CN113853729A - Method and device for measuring rotation angle of motor rotor, motor, cradle head and unmanned aerial vehicle - Google Patents
Method and device for measuring rotation angle of motor rotor, motor, cradle head and unmanned aerial vehicle Download PDFInfo
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- CN113853729A CN113853729A CN202080035681.9A CN202080035681A CN113853729A CN 113853729 A CN113853729 A CN 113853729A CN 202080035681 A CN202080035681 A CN 202080035681A CN 113853729 A CN113853729 A CN 113853729A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- 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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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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
-
- 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
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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
- G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—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 characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Engineering & Computer Science (AREA)
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Abstract
The present disclosure relates to a method of measuring a rotation angle of a rotor of an electric motor, a measuring device, and an electric motor, a pan-tilt and an unmanned aerial vehicle including the measuring device, in which a magnetic induction member is provided on a rotor of the electric motor, the magnetic induction member rotating together with the rotor; the Hall sensor is arranged on a stator of the motor, wherein the Hall sensor is arranged on the stator at any angle and used for sensing a magnetic field generated by the magnetic induction component; the method comprises the following steps: acquiring a first magnetic induction intensity value generated by the Hall sensor; carrying out coordinate rotation transformation on the first magnetic induction intensity value to obtain a second magnetic induction intensity value; and determining the rotation angle of the rotor according to the second magnetic induction intensity value. The Hall sensor arranged at any angle reserves space for the arrangement of relevant parts in the motor, simplifies the design steps of the motor and reduces the design cost.
Description
Technical Field
The disclosure relates to the technical field of motors, in particular to a method and a device for measuring a rotation angle of a motor rotor, a motor comprising the measuring device, a cradle head comprising the measuring device and an unmanned aerial vehicle comprising the measuring device.
Background
A pan/tilt head is generally a device on which an image pickup apparatus is mounted, and controls a shooting angle of the image pickup apparatus by controlling an ac servo motor in the pan/tilt head. In the aspect of control of an alternating current servo motor of a holder, the position and the rotating speed of a motor rotor generally need to be known, and the motor rotor can be accurately controlled, so that the shooting angle and the posture of camera equipment carried on the motor rotor can be correspondingly controlled through the holder.
In the prior art, the rotation angle of the motor rotor is generally measured by a hall sensor. Generally, a magnetic induction component is mounted on a rotor of a motor and used for inducing an alternating magnetic field generated in the rotation process of the rotor, a hall element is mounted on a stator of the motor, the hall element is used for sensing a changing magnetic field in the magnetic induction component, an induced voltage is output through an output end of the hall element, so that the induced voltage is measured through external sensing equipment, and the rotation angle of the rotor of the motor is calculated through the change of the induced voltage. In the prior art, the arrangement angle of the Hall sensor needs to meet certain conditions, otherwise, the calculation of the rotation angle of the rotor cannot be realized. For this reason, it is required to provide a motor having no special requirement for the arrangement angle of the hall sensors in order to facilitate the design and manufacture of the motor.
Disclosure of Invention
The present disclosure is directed to solving at least one of the technical problems of the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for measuring a rotation angle of a rotor of an electric machine, where a magnetic induction component is disposed on the rotor of the electric machine, and the magnetic induction component rotates with the rotor; the Hall sensor is arranged on a stator of the motor, wherein the Hall sensor is arranged on the stator at any angle and used for sensing a magnetic field generated by the magnetic induction component; the measuring method comprises the following steps: acquiring a first magnetic induction intensity value generated by the Hall sensor; carrying out coordinate rotation transformation on the first magnetic induction intensity value to obtain a second magnetic induction intensity value; and determining the rotation angle of the rotor according to the second magnetic induction intensity value.
In a second aspect, an embodiment of the present disclosure provides a device for measuring a rotation angle of a rotor of an electric machine, including: a magnetic induction component disposed on a rotor of the electric machine and rotating with the rotor; the Hall sensor is arranged on a stator of the motor, and is arranged on the stator at any angle and used for sensing a magnetic field generated by the magnetic induction component; the magnetic induction intensity acquisition unit is used for acquiring a first magnetic induction intensity value generated by the Hall sensor; the coordinate rotation transformation unit is used for carrying out coordinate rotation transformation on the first magnetic induction intensity value to obtain a second magnetic induction intensity value; and a rotation angle determination unit that determines a rotation angle of the rotor based on the second magnetic induction value.
In a third aspect, embodiments of the present disclosure provide an electric machine including a device for measuring a rotation angle of a rotor of an electric machine as described above.
