CN112687459B - Double-channel rotary transformer coil winding method - Google Patents
Double-channel rotary transformer coil winding method Download PDFInfo
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- CN112687459B CN112687459B CN202011490609.3A CN202011490609A CN112687459B CN 112687459 B CN112687459 B CN 112687459B CN 202011490609 A CN202011490609 A CN 202011490609A CN 112687459 B CN112687459 B CN 112687459B
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Abstract
The invention belongs to the field of rotary transformers, and relates to a double-channel rotary transformer coil winding method; the stator roughing machine (1) adopts an I-type or II-type sinusoidal winding, and the stator finishing machine (2) adopts a III-type sinusoidal winding; the rotor roughing machine (3) adopts an I-type or II-type sinusoidal winding, and the rotor finishing machine (4) adopts a centralized winding; the number of calculated conductors of 2 coils is adjusted through an exhaustion method, so that the quadrature error output by sine and cosine of the fine machine is as small as possible; layering is carried out through an exhaustion method, so that the number of offsetting turns in the groove is minimum; the number of turns of the rotor coils of the roughing machine and the finishing machine is controlled, so that the density of the magnetic lines of force of 2 lines of force is different by several times, and the influence of the roughing machine on the finishing machine is almost zero; the sine and cosine windings of the roughing machine and the sine and cosine windings of the finishing machine are symmetrically distributed by configuring the wire embedding sequence, so that the precision of the roughing machine and the precision of the finishing machine can be ensured; the invention can effectively reduce the orthogonal error, the zero error and the higher harmonic of the sensor, and is particularly suitable for occasions with high angle measurement precision requirements.
Description
Technical Field
The invention belongs to the field of rotary transformers, and relates to a method for winding a coil of a double-channel rotary transformer.
Background
The double-channel rotary transformer is a high-precision angle position sensor and is widely applied to the high-precision control fields of aviation, aerospace, ships, weapons, precision machinery and the like.
In the prior art, the design of the stator winding of the precision machine of the double-channel rotary transformer excessively depends on the experience of technicians, and the number of turns calculated initially is adjusted according to the experience of the technicians so as to meet the requirement of quadrature error. Usually, the number of turns of 2 slots is adjusted tentatively, and then the accuracy error and the higher harmonic are checked, so that the design process is complicated.
Because theoretical zero position error exists between the coarse machine and the fine machine, when the coarse machine and the fine machine are inserted with a stator, a coil is usually inserted for one time and then tested, and then a winding slot of the stator fine machine coil is adjusted according to a test result.
Disclosure of Invention
The purpose of the invention is: a dual channel resolver coil winding method is provided.
The technical scheme of the invention is as follows:
a double-channel rotary transformer coil winding method is characterized in that a stator roughing machine 1 adopts an I-type or II-type sinusoidal winding, and a stator finishing machine 2 adopts a III-type sinusoidal winding; for the rotor roughing machine 3, I-type or II-type sinusoidal windings are used, and for the rotor finishing machine 4, concentrated windings are used.
The stator roughing machine 1 has an arbitrary winding initial slot, which is marked as a 1 st slot; the initial winding tooth of the stator finishing machine 2 is n, the value of the initial winding tooth is the value of n when the minimum value is taken, wherein n is 0, 1 and 2 … … p, p is the pole pair number, and Ns is the number of stator slots;
the stator finishing machine 2 calculates all the numbers of turns of the slots according to a formula and then rounds the number of turns as an effective number of turns, and when the sum of the obtained effective number of turns is-1, the number of turns of which the part for calculating the number of turns is closest to 0.5 in the unit winding is added with 1; when the effective number of turns is 1, subtracting 1 from the number of turns of which the part of the calculated number of turns is closest to 0.5 in the unit winding; when the effective number of turns is 0; the number of unit winding turns remains unchanged.
