CN112994365B - Motor resistance type rotor position detection device and method - Google Patents
Motor resistance type rotor position detection device and method Download PDFInfo
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- CN112994365B CN112994365B CN202110206108.6A CN202110206108A CN112994365B CN 112994365 B CN112994365 B CN 112994365B CN 202110206108 A CN202110206108 A CN 202110206108A CN 112994365 B CN112994365 B CN 112994365B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a motor resistance type rotor position detection device and a method, a strip resistor is fixedly arranged at one end of a stator, two ends of the strip resistor are both contacted with the inner wall of the stator, a conducting strip arranged along the inner wall of the stator is arranged in the stator, one end of the conducting strip is aligned with one end of the strip resistor along the axial direction of the stator, three contact wires arranged in a regular triangle are fixed at one end of the rotor, the end parts of the three contact wires are in insulated contact, the side surfaces of the three contact wires can be contacted with the side surface of the strip resistor, only one end of each contact wire can be contacted with the conducting strip, partial contact of the strip resistor is realized by utilizing the change of the contact position in the relative rotation process of the contact wires on the rotor and the strip resistor on the stator, thereby obtaining different access resistance sizes, the invention can greatly simplify the complexity of the position detection of the traditional motor, the structure is simple, and the manufacturing cost of the product can be greatly reduced; the problems of complex wiring and low precision of motor detection in a narrow space are solved.
Description
Technical Field
The invention belongs to the technical field of motor detection, and particularly relates to a motor resistance type rotor position detection device and method.
Background
In recent years, the motor technology in China is rapidly developed, and with the deep hunting of people in the fields of artificial intelligence, precision manufacturing and the like, the requirements on the manufacturing precision, the durability, the detection method and the like of a driving device or a part are obviously improved. Nevertheless, although the domestic performance in the research, development, manufacture, inspection and maintenance of electric motors has been achieved, there is still a little distance from the international advanced level in the field of application, especially in high-end enterprises and market share. The motor is an important component of high-end intelligent equipment such as a robot, the complexity of a traditional mechanical transmission mechanism is greatly reduced due to the specific capability of outputting multi-degree-of-freedom torque, the dynamic stability of the system is improved, and the motor is one of the popular fields of the research of the current motor technology. The motor with excellent performance and controllable cost has great promotion effect and long-term practical significance on the intelligent manufacturing industry of China. A practical motor position detection method plays an irreplaceable important role in a complex motor control system.
At present, motors are various, and the position detection mode of the motor is different according to the types of the motors. However, various motor detection principles are various, the design is complex, the practicability is not high, and the requirements of concise and beautiful appearance cannot be met after the finished product is manufactured. The motor is mostly applied to a narrow space, and is small, exquisite, flexible and delicate, so that the motor has an irreplaceable effect on the performance improvement and optimization of the whole motor.
Disclosure of Invention
The invention aims to provide a motor resistance type rotor position detection device and a motor resistance type rotor position detection method, which are used for overcoming the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a motor resistance type rotor position detection device comprises a rotor and a stator, wherein the rotor is nested in the stator, a bar resistor is fixed at one end of the stator, two ends of the bar resistor are both contacted with the inner wall of the stator, a conducting strip arranged along the inner wall of the stator is arranged in the stator, one end of the conducting strip is aligned with one end of the bar resistor along the axial direction of the stator, and the angle corresponding to the arc length of the conducting strip is 120 degrees; three contact wires arranged in a regular triangle are fixed at one end of the rotor, the end parts of the three contact wires are in insulated contact, the side surfaces of the three contact wires can be in contact with the side surface of the strip resistor, and only one end of each contact wire can be in contact with the conducting strip.
Furthermore, a groove in a regular triangle shape is formed in the end face of one end of the rotor, and the conducting strip is embedded in the groove.
Further, still include detection circuitry, conducting strip and bar resistance all connect in detection circuitry.
Furthermore, the detection circuit comprises a detection power supply E, a control switch S, a voltmeter V and a fixed value resistor RL, one end of the conducting plate is connected with the negative pole of the power supply, the other end of the conducting plate is connected with the control switch S, the other end of the control switch S is connected with the positive pole of the power supply, one end of the fixed value resistor RL is connected with the negative pole of the power supply, and the other section of the fixed value resistor RL is connected with the strip-shaped resistor through the conducting plate and the contact wire.
