CN111521201A - Magnetoelectric encoder with end auxiliary stator coil - Google Patents
Magnetoelectric encoder with end auxiliary stator coil Download PDFInfo
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- CN111521201A CN111521201A CN202010532112.7A CN202010532112A CN111521201A CN 111521201 A CN111521201 A CN 111521201A CN 202010532112 A CN202010532112 A CN 202010532112A CN 111521201 A CN111521201 A CN 111521201A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
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- 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
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Abstract
The invention discloses a magnetoelectric encoder with an end auxiliary stator coil, which cuts the auxiliary stator coil through a magnetic field when a few antipode magnetic steel rotates to generate voltage, judges the rotating speed of the current encoder by reading a voltage peak value, and obtains the rotating speed direction of the current encoder through an angle value signal difference value obtained by resolving a few antipode Hall. The invention comprises an encoder structure, an auxiliary stator coil structure and an edge shaft. According to the invention, the side shaft rotates to drive the few-antipode magnetic steel to rotate so as to cut the auxiliary stator coil through the magnetic field, voltage is generated, the higher the rotor rotating speed is, the higher the sinusoidal voltage amplitude obtained in the winding coil is, the voltage amplitude and the rotating speed are in a linear proportional relation, the current encoder rotating speed is judged by reading the voltage peak value, and the current encoder rotating speed direction is obtained through the angle value signal difference value obtained by the few-antipode Hall calculation.
Description
Technical Field
The invention discloses a magnetoelectric encoder, and particularly relates to a magnetoelectric encoder with an end auxiliary stator coil.
Background
The encoder is used for measuring the angle position of a motor rotor, is a core element for realizing motor control, is widely applied to the high-technology fields of mechanical engineering, robots, aviation, precise optical instruments and the like, and plays a vital role in modern industry. The magnetoelectric encoder has the advantages of simple structure, high temperature resistance, oil stain resistance, impact resistance, small volume, low cost and the like, and has unique advantages in the application places of miniaturization and severe environmental conditions.
In the control system, the encoder communicates the transmission angle value to the controller for current loop control of the control system. And carrying out differential calculation on the angle value to obtain the angular speed of the current motor rotor, and using the angular speed to control a speed loop of a control system. For most control system engineering application projects, current loop control cannot meet system functions, and speed control needs to be achieved, so that the speed control effect of most control systems is determined according to the precision of speed values obtained by calculating angle value differences.
However, the angle value signal of the magnetoelectric encoder is affected by the noise of the system power supply, the angle value is mixed with high-frequency noise, for a encoder angle value calculating process, the calculating period of the angle value is usually about 50 microseconds, the speed calculating needs to depend on the difference value between the angle value of the current period and the angle value of the last period to be divided by the time constant of the calculating period, because the time constant is a microsecond unit, when the speed is converted to each revolution, the difference value of the angle value is amplified by 10 equivalently6The multiple is about, because the angle value signal is mixed with high-frequency noise, the angle value noise is amplified by 10 synchronously in the speed resolving process6The invention provides a magnetoelectric encoder with an end auxiliary stator coil, aiming at the problem that the factor of the magnetoelectric encoder is about multiple, which is extremely unfavorable for a speed loop control system.
Disclosure of Invention
The invention aims to design a magnetoelectric encoder with an auxiliary stator coil, when a rotating shaft of the magnetoelectric encoder rotates, a magnetic field cuts the auxiliary stator coil when a single-pole magnetic steel rotates, voltage is generated, the higher the rotating speed of a rotor is, the higher the amplitude of sinusoidal voltage obtained in the coil is, the linear proportional relation between the amplitude of the voltage and the rotating speed is realized, the rotating speed amplitude of the current encoder is judged by reading a voltage peak value, and the rotating speed direction of the current encoder is obtained through an angle value signal difference value obtained by resolving a single-pole Hall.
The solution of the invention for solving the technical problem is as follows:
a magnetoelectric encoder with an end auxiliary stator coil comprises an encoder structure (1), an auxiliary stator coil structure (2) and a side shaft (3); the method is characterized in that:
the encoder structure (1) is glued with the auxiliary stator coil structure (2), and the auxiliary stator coil structure (2) is in bearing connection with the side shaft (3).
Preferably, the encoder structure comprises single antipodal magnetic steel, single antipodal Hall a, single antipodal Hall b, encoder signal resolving plate and front end cover, wherein the single antipodal magnetic steel is glued with the side shaft, the single antipodal Hall a and the single antipodal Hall b are glued with the encoder signal resolving plate, and the encoder signal resolving plate is connected with the front end cover through screws.