In a fourth aspect, an embodiment of the present disclosure provides a tripod head, which includes the motor as described above.
In a fifth aspect, embodiments of the present disclosure provide an unmanned aerial vehicle including a head as described above.
According to the method for measuring the rotating angle of the motor rotor, the Hall sensor arranged on the stator of the motor at any angle is adopted, and the rotating coordinate transformation is carried out on the signal of the first magnetic induction intensity value acquired by the Hall sensor, so that the parameter which is in a nonlinear relation with the rotating angle is converted into the parameter which is in a linear relation with the rotating angle, and the acquisition of the rotating angle of the Hall sensor arranged at any angle is realized. According to the method for measuring the rotating angle of the motor rotor, the arrangement angle of the Hall sensor on the stator is not required to be specially limited in the arrangement and arrangement process of the Hall sensor, and only the included angle between the transverse direction of the Hall sensor and the radial direction of the motor is required to be determined, so that convenience can be provided for the design and the manufacture of the motor.
Drawings
Fig. 1 shows an appearance structure schematic diagram of a hall sensor.
Fig. 2 is a flowchart of a method of measuring a rotation angle of a rotor of an electric machine according to the present disclosure.
Fig. 3 is a schematic view of an arrangement of hall sensors in the method of measuring the rotation angle of the rotor of the motor according to the present disclosure.
Fig. 4 is a block diagram of a structure of a device for measuring a rotation angle of a rotor of an electric machine according to the present disclosure.
Fig. 5 is a block diagram of a structure of a motor according to the present disclosure.
Fig. 6 is a block diagram of a structure of a head according to the present disclosure.
Fig. 7 is a block diagram of an unmanned aerial vehicle according to the present disclosure.
Description of reference numerals:
1-6: a pin; 7: a Hall element; 10: a motor; 12: a rotor; 14: a magnetic induction component; 16: a stator; 18: a Hall sensor; 100: a device for measuring the rotation angle of the motor rotor; 102: a magnetic induction intensity acquisition unit; 104: a coordinate rotation transformation unit; 106: a rotation angle determination unit; 200: a motor; 300: a holder; 400: provided is an unmanned aerial vehicle.
Detailed Description
Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present disclosure, and are not to be construed as limiting the present disclosure.
In the description of the present disclosure, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present disclosure, and are not to be construed as limiting the present disclosure.
The hall sensor has a generally rectangular shape, such as the one shown in fig. 1 having six pins, three pins on each of the left and right sides, pins 1, 2, and 3 on the left side, and pins 4, 5, and 6 symmetrically distributed with respect to the pins 1, 2, and 3 on the right side. The direction of a straight line connecting two corresponding pins on the left and right is generally referred to as a lateral direction, for example, the direction of a straight line X connecting pin 2 and pin 5 is referred to as a lateral direction, and the direction of a straight line dividing three pins on the left and right into two symmetrical groups is referred to as a longitudinal direction, that is, the direction of a straight line dividing pins 1, 2, and 3 and pins 4, 5, and 6 into two left and right groups is referred to as a longitudinal direction. Normally, the hall sensor is arranged in the motor in such a direction that the transverse direction coincides with the radial direction of the motor, and accordingly the longitudinal direction of the hall sensor is perpendicular to the radial direction of the motor, i.e. the longitudinal direction of the hall sensor is parallel to the tangential direction of the motor, so that the hall element 7 can receive a magnetic field perpendicular to its magnetic field receiving plane. In this case, the phase difference of the two sinusoidal signals output by the hall sensor is exactly 90 °, i.e. the transverse magnetic field strength signal in the transverse direction of the hall sensor and the longitudinal magnetic field strength signal in the longitudinal direction of the hall sensor. After the amplitude and the zero offset of the Hall signals are calibrated, the two sinusoidal signals are standard sinusoidal signals, and therefore the rotating angle of the motor rotor can be directly calculated. However, in the design process of the motor, due to interference between components or other space requirements, the hall sensor may not meet the above requirements, that is, the lateral direction of the hall sensor may not exactly coincide with the radial direction of the motor, and at this time, the rotation angle cannot be calculated by the method in the prior art. Therefore, in the prior art, the hall sensor is arranged in a manner that the transverse direction of the hall sensor coincides with the radial direction of the motor, and when the situation of component interference and the like occurs, the structure of the motor is generally required to be redesigned and arranged, which results in prolonging the design period of the motor or the pan-tilt head adopting the motor and complicating the structure.