Furthermore, the conducting strip and the strip resistor are connected in series with the detection circuit, one end of the conducting strip is connected with one detection end of the detection circuit, one end of the strip resistor is connected with the other detection end of the detection circuit, and the other end of the conducting strip is connected with one end of the contact wire.
Furthermore, the strip resistor is connected in series into the detection circuit, one end of the conducting strip is connected with one end of the strip resistor, and the other end of the conducting strip is connected with the contact wire.
Furthermore, the other end of the rotor is connected with a rotating shaft through a connecting flange, and the connecting flange between the rotor and the rotating shaft is fixedly connected through a bolt.
Furthermore, an insulating sheet or an insulating coating is arranged between the end parts of the three contact wires.
Further, the strip-shaped resistor has the same length as the contact wire.
A method for detecting the position of a resistance type rotor of a motor comprises the following steps:
s1, connecting the conducting strip and the strip resistor to a detection circuit after installation, initializing the rotor after electrification, and enabling one of the contact wires to coincide with the strip resistor;
s2, starting a motor to rotate a rotor, detecting voltage values at two ends of a customized resistor in the detection circuit in real time, recording the number n of times that the rotor rotates to 120 degrees, and obtaining the rotation position of the rotor through the following formula:
αfinal (a Chinese character of 'gan')＝n*120°+α
Wherein,
in the formula, n is the number of times that the rotor rotates to 120 degrees, alpha is the current rotor position rotation angle, k represents the resistance size of the strip resistor in unit length, r is the radius of the inner cavity of the stator, h is the distance between the core O of the stator axis and the contact wire, r is the distance between the core O of the stator axis and the end part of the contact wire, and angle OW1W2＝β。
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a motor resistance type rotor position detection device, wherein a strip resistor is fixedly arranged at one end of a stator, two ends of the strip resistor are both contacted with the inner wall of the stator, a conducting strip arranged along the inner wall of the stator is arranged in the stator, one end of the conducting strip is aligned with one end of the strip resistor along the axial direction of the stator, and the angle corresponding to the arc length of the conducting strip is 120 degrees; three contact wires arranged in a regular triangle are fixed at one end of the rotor, the end parts of the three contact wires are in insulated contact, the side surfaces of the three contact wires can be in contact with the side surface of the bar resistor, only one end of each contact wire can be in contact with the conducting strip, partial contact of the bar resistor is realized by utilizing the change of the contact position of the contact wires on the rotor and the bar resistor on the stator in the relative rotation process, so that different sizes of the access resistors are obtained, the rotation angle of the rotor can be rapidly calculated, and the rotor angle can be rapidly and accurately obtained by utilizing the difference of the intersection point positions of the contact wires and the bar resistor; the problems of complex wiring and low precision of motor detection in a narrow space are solved.
Furthermore, the conducting strips and the strip resistors are connected to the detection circuit, automatic detection can be achieved, calculation accuracy is high, and speed is high.
Furthermore, an insulating sheet or an insulating coating is arranged between the end parts of the three contact wires, so that the angle of the rotor rotating to the vacant position is reduced, and the detection precision is improved.
Furthermore, the strip resistor is the same as the contact wire in length, so that the strip resistor can be completely short-circuited by the contact wire, and the detection precision is improved.
According to the motor resistance type rotor position detection method, the lead and the arc-shaped conducting strip are led into the fixed circuit outside the field, and further, the change results of voltage and current are reflected, so that the complexity of the traditional motor position detection method is simplified, and the detection method is safe, reliable and high in detection speed.
Drawings
Fig. 1 is a schematic view of an overall assembly structure of a detection device in an embodiment of the invention.
Fig. 2 is an overall exploded view of the detecting device in the embodiment of the present invention.
FIG. 3 is a side view of a detection apparatus in an embodiment of the present invention.
Fig. 4 is a partially enlarged view of F in fig. 3.
FIG. 5 is a cross-sectional view of a detection apparatus according to an embodiment of the present invention.
Fig. 6 is a partially enlarged view of fig. 5.
Fig. 7 is a schematic diagram of circuit connection in embodiment 1 of the present invention.
Fig. 8 is a schematic diagram of circuit connection in embodiment 2 of the present invention.
Fig. 9 is a schematic view of the rotational positions of the rotor and stator in an embodiment of the present invention.