Preferably, the auxiliary stator coil structure comprises a winding a, a winding b, a winding c, a stator, a bearing and a rear end cover, wherein the winding U, the winding V and the winding W are glued with the stator, the stator is glued with the rear end cover, the bearing is fixedly connected with the rear end cover, and the bearing is connected with the side shaft bearing.
The invention has the beneficial effects that:
1. the permanent magnet produces the magnetic field, and when the encoder rotor rotated, the end auxiliary winding coil cut magnetic field, and then produced sinusoidal voltage signal, and encoder rotor rotational speed is higher, and sinusoidal voltage amplitude is higher, and then judges the rotational speed of rotor through winding coil induced voltage amplitude, has eliminated traditional magnetoelectric encoder angular velocity and has relied on the amplified noise signal that the differential calculation of angle value introduced, has improved the computational accuracy of angular velocity.
2. The calculation of the angle value of the traditional magnetoelectric encoder is obtained by depending on the differential calculation process of the angle value, the calculation of the angle value depends on the magnetic field signal induction process of the Hall, the magnetic sensitivity coefficient of the Hall can change along with the change of the temperature environment, so that the temperature drift of the calculated speed value is caused.
3. The axial size of the adopted auxiliary end winding coil is very small, the influence on the space volume of the original magnetoelectric encoder is very small, and the auxiliary end winding coil is suitable for various small-volume working spaces.
4. The current rotating speeds corresponding to the induced voltage peak values are respectively solved through the three winding coils, the average of the three induced voltage mapping coefficients is the calculation basis of the current rotating speed, and the measuring precision of the angular speed of the encoder is improved.
5. The speed direction is judged through the difference value of the encoder angle value, the time interval is not divided in the calculation process, the time interval constant value is extremely small and is often microsecond or millimeter level, the influence effect of noise is increased in the division process, the speed direction judgment in the invention has no division process, and the problem of noise amplification is eliminated.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1: the invention has the overall structure schematic diagram;
FIG. 2 is a drawing: the encoder structure of the invention is shown schematically;
FIG. 3: the invention discloses a structural schematic diagram of an auxiliary stator coil;
FIG. 4 is a drawing: the Hall distribution schematic diagram of the invention;
FIG. 5: the winding coil of the invention is in star connection;
FIG. 6: the induced voltage of the invention changes with time;
FIG. 7: the value of the induction voltage after analog-to-digital conversion is a time variation graph;
in the figure, 1, an encoder structure, 1-1, a single-antipode magnetic steel, 1-2, a single-antipode Hall a, 1-3, a single-antipode Hall b, 1-4, an encoder signal resolving plate, 1-5, a front end cover, 2, an auxiliary stator coil structure, 2-1, a winding U, 2-2, a winding V, 2-3, a winding W, 2-4, a stator, 2-5, a bearing, 2-6, a rear end cover, 3 and a side shaft.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The structure of the invention is shown in figure 1, figure 2, figure 3 and figure 4.
The invention relates to a magnetoelectric encoder with an end auxiliary stator coil, which comprises an encoder structure 1, an auxiliary stator coil structure 2 and a side shaft 3; the method is characterized in that: the encoder structure is glued with the auxiliary stator coil structure, and the auxiliary stator coil structure is connected with the side shaft bearing.
Furthermore, the encoder structure 1 consists of single-antipode magnetic steel 1-1, single-antipode Hall a 1-2, single-antipode Hall b1-3, an encoder signal resolving plate 1-4 and a front end cover 1-5, wherein the single-antipode magnetic steel 1-1 is glued with the side shaft 3, the single-antipode Hall a 1-2 and the single-antipode Hall b1-3 are glued with the encoder signal resolving plate 1-4, and the encoder signal resolving plate 1-4 is in screw connection with the front end cover 1-5.
Furthermore, the auxiliary stator coil structure 2 is composed of a winding a 2-1, a winding b 2-2, a winding c 2-3, a stator 2-4, a bearing 2-5 and a rear end cover 2-6, wherein the winding U2-1, the winding V2-2 and the winding W2-3 are glued with the stator 2-4, the stator 2-4 is glued with the rear end cover 2-6, the bearing 2-5 is fixedly connected with the rear end cover 2-6, and the bearing 2-5 is in bearing connection with the side shaft 3.