The present disclosure provides a method for measuring a rotation angle of a rotor of an electric machine, and specific steps of the method for measuring a rotation angle of a rotor of an electric machine according to the present disclosure will be described below with reference to fig. 2 and 3. As shown in the drawings, the measuring method includes the following operations, firstly, the hardware arrangement is needed, and S1 is executed, wherein the magnetic induction component 14 is arranged on the rotor 12 of the motor 10, that is, the magnetic induction component 14 is arranged on the rotor 12 of the motor 10, the magnetic induction component 14 rotates with the rotor 12, during the rotation of the rotor 12 of the motor 10, the winding in the rotor 12 applies a magnetic field to the magnetic induction component 14, the magnetic field generated by the winding is an alternating signal which changes along with the rotation of the rotor 12, and therefore a corresponding alternating magnetic field signal is generated by the magnetic induction component 14. Further, S2 is executed, the hall sensor 18 is disposed on the stator 16 of the motor 10, that is, the hall sensor 18 is disposed on the stator 16 of the motor 10, where the hall sensor 18 may be disposed on the stator 16 at any angle for sensing the magnetic field generated by the magnetic induction component 14. The hall sensor 18 can sense the alternating magnetic field in the magnetic induction component 14 and generate a voltage signal at its output, which changes as the alternating magnetic field changes, so that the angle of rotation of the rotor of the electric machine 10 can be determined by the alternating voltage signal output at the hall sensor 18. Then, S3 is executed to obtain a first magnetic induction value generated by the hall sensor 18, where the voltage value at the output of the hall sensor 18 is read, that is, the voltage value corresponds to the first magnetic induction value, and the first magnetic induction value corresponds to the magnetic induction in the magnetic induction component 14. Since the hall sensor 18 is arranged at any angle on the stator 16, that is, the transverse direction of the hall sensor 18 does not necessarily coincide with the radial direction of the motor, the first magnetic induction value cannot be directly used to calculate the rotation angle of the rotor 12, and at this time, the first magnetic induction value needs to be transformed, that is, S4 is executed, and coordinate rotation transformation is performed on the first magnetic induction value to obtain the second magnetic induction value. By coordinate rotation transforming the first magnetic induction values to obtain second magnetic induction values having a linear relationship with the rotation angle of the rotor 12, and finally, performing S5, the rotation angle of the rotor 12 is determined from the second magnetic induction values.
The process of coordinate rotation transformation of the first magnetic induction value produced by the hall sensor 18 will be described below. Since the hall sensor 18 is disposed on the stator 16 of the motor 10 at any angle, it is first required to determine the installation angle of the hall sensor 18 on the stator 16, that is, after the hall sensor is disposed on the stator 16 of the motor 10, the method of the present disclosure further includes obtaining an included angle between a transverse direction of the hall sensor 18 and a radial direction of the motor, where the transverse direction of the hall sensor 18 refers to a direction of a line connecting two opposite pins of the hall sensor 18, that is, the transverse direction of the hall sensor 18 is parallel to a transverse arrangement direction of the pins of the hall sensor 18. After the mounting angle of the hall sensor 18 on the stator 16 has been determined, a corresponding coordinate transformation of the first magnetic induction value sensed by the hall sensor 18 can then be carried out.
Next, the coordinate rotation conversion of the first magnetic induction intensity value in the method for measuring a rotation angle of a motor rotor according to the present disclosure includes converting the first magnetic induction intensity value according to the following equation (1):
here, the output signal of the hall sensor 18 may be obtained, i.e. the first magnetic induction value, which may be denoted as Bm, which may be regarded as a magnetic induction vector, which may be decomposed into a lateral component value Bmx in the lateral direction of the hall sensor 18 and a longitudinal component value Bmy in the longitudinal direction of the hall sensor 18. That is, Bmx in the equation (1) is a lateral component value of the acquired first magnetic induction intensity value Bm in the lateral direction of the hall sensor 18, and Bmy is a longitudinal component value of the acquired first magnetic induction intensity value Bm in the longitudinal direction of the hall sensor 18. In addition, α is an angle between the transverse direction of the hall sensor 18 and the radial direction of the motor 10, and may be 45 ° here, as shown in fig. 3, but may be set to any other angle, and is not limited in detail here. Bx is a radial component value of the coordinate-rotation-transformed second magnetic induction intensity value in the radial direction of the motor 10, and By is a tangential component value of the coordinate-rotation-transformed second magnetic induction intensity value in the tangential direction of the motor 10.