Wherein: 1 is a rotating shaft; 2 is a rotor; 3 is a screw; 4 is a stator; 5 is a strip resistor; 6 is a contact wire; 7 is a conducting strip; and 8 is an insulating sheet.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1 to 6, a motor resistance type rotor position detecting device includes a rotor 2 and a stator 4, the rotor 2 is nested in the stator 4, a bar resistor 5 is fixed at one end of the stator 4, both ends of the bar resistor 5 are in contact with an inner wall of the stator 4, a conducting strip 7 arranged along the inner wall of the stator 4 is arranged in the stator 4, one end of the conducting strip 7 is aligned with but not in contact with one end of the bar resistor 5, i.e. one end of the conducting strip 7 is aligned with one end of the bar resistor 5 along an axial direction of the stator 4, the conducting strip 7 is arranged with a radian of two thirds pi, i.e. the conducting strip 7 is arranged with an arc length corresponding angle of 120 °; in the application, as shown in figure 4, the right ends of the three contact wires 6 can be contacted with the conducting strip 7, one end of the contact wire 6 can be contacted with the conducting strip 7 embedded in the inner wall of the stator, the other end of the contact wire 6 is of an arc structure and is separated from the conducting strip 7 embedded in the inner wall of the stator, when the contact wire 6 rotates along with the rotor from an initial position, the right end of the contact wire 6 is firstly contacted with one end of the conducting strip 7, the contact wire 6 is contacted with the strip resistor 5 at the same time, and the contact wire 6 rotates along with the rotor in the process, the contact point of the contact wire 6 and the strip-shaped resistor 5 gradually moves rightwards, when the other end of the contact wire 6 is contacted with the strip-shaped resistor 5 and is far away, the strip-shaped resistor is broken, at the moment, the contact wire 6 rotates 120 degrees along with the rotor, the other rotor adjacent to the contact wire reaches the initial position, and similarly, the contact wire rotates.
The vertical distance of the strip-shaped resistor 5 to the axis of the stator 4 is the same as the vertical distance of the contact wire 6 to the axis of the rotor 2, i.e. the strip-shaped resistor 5 can coincide with the contact wire 6. The strip-shaped resistor 5 has the same length as the contact wire 6, and the contact wire 6 can completely short out the strip-shaped resistor 5
As shown in fig. 1, the other end of the rotor 2 is connected to a rotating shaft 1 through a connecting flange, and the connecting flange between the rotor 2 and the rotating shaft 1 is fixedly connected through bolts. The stator is a fixed platform, the rotating shaft 1 adopts a stepped shaft with a cylindrical structure, the end part of the rotating shaft 1 is integrally formed with a connecting flange, and a plurality of connecting through holes are uniformly distributed in the 360-degree direction of the circumference, so that the stator is conveniently connected with a motor rotor. The axis of the rotor 2 is coaxial with the axis of the rotating shaft 1. According to the requirement of precision, a cylindrical pin connection mode can be arranged at the cylindrical connection position. The rotor and the stator are connected with the cylindrical surface in a matching way through a bearing.
Specifically, as shown in fig. 5 and 6, a regular triangle groove is formed in an end face of one end of the rotor, the conducting strip 7 is embedded in the groove, and the depth of the groove is set according to the actual working environment.
The detection circuit is also included, and the conducting strip 7 and the strip resistor 5 are both connected with the detection circuit; as shown in fig. 7, the conducting strip 7 and the strip resistor 5 are connected in series to the detection circuit, one end of the conducting strip 7 is connected to one detection end of the detection circuit, one end of the strip resistor 5 is connected to the other detection end of the detection circuit, the other end of the conducting strip 7 is connected to one end of the contact wire 6, and the contact wire 6 is lapped with the strip resistor 5, so that the strip resistor 5 and the conducting strip 7 form a variable resistance form; as shown in fig. 8, or the strip resistor 5 is connected in series to the detection circuit, one end of the conductive plate 7 is connected to one end of the strip resistor 5, the other end of the conductive plate 7 is connected to the contact wire 6, the strip resistor 5 is formed into a variable resistor by the contact wire 6, and the detection circuit comprises a detection power supply E and a control switchTurning off S, voltmeter V and constant value resistor RL, wherein the resistance of the conducting plate 7 is R0The end a of the conducting strip 7 is connected with the negative pole of the power supply, the end b of the conducting strip 7 is connected with the control switch S, the other end of the control switch S is connected with the positive pole of the power supply, one end of the constant value resistor RL is connected with the negative pole of the power supply, and the other section of the constant value resistor RL is connected with the strip resistor 5 through the conducting strip and the contact wire 6.
