于与转动机构在转动方面相结合以便使编码器与转动机构一起移动,所述编码器包括主体,主体上形成磁轨,磁轨能够发出表示所述编码器的转动的周期磁信号,所述磁轨具有被i个转换部分开的北磁极和南磁极的交替,所述转换部的每一个沿相对于转动轴在极坐标中由公式确定的阿基米德螺线延伸,Npp为磁轨的成对的磁极的数量,Lp为每个磁极的沿所述编码器的半径的磁极宽度,第i个阿基米德螺线相对第一个阿基米德螺线的转动角度θi等于i在0到2.Npp-1之间;
-转动传感器,能够通过多个磁敏感零件检测由所述编码器发出的周期磁场,磁敏感零件沿磁轨成角度地分布,同时在至少两个敏感零件之间形成角度α,角度α用于使所述磁敏感零件输送的信号是正交的。
附图说明
在下面参照附图进行的描述中,将了解本发明的其它特征和优点,其中图1、2分别示意表示按照本发明一实施例的确定系统,尤其是示出敏感零件相对编码器的位置。
具体实施方式
结合这些附图,描述确定相对固定结构转动的转动构件的至少一转动参数的确定系统。特别是,转动构件的参数可以在它的位置、速度、加速度或它的移动中选择。
在一特殊应用中,系统可以与无电刷直流电马达的操纵相关联地使用,尤其是可以知道在转子的一对动力极上相对定子的绝对角度位置。
确定系统包括用于与转动构件在转动方面相结合以便使编码器的与转动机构一起移动的编码器1,所述编码器包括尤其是环形的也可为盘形的主体,主体上形成磁轨2,磁轨能够发出表示所述编码器的转动的周期磁信号。特别是,发出的磁信号可以是正弦或准正弦的,即具有至少一可以正确地通过正弦曲线表示的部分。
磁轨2具有被转换部3分开的交替北磁极和南磁极,每个所述转换部沿相对于转动轴线在极坐标(ρ、θ)中由公式确定的阿基米德螺线延伸,Npp为磁轨2的磁极对的数量,Lp为每个磁极沿所述编码器的半径的磁极宽度,第i个阿基米德螺线相对第一个阿基米德螺线的转动角度θi等于i在0到2.Npp-1之间。
因此,磁轨2发出准正弦磁信号,它的空间周期为λ=2.Lp。另外,阿基米德螺线的几何形状可以使得,磁轨2的磁极对的数量Npp以及磁极宽度Lp可以与磁轨2的半径R无关地进行选择。
根据一实施例,编码器1由磁铁形成,磁铁上形成多极的磁轨2。特别是,磁铁可以由例如以塑料或弹性材料为基础的环形基质形成,一些磁颗粒,尤其是铁磁颗粒或稀土颗粒如NdFeB,分散在该环形基质中。
确定系统包括用于与固定结构连在一起的转动传感器,所述传感器能够检测编码器1发出的周期磁场。为此,传感器包括多个磁敏感零件,它们分布在磁轨2发出磁场的阅读气隙中,每个敏感零件可以尤其选自磁敏探测器。
例如以具有隧道效应(TMR)的磁致电阻、各向异性磁致电阻(AMR)或巨大磁致电阻(GMR)为基础的探测器可以测量磁场分量(与编码器垂直或相切)或(由正交或相切分量产生的)转动磁场。
特别是,如文件WO-2004/083881中所述,每个图形通过包括参照磁层、绝缘分离层、以及对要检测的磁场敏感的磁层的堆积件而形成隧道结合件,堆积件的电阻取决于磁层磁化的相对方向。
有利的是,每个磁敏感零件4可以包括至少一个磁致电阻材料为基础的图形,磁致电阻材料的电阻随磁场变化,敏感零件4可以包括一单独图形,或一组串联连接的图形。
作为变型,例如可以通过具有Hall效应的零件测量由编码器1输出的磁场的单一正交分量。使用单一正交磁场是有利的,因为它比切向磁场更为正弦形。
为了能够确定转动构件的转动参数,敏感零件4输送的信号应该是正交的,即相差为90°。特别是,通过在传感器或相关计算机中利用这些正交的信号,已经知道通过借助“Look-Up表”(LUT)或通过CORDIC类方法直接计算反正切函数,确定编码器1的角度位置。
因此,敏感零件4的圆周分布可以克服由编码器1发送的磁场的边界效应,可以使用高度h有限、并尤其是小于6.Lp的编码器1。特别是,敏感零件4可以沿磁轨2的半径R成角度地分布,尤其是沿图中是中线半径,以便最大程度地远离编码器1的边缘。
另外,将敏感零件4布置在距磁轨2约为的阅读气隙距离处,得到检测信号的正弦性与幅度之间的良好折中。特别是,由于磁极宽度Lp可以包括在2到6mm之间,该最佳位置是可以得到的,甚至编码器1的磁极对的数量Npp小于6。
因此,敏感零件4的圆周分布具有以下优点:
-两个敏感零件4之间的距离足够大,以便使用便宜并非常线性的离散元件(Hall1D探测器);
-敏感零件4圆周分布的公差对传感器的精度几乎没有影响(因为它们之间的距离较大);
-两个敏感零件4位于编码器1的中线半径R上,它们几乎不受边界效应的干扰;
-敏感零件4的位置不取决于磁极宽度Lp;
-阅读半径R对磁信号质量的影响非常小。
下面结合附图描述特别适用于有四对磁极的电马达操纵的确定系统,所述系统提供马达的一对磁极上的绝对位置,或机械的90°。
为此,编码器4包括四对磁极(Npp=4),敏感零件4在每对磁极上输送正交的信号,以便使传感器或马达的操作计算器能够确定在90°角度扇形上的绝对角度位置。
特别是,该实施例可以对发出的磁场进行两个不同的测量(一方面是左边的测量减去中心的测量,另一方面是中心的测量减去右边的测量)。因此,如果磁场在在不同的敏感零件4上包括相同的来自外部(例如来自马达或相邻的连接件)的噪声分量,将从输出信号除去该噪声分量。
-有更好的性能,尤其是在启动时,例如在达到速度或位置的设置值时;
-更“温和”地运行,没有在稳定状态的扭矩跳动;
-能耗更低;
-运行温度低;