Further, the coordinate rotation transformation of the first magnetic induction intensity value Bm further includes transforming the first magnetic induction intensity value Bm according to the following formula (2):
the transverse component value Bmx and the longitudinal component value Bmy of the first magnetic induction intensity value Bm in the coordinate system corresponding to the transverse direction and the longitudinal direction of the hall sensor 18 can be converted into the radial component value Bx and the tangential component value By of the second magnetic induction intensity value in the coordinate system corresponding to the radial direction and the tangential direction of the electric machine 10 By equation (2).
Determining the rotation angle of the rotor 12 according to the second magnetic induction strength value in the method of measuring the rotation angle of the rotor of an electric machine according to the present disclosure includes determining a relationship of the rotation angle of the rotor 12 to a radial component value Bx of the second magnetic induction strength value in the radial direction of the electric machine 10 and a tangential component value By of the second magnetic induction strength value in the tangential direction of the electric machine 10:
Bx＝Br*sinθ
By＝Bt*cosθ
where Br is the amplitude of the radial component value Bx of the second magnetic induction intensity value in the radial direction of the motor 10, which can be obtained through testing, Bt is the amplitude of the tangential component value By of the second magnetic induction intensity value in the tangential direction of the motor 10, which can also be obtained through testing, and θ is the rotation angle of the rotor 12 that needs to be finally obtained. That is, the magnitudes of the components of the second magnetic induction value of the hall sensor 18 in the radial direction and the tangential direction of the electric machine 10 can be obtained by testing the hall sensor 18.
Subsequently, Bx ═ Br × sin θ and By ═ Bt cos θ can be respectively substituted into formula (2), and the following formula (2-1) can be obtained:
the following formulae (2-2) and (2-3) can be obtained by developing the formula (2-1):
Br*sinθ＝Bmy*cosα-Bmy*sinα (2-2)
Bt*cosθ＝Bmx*sinα+Bmy*cosα (2-3)
further, the ratio of the formula (2-2) to the formula (2-3) is:
the compound is obtained by the formula (2-4):
thereby, a relationship between the rotation angle of the rotor 12 of the motor 10 and the components Bmx and Bmy of the first magnetic induction value Bm acquired by the hall sensor 18 can be obtained. That is, determining the rotation angle of the rotor 10 from the second magnetic induction values further includes calculating the rotation angle θ of the rotor 12 from the following equation (3):
as described above, the formula (3) can be directly obtained from the formulae (2-5).
Up to this point, the first magnetic induction intensity value Bm can be obtained by the hall sensor 18, and thereby the lateral component value Bmx of Bm in the lateral direction of the hall sensor 18 and the longitudinal component value Bmy in the longitudinal direction of the hall sensor 18 are obtained, α is the angle between the lateral direction of the hall sensor 18 and the radial direction of the motor 10, which can be determined in the design process of the motor 10, and accordingly, Bt and Br as the amplitude values can also be known through experiments, and therefore, the value of the rotation angle of the rotor 12 of the motor 10 can be directly obtained from the output value of the hall sensor 18, whereby the precise control of the rotor 12 of the motor 10 can be realized, and accordingly, the pan-tilt head using such a motor 10 can be precisely controlled. Meanwhile, the design process of the motor 10 can be simplified through the design mode, and the transverse direction of the Hall sensor 18 does not need to be ensured to be overlapped with the radial direction of the motor 10, so that the convenience of motor design is provided, and conditions can be provided for special design of certain motors, for example, the Hall sensor 18 and the motor 10 cannot meet the relative position relation of a specific angle due to space reasons.
The method for measuring the rotation angle of the rotor of the electric machine according to the present disclosure may further include the operation of calibrating the magnitude of the radial component value of the second magnetic induction strength value in the radial direction of the electric machine 10 and the magnitude of the tangential component value of the second magnetic induction strength value in the tangential direction of the electric machine 10. That is, in the process of measuring the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor 10, the amplitude may not be particularly stable, and the accuracy of the amplitude may be judged by measuring the amplitude several times. A corresponding plurality of measurements are also made on the magnitude of the tangential component.
Specifically, calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor 10 includes obtaining a maximum value and a minimum value of the radial component value through testing, and a half of a difference between the maximum value and the minimum value of the radial component value is the calibrated amplitude of the radial component value. Since the radial component of the second magnetic induction strength value is a sinusoidally alternating signal, it has a maximum value of positive value and a minimum value of negative value, the difference between the maximum value and the minimum value being twice the amplitude of the radial component. In this way a more accurate amplitude of the radial component can be obtained.