As shown in fig. 1 and fig. 2, the bar resistor 5 is horizontally arranged on the upper end of the inner wall of the stator 4, two ends of the bar resistor 5 are in contact with the inner wall of the stator 4, when one of the contact wires 6 is coincident with the bar resistor 5, the initial position is at the moment, namely, the rotation angle of the rotor is 0, two ends of the bar resistor 5 are short-circuited by the contact wires 6, when the rotor rotates clockwise from 0 degree to 120 degrees, the left end point of the rotation process of the horizontally arranged contact wires 6 is suspended, and the right end point is in smooth contact with the arc-shaped conducting strip. In the process, the smooth conducting wire is in coplanar contact with the strip resistor, and the intersection point moves from the left end to the right end of the strip resistor. Therefore, the strip resistor is divided into two parts by the smooth wire, and the length of the strip resistor is changed along with the rotation angle of the rotor. As shown in fig. 3, in order to ensure that the smooth wires are always in contact with the strip resistors during the rotation of the rotor and reduce the complexity of the structural design, the invention uses 3 identical contact wires 6 to form an equilateral triangle, which can ensure that the wires are constantly connected with the strip resistors and make the design beautiful. In order to solve the problem that two leads are contacted with a strip-shaped resistor at the same time, the invention adopts the design that one end of each lead is arranged in a hollow way, and the other end of each lead is contacted with an arc-shaped conducting strip. Moreover, an insulator is designed at each of the equilateral triangle vertices, and the arc-shaped conductive sheet is connected with the detection circuit through a lead, as shown in fig. 5. By adopting the triangular structural design, the triangular smooth wires cannot be communicated simultaneously, so that the aim of dividing the resistance value of the strip resistor into two parts is fulfilled.
Cylindrical surface matching of motor rotor and stator, and bar resistor R1R2And one of the contact wires W1W2The initial state is defined when the directions coincide. FIG. 9 is a schematic view of the rotational positions of a rotor and a stator, where the rotor rotates clockwise relative to the stator and O is the stator axis centroid (or rotor axis, rotor and stator coaxial), O1、O2Respectively as the intersection point of the stator axis to the contact lead perpendicular line and the intersection point of the stator axis to the strip resistance perpendicular line, and making W1DR1＝∠O1OO2Then, according to the geometric relationship shown, there is ═ O1OD＝∠O2OD is alpha/2. During the movement of the rotor, the relative positions of the contact wires and the rotor are unchanged, so the distance OO from the core O of the stator axis to the contact wires1H is constant, the distance OW from the stator axis core O to the end of the contact wire1Constant as r and less than1W2Beta is a fixed value, r is the radius of the inner cavity of the stator, and is provided with,
h＝r·sin(β) (1)
as is known from the principle of the similar triangle,
varying resistance length of O1D＝lΔ:
lΔ＝h·tan(α/2) (2)
At Δ OW1O1In, W1O1L has a known length of
l＝r·cos(β) (3)
According to the comprehensive formulas (1) - (3), the lengths of the left side and the right side of the strip resistor are respectively as follows:
as shown in fig. 5, the principle of the sliding rheostat is that the resistance of the whole circuit is changed by changing the length of the resistance wire connected into the circuit part, so as to gradually change the current in the circuit. The change in resistance can also be reflected in the reading of the voltmeter. By solving for
The analytic expression for rotor position α is solved as follows:
RLand Ra parallel resistance calculation formula
Ra is the resistance value of the bar resistor Ro connected to the contact wire to the end a, and Rb is the resistance value of the bar resistor Ro connected to the contact wire to the end b;
the formula of the partial pressure can be known,
wherein E is the detection power supply voltage, VLThe voltage at two ends of the constant value resistor RL; r is strip resistance voltage;
wherein R isb＝R-RaSimplify the above formula, have
Because R isaNot less than 0, the equation of once-in-two (7) has only one solution, i.e.
And R isa＝kl+klΔWherein k represents the resistance per unit length of the strip resistor, and the general formulae (1) to (3) and (8) are as follows
Thereby obtaining the position α of the rotor;
in the detection process, the rotor is initialized, namely the position alpha of the rotor is set to zero, then in the rotation detection process, three continuous 120-degree rotation angles of the rotor are detected, namely a whole circle, the rotor rotates for 360 degrees,
three contact wires 6 are in complete contact with the strip-shaped resistor 5 once, namely the final position of the rotor:
αfinal (a Chinese character of 'gan')＝n*120°+α；
n is the number of times the rotor rotates to 120 degrees, and alpha is the current rotor position rotation angle.