The working principle is as follows:
the side shaft 3 rotates, the single-antipode magnetic steel 1-1 synchronously rotates, the single-antipode magnetic steel 1-1 generates a rotating magnetic field signal, the single-antipode Hall a 1-2 and the single-antipode Hall b1-3 induce the magnetic field signal to obtain two paths of sine and cosine signals, the current side shaft 3 angle position is obtained through calculation by an arc tangent formula, the single-antipode angle value digital signal HA + and HA-diagonal value are calculated according to the single-antipode angle value digital signal, and the single-antipode angle value theta of the current calculation period is obtainedm(k)The calculation formula is shown as formula (1):
the winding U2-1, the winding V2-2 and the winding W2-3 cut a rotating magnetic field to generate induced voltage, the winding U2-1, the winding V2-2 and the winding W2-3 at the end parts are connected in a star-shaped common point mode, as shown in figure 5, the single-antipodal magnetic steel 1-1 rotates for one circle, three sinusoidal voltage signals with 120-degree phase difference are generated on the winding U2-1, the winding V2-2 and the winding W2-3 and are respectively marked as Vu,Vv,VwAs shown in FIG. 6, the voltage V is induced in U phaseuFor example, induced voltage peak value VmAngular velocity omega from encodermThe mapping relationship is expressed by equation (2):
Vm＝kωm
(2)
wherein k is a mapping constant of the U-phase induced voltage, and the value is obtained in the following process:
under the drive of a motor, a side shaft 3 rotates at the speed of f revolutions per minute, the side shaft 3 drives a single-antipodal magnetic steel 1-1 to rotate, the single-antipodal magnetic steel 1-1 generates a rotating magnetic field, a U-phase winding U2-1 cuts the magnetic field to generate a sinusoidal voltage signal, and the maximum value M of the winding U2-1 after analog-to-digital conversion is obtained through an analog-to-digital conversion module of a single chip microcomputer on an encoder signal resolving board 1-4maxAnd a minimum value MminAs shown in fig. 7, the calculation expression of k is shown in formula (3):
similarly, the voltage V is induced by the V phasevFor example, induced voltage peak value Vm1Angular velocity omega from encodermThe mapping relation is shown as formula (4):
Vm1＝k1ωm
(4)
wherein k is1For the V-phase induced voltage mapping constant, the value is obtained as follows:
under the drive of the motor, the side shaft 3 rotates at the speed of f revolutions per minute, the side shaft 3 drives the single-antipodal magnetic steel 1-1 to rotate, the single-antipodal magnetic steel 1-1 generates a rotating magnetic field, the V-phase winding V2-2 cuts the magnetic field to generate a sinusoidal voltage signal,the maximum value M of the winding V2-2 after analog-to-digital conversion is obtained through an analog-to-digital conversion module of a single chip microcomputer on an encoder signal resolving board 1-4max1And a minimum value Mmin1As shown in FIG. 7, k1Is represented by the formula (5):
similarly, the voltage V is induced by W phasewFor example, induced voltage peak value Vm2Angular velocity omega from encodermThe mapping relation is shown in formula (6):
Vm2＝k2ωm
(6)
wherein k is2For the mapping constant of the W-phase induced voltage, the value is obtained as follows:
under the drive of a motor, a side shaft 3 rotates at the speed of f revolutions per minute, the side shaft 3 drives a single-antipodal magnetic steel 1-1 to rotate, the single-antipodal magnetic steel 1-1 generates a rotating magnetic field, a W-phase winding W2-3 cuts the magnetic field to generate a sinusoidal voltage signal, and a maximum value M of the winding W2-3 after analog-to-digital conversion is obtained through an analog-to-digital conversion module of a single chip microcomputer on an encoder signal resolving board 1-4max2And a minimum value Mmin2As shown in FIG. 7, k2Is represented by the formula (7):
when k is obtained1,k2,k3Then, averaging is carried out to obtain the final phase induction voltage mapping constant kfAs shown in formula (8):
angular velocity ω participating in the current calculation cycle as a constant valuem(k)When the motor rotates at a certain rotating speed, the maximum value M of the three-phase induction voltage after analog-to-digital conversion is obtained at the momentmax(k),Mmax1(k),Mmax2(k)And a minimum value Mmin(k),Mmin1(k),Mmin2(k)Angular velocity omega of the rotating shaft 3m(k)As shown in formula (9):
obtaining the angular velocity omega of the rotating shaft 3m(k)After the amplitude of the rotating shaft 3, the angular speed omega of the rotating shaft 3 needs to be determinedm(k)The direction of rotation of (d), the direction of rotation dir(k)The specific judgment process is as follows:
dir(k)＝fdir(θm(k)-θm(k-1)) (10)
in the formula fdirAs a function of direction determination, thetam(k)Calculating a cycle angle value, θ, for the current timem(k-1)Calculate the angle value of the cycle for the last time when thetam(k)-θm(k-1)When greater than 0, dir(k)When theta is 1m(k)-θm(k-1)When greater than 0, dir(k)＝-1。
Finally, the angular velocity ω of the shaft 3, including the direction of the velocity and the amplitudemf(k)Can be expressed as:
ωmf(k)＝ωm(k)*dir(k)
(11)
the angular velocity omega is obtained by the above processmf(k)And angular displacement thetam(k)And the data is reported to a servo driver for speed loop control through serial port communication or CAN communication.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A magnetoelectric encoder with an end auxiliary stator coil comprises an encoder structure (1), an auxiliary stator coil structure (2) and a side shaft (3); the method is characterized in that: the encoder structure is glued with the auxiliary stator coil structure, and the auxiliary stator coil structure is connected with the side shaft bearing.