When the quadrature error of the stator finishing machine 2 is greater than 1/5 required by the design precision of the finishing machine, the precision is improved by adjusting the effective turns in 2 slots: wherein 1 effective turn number in the groove adds 1, and the effective turn number in another groove subtracts 1, and the selection of adjusting the groove is confirmed through the following mode:
respectively calculating the product of all the effective turns of the slot and the cosine value of the electrical angle of the slot, and summing to S N·C (ii) a Calculating the difference between the cosine values of the electrical angles of the two cells by adopting an exhaustion method; and taking the absolute value as S C-C (ii) a Taking the absolute value as S C-C And S N·C Making a difference; and sorting according to the sequence from small to large; calculating the precision value through the arc tangent, satisfying the reservation of 1/5 which is not more than the precision requirement of the precision machine design, not satisfying the requirement of giving deletion, as the following formula:
wherein Ns is the number of stator slots, Ni is the effective turn number in the ith slot, ai is the electrical angle of the ith slot, and Eerror is the precision design precision of the finishing machine;
1/5 which meets the requirement of precision of the fine machine is checked to obtain the higher harmonic value according to the following formula, the turns which meet the requirement are reserved, and the turns which do not meet the requirement are deleted, wherein Z0 is the number of unit slots, Ni is the effective turn number in the ith slot, Ns is the number of stator slots, p is the pole pair number, and v is the harmonic frequency;
the stator finishing machine 2 is layered according to the minimum number of in-slot offset turns:
the method comprises the steps of adopting an exhaustion method, giving the number of conductors on the upper layer of a 1 st slot, starting from 0 turn to effective turns, respectively calculating to obtain the number of conductors on the upper layer and the lower layer of each slot, taking the number of the conductors on the upper layer and the lower layer as opposite signs, taking a small value as the number of offsetting turns in the slot, summing all the offsetting turns in the slot, determining the number of the conductors on the 1 st slot when the offsetting turns is 0, or determining the number of the offsetting turns as a minimum value, and determining the number of the conductors on the 1 st slot.
The magnetic flux generated by the winding of the fine rotor machine 4 is at least 10 times of the magnetic flux generated by the winding of the coarse rotor machine 3.
The stator roughing machine 1, the stator finishing machine 2 and the rotor roughing machine 3 ensure that sine phase and cosine phase electrical parameters are consistent when the wire is inserted;
the rotor was wired as follows: firstly embedding 4 coils of a rotor finishing machine, clockwise embedding in the 1 st slot, and sequentially performing reverse phase coil embedding to finish coil embedding of all the coils; embedding a rotor roughing machine 3 coil, wherein the 1 st slot and a rotor finishing machine 4 coil have the same slot, the current direction is the same as that of the finishing machine coil, the sine and cosine windings of the rotor roughing machine 3 are respectively divided into 2 groups of coils, and the coils are respectively embedded according to sine, cosine and sine;
the stator is wired as follows: firstly embedding sine coils of the stator fine machine 2, embedding the sine coils at intervals, then embedding cosine coils of the stator fine machine 2 slot by slot, and embedding the sine coils of the remaining half of the stator fine machine 2 at intervals; after the fine machine coil is embedded, the stator is divided into 1 coil and the sine and cosine windings of the coarse machine into 2 groups of coils, and the coils are respectively embedded according to sine, cosine and sine.
The invention has the advantages that: the double-channel rotary transformer coil winding has the advantages of high precision, and small quadrature error, zero error and higher harmonic.
Drawings
Fig. 1 is a schematic diagram of a winding structure of a dual channel resolver of the invention.
Fig. 2 is a schematic diagram of the stator roughing machine winding of the dual channel resolver of the present invention.
Fig. 3 is a schematic diagram of the stator finishing winding of the dual channel resolver of the present invention.
Fig. 4 is a schematic diagram of the rotor roughing machine winding of the dual channel rotary transformer of the present invention.
Fig. 5 is a schematic diagram of a two-channel resolver rotor finishing winding of the present invention.
Fig. 6 is a schematic diagram of the zero configuration of the windings of the coarse machine and the fine machine of the double-channel rotary transformer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific examples described herein are intended to be illustrative only and are not intended to be limiting.
In this embodiment, the roughing machine is 1 pair of poles, and the finishing machine is 16 pairs of poles. Rotor 32 slots, stator 36 slots. The roughing machine and the finishing machine share a magnetic circuit.