As shown in fig. 8, the short-circuited length of the strip resistor can be obtained by detecting the current of the measuring circuit and the voltage of the fixed resistor 7 by using a series detection method according to the known power supply voltage.
Claims (6)
1. The motor resistance type rotor position detection device is characterized by comprising a rotor (2) and a stator (4), wherein the rotor (2) is embedded in the stator (4), a bar resistor (5) is fixed at one end of the stator (4), two ends of the bar resistor (5) are in contact with the inner wall of the stator (4), a conducting strip (7) arranged along the inner wall of the stator (4) is arranged in the stator (4), one end of the conducting strip (7) is aligned with one end of the bar resistor (5) along the axial direction of the stator (4), and the angle corresponding to the arc length of the conducting strip (7) is 120 degrees; three contact wires (6) which are arranged in a regular triangle shape are fixed at one end of the rotor (2), the end parts of the three contact wires (6) are in insulated contact, the side surfaces of the three contact wires (6) can be in contact with the side surface of the strip resistor (5), and only one end of each contact wire (6) can be in contact with the conducting strip (7); the detection circuit is also included, and the conducting strip (7) and the strip-shaped resistor (5) are both connected with the detection circuit; the detection circuit comprises a detection power supply E, a control switch S, a voltmeter V and a fixed-value resistor RL, one end of a conducting plate (7) is connected with the negative electrode of the power supply, the other end of the conducting plate (7) is connected with the control switch S, the other end of the control switch S is connected with the positive electrode of the power supply, one end of the fixed-value resistor RL is connected with the negative electrode of the power supply, and the other end of the fixed-value resistor RL is connected with a contact wire (6) and a strip-shaped resistor (5) through the conducting plate; conducting strip (7) and bar resistance (5) are established ties in detection circuitry, and conducting strip (7) one end is connected with detection circuitry detection one end, and the one end and the detection circuitry of bar resistance (5) detect the other end and are connected, and the conducting strip (7) other end is connected with contact wire (6) one end, and in bar resistance (5) series connection access detection circuitry, conducting strip (7) one end was connected with the one end of bar resistance (5), and the conducting strip (7) other end is connected with contact wire (6).
2. The device as claimed in claim 1, wherein a regular triangle groove is formed on an end surface of the rotor, and the conducting strip (7) is embedded in the groove.
3. The electric motor resistance type rotor position detection device according to claim 1, characterized in that the other end of the rotor (2) is connected with the rotating shaft (1) through a connecting flange, and the connecting flange between the rotor (2) and the rotating shaft (1) is fixedly connected through bolts.
4. A resistive rotor position sensing device for an electrical machine according to claim 1, characterized in that an insulating sheet (8) or insulating coating is provided between the ends of the three contact wires (6).
5. A resistive rotor position sensing device for an electrical machine according to claim 1, characterized in that the strip resistor (5) is the same length as the contact wires (6).
6. A motor resistance type rotor position detection method based on the motor resistance type rotor position detection device of claim 1, characterized by comprising the following steps:
s1, connecting the conducting strip and the strip resistor to a detection circuit after installation, initializing the rotor after electrification, and enabling one of the contact wires to coincide with the strip resistor;
s2, starting a motor to rotate a rotor, detecting voltage values at two ends of a constant value resistor in the detection circuit in real time, recording the number n of times that the rotor rotates to 120 degrees, and obtaining the rotation position of the rotor through the following formula:
αfinal (a Chinese character of 'gan')＝n*120°+α
Wherein,
in the formula, n is the number of times that the rotor rotates to 120 degrees, alpha is the current rotor position rotation angle, k represents the resistance size of the strip resistor in unit length, r is the radius of the inner cavity of the stator, h is the distance between the core O of the stator axis and the contact wire, r is the distance between the core O of the stator axis and the end part of the contact wire, and angle OW1W2＝β。
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| CN105987663B (en) * | 2015-02-28 | 2019-03-08 | 联想(北京)有限公司 | A kind of angle sensing device and angle detecting method |
| EP3179612B1 (en) * | 2015-12-10 | 2018-03-28 | Skf Magnetic Mechatronics | Device for detecting the axial position of a rotor shaft and its application to a rotary machine |
| CN109959330A (en) * | 2017-12-22 | 2019-07-02 | 温州瓯云科技有限公司 | A kind of angular displacement sensor |
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