2. The encoder structure of claim 1, wherein: the encoder structure (1) consists of a single-antipode magnetic steel (1-1), a single-antipode Hall a (1-2), a single-antipode Hall b (1-3), an encoder signal resolving plate (1-4) and a front end cover (1-5), wherein the single-antipode magnetic steel (1-1) is glued with a side shaft (3), the single-antipode Hall a (1-2), the single-antipode Hall b (1-3) is glued with the encoder signal resolving plate (1-4), and the encoder signal resolving plate (1-4) is connected with the front end cover (1-5) through screws.
3. The auxiliary stator coil structure according to claim 1, wherein: the auxiliary stator coil structure (2) is composed of a winding U (2-1), a winding V (2-2), a winding W (2-3), a stator (2-4), a bearing (2-5) and a rear end cover (2-6), wherein the winding a (2-1), the winding b (2-2) and the winding c (2-3) are glued with the stator (2-4), the stator (2-4) is glued with the rear end cover (2-6), the bearing (2-5) is fixedly connected with the rear end cover (2-6), and the bearing (2-5) is in bearing connection with the side shaft (3).
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| CN202010532112.7A CN111521201A (en) | 2020-06-11 | 2020-06-11 | Magnetoelectric encoder with end auxiliary stator coil |
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| CN202010532112.7A CN111521201A (en) | 2020-06-11 | 2020-06-11 | Magnetoelectric encoder with end auxiliary stator coil |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116222630A (en) * | 2023-03-17 | 2023-06-06 | 哈尔滨理工大学 | High-reliability axial double-side magnetic induction type magneto-electric encoder and angle resolving method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672274A (en) * | 1985-03-20 | 1987-06-09 | Victor Company Of Japan, Ltd. | Motor control circuit for video tape recorders |
| US4710683A (en) * | 1985-12-05 | 1987-12-01 | Secoh Geiken Inc. | Rotation detecting apparatus |
| US20030057941A1 (en) * | 2001-07-27 | 2003-03-27 | Collier-Hallman Steven James | Tachometer apparatus and method for motor velocity measurement |
| JP2003161643A (en) * | 2001-09-17 | 2003-06-06 | Yaskawa Electric Corp | Combined detector on angle and angular velocity |
| CN207021917U (en) * | 2017-03-07 | 2018-02-16 | 赛卓电子科技（上海）有限公司 | Position sensor |
| CN111521839A (en) * | 2020-06-11 | 2020-08-11 | 哈尔滨理工大学 | Magnetoelectric encoder based on multi-pair-pole magnetic steel and auxiliary stator winding speed measurement |
-
2020
- 2020-06-11 CN CN202010532112.7A patent/CN111521201A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672274A (en) * | 1985-03-20 | 1987-06-09 | Victor Company Of Japan, Ltd. | Motor control circuit for video tape recorders |
| US4710683A (en) * | 1985-12-05 | 1987-12-01 | Secoh Geiken Inc. | Rotation detecting apparatus |
| US20030057941A1 (en) * | 2001-07-27 | 2003-03-27 | Collier-Hallman Steven James | Tachometer apparatus and method for motor velocity measurement |
| JP2003161643A (en) * | 2001-09-17 | 2003-06-06 | Yaskawa Electric Corp | Combined detector on angle and angular velocity |
| CN207021917U (en) * | 2017-03-07 | 2018-02-16 | 赛卓电子科技（上海）有限公司 | Position sensor |
| CN111521839A (en) * | 2020-06-11 | 2020-08-11 | 哈尔滨理工大学 | Magnetoelectric encoder based on multi-pair-pole magnetic steel and auxiliary stator winding speed measurement |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116222630A (en) * | 2023-03-17 | 2023-06-06 | 哈尔滨理工大学 | High-reliability axial double-side magnetic induction type magneto-electric encoder and angle resolving method |
| CN116222630B (en) * | 2023-03-17 | 2023-10-20 | 哈尔滨理工大学 | High-reliability axial double-side magnetic induction type magneto-electric encoder and angle resolving method |
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