Fig. 1 is a schematic diagram of a winding structure of a dual channel resolver of the invention. In the specific embodiment, the stator roughing machine 1 adopts a II-type sinusoidal winding, and the stator finishing machine 2 adopts a III-type sinusoidal winding; the rotor roughing machine 3 adopts a II-type sinusoidal winding, and the rotor finishing machine 4 adopts a centralized winding. When the rotor roughing machine 3 coil is excited to generate a magnetic field, the direction of induced electromotive force generated on each coil of the stator finishing machine 2 is positive or negative, and the sum of the induced electromotive force is 0; when the coil of the rotor finishing machine 4 is electrified, 16 groups of closed magnetic lines of force are formed, the variation of the magnetic flux on the coil of the stator roughing machine 1 is always 0, and the stator roughing machine 1 cannot generate induced electromotive force, so that when the roughing finishing machine rotates and is excited simultaneously, mutual interference between 1 pair of pole rotations and 16 pair of pole rotations cannot be generated;
fig. 2 is a schematic diagram of the stator roughing machine winding of the dual channel resolver of the present invention. The stator roughing machine 1 adopts a II-type sinusoidal winding, coils are in a concentric layout, and the effective turns of the coils in the slots are changed according to a 1 sinusoidal cycle rule.
Fig. 3 is a schematic diagram of a dual channel resolver stator finishing winding of the present invention. The stator finishing machine 2 adopts a III-type sinusoidal winding, coils are in a chain type layout, and the effective turns of the coils in the slots are changed according to a 16 sinusoidal cycle rule.
Calculating the number of turns according to a formula, and then rounding the number of turns to be used as the effective number of turns, and adding 1 to the number of turns of which the part of the calculated number of turns is closest to 0.5 in the unit winding when the sum of the obtained effective number of turns of the unit winding is-1; when the effective turn number of the unit winding is 1, subtracting 1 from the turn number of the calculated turn number part in the unit winding, which is closest to 0.5; when the effective turn number of the unit winding is 0, the turn number of the unit winding is kept unchanged, so that the coil of the fine machine can be layered and feasible, and the amplitude of the generated higher harmonic wave is minimum; as shown in the following examples.
| W＝176 | |
Trough 2 | |
|
Trough 5 | Trough 6 | Trough 7 | Trough 8 | Groove 9 | Sum value |
| Theoretical turn | 124.45 | -74.38 | 15.34 | 45.55 | -100.95 | 144.17 | -170.00 | 175.33 | -159.51 | 0 |
| Round and tidy | 124 | -74 | 15 | 46 | -101 | 144 | -170 | 175 | -160 | -1 |
| Adjustment of | 124 | -74 | 15 | 46 | -101 | 144 | -170 | 175 | -159 | 0 |
And when the calculated quadrature error is greater than 1/5 required by the precision of the design of the precision machine, adjusting the number of turns of 2 coils, wherein 1 coil turns is added with 1, and the other coil turns is subtracted with 1. The coil to be adjusted is determined as follows:
respectively calculating the products of the effective turns of all the grooves and the cosine values of the electrical angles of the grooves, summing the products to 1.6220, calculating the sum of the cosine values of the electrical angles of any two grooves by adopting an exhaustion method, and taking the inverse number of the cosine value of the electrical angle of one groove; by way of example, decreasing the 2 nd slot turn number-74 by 1 turn is-75, increasing the 5 th slot-101 slot turn number-101 by 1 turn is-100; calculating an accuracy value through arc tangent, wherein the accuracy is improved from 7.052 'to 0.4501';
the adjusted number of turns is shown in the table below.
An exhaustion method is adopted, the number of conductors on the upper layer of the 1 st slot is given, the number of conductors on the upper layer and the lower layer of each slot is respectively calculated from 0 turn to effective turns, the number of the conductors on the upper layer and the lower layer are of different signs, a small value is taken as the number of offsetting turns in the slot, the number of the offsetting turns in all the slots is summed, when the number of the offsetting turns is 0, the number of the conductors on the 1 st slot can be determined, or the total number of the offsetting turns is the minimum value, and the number of the conductors on the 1 st slot is determined; the present example is layered such that the number of conductors in the upper layer of the 1 st slot is 64 and the total number of canceling turns in the slot is 0.
Fig. 4 is a schematic diagram of the two-channel resolver rotor roughing machine winding of the present invention. The rotor roughing machine 3 adopts a II-type sinusoidal winding, the coils are in a concentric layout, and the effective turns of the coils in the grooves are changed according to a 1 sinusoidal cycle rule.