-最大扭矩更大。
Claims (9)
1.确定转动机构的至少一转动参数的确定系统,所述确定系统包括:
-编码器(1),用于与转动机构在转动方面相结合以便使编码器与转动机构一起移动,所述编码器包括主体,主体上形成磁轨(2),磁轨能够发出表示所述编码器的转动的周期磁信号,所述磁轨具有被i个转换部(3)分开的北磁极和南磁极的交替,所述转换部的每一个沿相对于转动轴线在极坐标中由公式确定的阿基米德螺线延伸,Npp为磁轨(2)的磁极对的数量,Lp为每个磁极沿所述编码器的半径的磁极宽度,第i个阿基米德螺线相对第一个阿基米德螺线的转动角度θi等于i在0到2.Npp-1之间;
-转动传感器,能够通过多个磁敏感零件(4)检测由所述编码器发出的周期磁场;
所述确定系统的特征在于,磁敏感零件(4)沿磁轨(2)成角度地分布,同时在至少两个磁敏感零件(4)之间形成角度α,角度α用于使所述磁敏感零件输送的信号是正交的。
3.如权利要求1或2所述的确定系统,其特征在于,磁敏感零件(4)沿磁轨(2)的半径R成角度地分布。
4.如权利要求3所述的确定系统,其特征在于,磁敏感零件(4)沿磁轨(2)的中线的半径R成角度地分布。
5.如权利要求1所述的确定系统,其特征在于,转动传感器包括两个磁敏感零件(4)。
6.如权利要求1所述的确定系统,其特征在于,编码器(1)的高度小于6.Lp。
8.如权利要求1所述的确定系统,其特征在于,编码器(1)的磁极对的数量Npp小于6。
9.如权利要求1所述的确定系统,其特征在于,编码器(1)磁极宽度Lp在2到6mm之间。
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PCT/FR2017/052431 WO2018051011A1 (fr) | 2016-09-13 | 2017-09-12 | Système de détermination d'au moins un paramètre de rotation d'un organe tournant |
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FR3055959B1 (fr) * | 2016-09-13 | 2018-10-12 | Ntn Snr Roulements | Systeme de determination d’au moins un parametre de rotation d’un organe tournant |
FR3093799B1 (fr) | 2019-03-12 | 2021-03-19 | Ntn Snr Roulements | Système de détermination d’au moins un paramètre de rotation d’un organe tournant |
FR3093798B1 (fr) | 2019-03-12 | 2021-06-25 | Ntn Snr Roulements | Système de détermination d’au moins un paramètre de rotation d’un organe tournant |
US11519757B2 (en) * | 2020-06-11 | 2022-12-06 | Honeywell International Inc. | System and method for determining angular position in rotating machines |
CN113447050A (zh) * | 2021-07-12 | 2021-09-28 | 珠海格力电器股份有限公司 | 码盘组件、编码器和伺服电机 |
US20240151508A1 (en) * | 2022-11-04 | 2024-05-09 | Honeywell International Inc. | Off-axis angle position sensor using array of spiral magnet and method of using the same |
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Also Published As
Publication number | Publication date |
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JP2019526808A (ja) | 2019-09-19 |
EP3513149A1 (fr) | 2019-07-24 |
JP7153012B2 (ja) | 2022-10-13 |
WO2018051011A1 (fr) | 2018-03-22 |
US20190265073A1 (en) | 2019-08-29 |
CN110023720A (zh) | 2019-07-16 |
US10969252B2 (en) | 2021-04-06 |
FR3055959A1 (fr) | 2018-03-16 |
FR3055959B1 (fr) | 2018-10-12 |
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