Fig. 5 is a schematic diagram of the rotor finishing winding of the dual channel rotary transformer of the present invention. The rotor finishing machine 4 adopts a centralized winding, the effective turns of coils in the slots are the same, the current directions of the connected slot coils are opposite, and the total number of the connected slot coils is 16 periodic changes.
Fig. 6 is a schematic diagram of the zero configuration of the windings of the coarse machine and the fine machine of the double-channel rotary transformer. The number of the starting teeth of the winding of 1 pair of pole rotary transformers is 35.
The roughing machine is a 1-pair-pole rotary transformer, when the rotor roughing machine 3 is perpendicular to the axis of the concentric coil of the stator roughing machine 1, the output voltage of the stator roughing machine 1 is the minimum, and the roughing machine is in an electrical 0-degree position; because the initial electrical angle of the III-type sinusoidal winding is 45 degrees, the initial electrical angle of the concentrated winding is 90 degrees, and the difference between the initial electrical angle and the concentrated winding is 45 degrees, in order to ensure that the zero positions of the finishing machine and the roughing machine are not more than 30' as far as possible, the initial winding slot of the coil of the finishing machine of the stator is adjusted, so that the coupling output voltage of the finishing machine 2 of the stator and the finishing machine 4 of the rotor is minimum, the electrical angle of the connecting slot of the stator is 160 degrees, and the coil rotates 2 slots to 365 degrees, namely 5 degrees, and has a difference of 85 degrees with the electrical angle of the concentrated winding, and the coupling is minimum at the moment; the coarse machine rotary transformer and the fine machine rotary transformer have the smallest electric zero difference.
The magnetic flux generated by the rotor coil of the fine machine is more than several times of the magnetic flux generated by the rotor coil of the coarse machine, and the precision of the fine machine is higher than that of the coarse machine, so that the influence of the coarse machine on the precision of the fine machine can be reduced;
the sine phase and cosine phase electrical parameters are ensured to be consistent during wire embedding; the rotor was wired as follows: firstly, 4 coils of a rotor finishing machine are embedded, a 1 st groove is clockwise, and the coils are sequentially embedded in opposite phases to finish the coil embedding of all the coils; embedding a rotor roughing machine 3 coil, wherein the 1 st slot and a finishing machine coil are in the same slot, the current direction is the same as that of the finishing machine coil, the sine and cosine windings of the rotor roughing machine 3 are respectively divided into 2 groups of coils, and lines are respectively embedded according to sine, cosine and sine; the stator is wired as follows: firstly embedding sine coils of the stator fine machine 2, embedding the sine coils at intervals, then embedding cosine coils of the stator fine machine 2 slot by slot, and embedding the sine coils of the remaining half of the stator fine machine 2 at intervals; after the fine machine coil is embedded, a coarse machine coil is embedded, the coarse machine sine and cosine windings are divided into 2 groups of coils, and the coils are respectively embedded according to sine, cosine and sine.
Claims (3)
1. A double-channel rotary transformer coil winding method is characterized in that a stator roughing machine (1) adopts an I-type or II-type sinusoidal winding, and a stator finishing machine (2) adopts a III-type sinusoidal winding; for the rotor roughing machine (3), I-type or II-type sinusoidal windings are used, and the rotor finishing machine (4) adopts centralized windings;
the stator roughing machine (1) has an arbitrary winding initial slot, which is marked as a 1 st slot; the starting winding tooth of the stator finishing machine (2) is n, the value of the starting winding tooth is the value of n when the minimum value is taken, wherein n is 0, 1 and 2 … … p, p is the pole pair number, and Ns is the number of stator slots;
the stator finishing machine (2) calculates all the numbers of turns of the slots according to a formula and then rounds the turns as effective turns, and when the sum of the obtained effective turns is-1, the number of turns of which the part for calculating the number of turns is closest to 0.5 in the unit winding is added with 1; when the effective number of turns is 1, subtracting 1 from the number of turns of which the part for calculating the number of turns is closest to 0.5 in the unit winding; when the effective number of turns is 0; the number of turns of the unit winding is kept unchanged;
when the orthogonal error of the stator finishing mill (2) is greater than 1/5 required by the precision design, the precision is improved by adjusting the effective turns in 2 slots: the effective number of turns in 1 groove is added by 1, the effective number of turns in the other groove is subtracted by 1, and the selection of the adjusting groove is determined by the following mode:
respectively calculating the product of all the effective turns of the slot and the cosine value of the electrical angle of the slot, and summing to S N·C (ii) a Calculating the difference of the cosine values of the electrical angles of the two cells by adopting an exhaustion method; and taking the absolute value as S C-C (ii) a Taking the absolute value as S C-C And S N·C Making a difference; and sorting according to the sequence from small to large; tong (Chinese character of 'tong')The over-arctangent calculation precision value meets the retention of 1/5 which is not more than the precision requirement of the precision machine design, and does not meet the requirement of deletion, and the following formula is shown:
wherein Ns is the number of stator slots, Ni is the effective turn number in the ith slot, ai is the electrical angle of the ith slot, and Eerror is the precision design precision of a fine machine;
1/5 which meets the requirement of precision of the fine machine is checked to obtain the higher harmonic value according to the following formula, the turns which meet the requirement are reserved, and the turns which do not meet the requirement are deleted, wherein Z0 is the number of unit slots, Ni is the effective turn number in the ith slot, Ns is the number of stator slots, p is the pole pair number, and ν is the harmonic frequency;
the stator finishing machine (2) is layered according to the minimum number of the offset turns in the slot:
the method comprises the steps of adopting an exhaustion method, giving the number of conductors on the upper layer of a 1 st slot, starting from 0 turn to effective turns, respectively calculating to obtain the number of conductors on the upper layer and the lower layer of each slot, taking the number of the conductors on the upper layer and the lower layer as opposite signs, taking a small value as the number of offsetting turns in the slot, summing all the offsetting turns in the slot, determining the number of the conductors on the 1 st slot when the offsetting turns is 0, or determining the number of the offsetting turns as a minimum value, and determining the number of the conductors on the 1 st slot.
2. A method for winding a coil of a two-channel rotary transformer according to claim 1, characterized in that the magnetic flux generated by the winding of the rotor refiner (4) should be at least 10 times higher than the magnetic flux generated by the winding of the rotor refiner (3).
3. The method for winding the coil of the double-channel rotary transformer according to claim 1, wherein the stator roughing machine (1), the stator finishing machine (2) and the rotor roughing machine (3) ensure that the sine phase and the cosine phase are consistent in electrical parameters during wire embedding;
the rotor was wired as follows: coils of a rotor finishing machine (4) are embedded firstly, a 1 st slot is clockwise, and the coil embedding is sequentially carried out in a reversed phase manner to complete the coil embedding of all the coils; embedding a rotor roughing machine (3) coil, wherein the 1 st slot and the rotor finishing machine (4) coil are in the same slot, the current direction is the same as that of the finishing machine coil, the sine and cosine windings of the rotor roughing machine (3) are respectively divided into 2 groups of coils, and the coils are respectively embedded according to sine, cosine and sine;
the stator is wired as follows: firstly embedding sine coils of the stator fine machine (2), embedding the sine coils at intervals, then embedding cosine coils of the stator fine machine (2) slot by slot, and then partitioning the sine coils of the rest half of the stator fine machine (2) at intervals; after the coil of the fine machine is embedded, the coil of a coarse machine (1) of the stator is divided into 2 groups of coils, and the sine and cosine windings of the coarse machine are respectively embedded with the coil according to sine, cosine and sine.
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| CN205984623U (en) * | 2016-08-25 | 2017-02-22 | 中国航空工业集团公司西安飞行自动控制研究所 | Vernier resolver |
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| CN101064214A (en) * | 2007-03-23 | 2007-10-31 | 西安微电机研究所 | Double redundancy dual-channel non-contact rotary transformer |
| CN102723185B (en) * | 2012-06-06 | 2014-02-05 | 哈尔滨工业大学 | Double-channel axial magnetic circuit reluctance type rotary transformer |
| CN102930966B (en) * | 2012-09-21 | 2015-02-04 | 谭成忠 | Brushless linear rotary transformer |
| CN109637796B (en) * | 2019-02-11 | 2021-05-18 | 西安微电机研究所 | High-precision reluctance type rotary transformer and winding method thereof |
| CN111313637B (en) * | 2020-03-11 | 2021-08-24 | 东南大学 | Pole slot matching method for reluctance type rotary transformer |
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| CN205984623U (en) * | 2016-08-25 | 2017-02-22 | 中国航空工业集团公司西安飞行自动控制研究所 | Vernier resolver |
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