Further, calibrating the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10 includes obtaining the maximum value and the minimum value of the tangential component value through testing, and half of the difference between the maximum value and the minimum value of the tangential component value is the calibration amplitude of the tangential component value. Since the tangential component of the second magnetic induction strength value is a sinusoidally alternating signal, it has a positive maximum and a negative minimum, the difference between the maximum and the minimum being twice the amplitude of the radial component. In this way a more accurate amplitude of the radial component can be obtained.
The method for measuring the rotation angle of the rotor of an electric machine according to the present disclosure further comprises calibrating the offset of the radial component value of the second magnetic induction strength value in the radial direction of the electric machine 10 and the offset of the tangential component value of the second magnetic induction strength value in the tangential direction of the electric machine 10. Here, by calibrating the offset of the radial component value of the second magnetic induction intensity value in the radial direction and the tangential component value in the tangential direction of the motor 10, more accurate radial component value and tangential component value can be obtained.
Calibrating the offset of the radial component value of the second magnetic induction strength value in the radial direction of the electric machine 10 includes obtaining the maximum value and the minimum value of the radial component value through testing, and the half of the sum of the maximum value and the minimum value of the radial component value is the offset of the radial component value. The radial component of the second magnetic induction intensity value is a sinusoidal alternating signal and has a maximum value with a positive value and a minimum value with a negative value, and half of the sum of the maximum value and the minimum value is the offset of the radial component value, so that more accurate amplitude of the radial component can be obtained through calibration of the offset.
Calibrating the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10 includes obtaining the maximum value and the minimum value of the tangential component value through testing, and the half of the sum of the maximum value and the minimum value of the tangential component value is the offset of the tangential component value. The tangential component of the second magnetic induction intensity value is a sine alternating signal, so that the second magnetic induction intensity value has a maximum value with a positive value and a minimum value with a negative value, half of the sum of the maximum value and the minimum value is the offset of the tangential component value, and more accurate amplitude of the tangential component can be obtained through calibration of the offset. In this way, by calibrating the amplitude and offset of the second magnetic induction value, a linear relationship is obtained between the rotation angle of the rotor 12 of the electric machine 10 and the first magnetic induction value measured by the hall sensor 18, so that a more accurate rotation angle value is obtained by the first magnetic induction value.
In the method for measuring the rotation angle of the rotor of the motor according to the present disclosure, the magnetic induction component 14 provided on the rotor 12 includes a ring magnet, and an alternating magnetic field generated during the rotation of the rotor 12 is induced by the ring magnet, and an induced magnetic field is generated thereby, and the hall sensor 18 can sense the induced magnetic field generated in the ring magnet and generate a corresponding output signal.
The above embodiments have described the method of measuring the rotation angle of the rotor of the electric machine according to the present disclosure by taking as an example a 2-dimensional hall sensor capable of measuring magnetic induction in the radial direction and the tangential direction of the electric machine 10, and it should be understood that the method described in the present disclosure is equally applicable to a 3-dimensional hall sensor capable of measuring magnetic induction in the radial direction, the tangential direction, and the axial direction of the electric machine 10. In addition, instead of the 2-dimensional hall sensor described in the present disclosure, 2 1-dimensional hall sensors may be disposed on the stator of the motor 10, where the 2-dimensional hall sensors may be disposed at an angle of 90 ° with respect to the rotation axis of the rotor of the motor 10, one of the 1-dimensional hall sensors is used to sense a magnetic field distributed in the radial direction of the motor 10, and the other 1-dimensional hall sensor is used to sense a magnetic field distributed in the tangential direction of the motor 10, which can achieve the same sensing result as the one 2-dimensional hall sensor.
The method for measuring the rotation angle of the rotor of the motor according to the present disclosure uses the hall sensor 18 disposed at any angle on the stator 16 of the motor 10, and converts the signal of the first magnetic induction intensity value obtained by the hall sensor 18 from a parameter having a non-linear relationship with the rotation angle to a parameter having a linear relationship with the rotation angle by performing rotation coordinate transformation. Furthermore, the second magnetic induction intensity value is more stable and accurate through calibrating the amplitude and the offset of the second magnetic induction intensity value, so that the measured rotation angle value of the motor rotor is improved. According to the method for measuring the rotation angle of the motor rotor, the arrangement angle of the Hall sensor 18 on the stator 16 is not required to be particularly limited in the arrangement and arrangement process of the Hall sensor 18, and only the included angle between the transverse direction of the Hall sensor 18 and the radial direction of the motor 10 is required to be determined, so that convenience can be provided for the design and manufacture of the motor 10, convenience is provided for the motor 10 with special requirements on the arrangement space of the Hall sensor 18, and the design and manufacture cost of the motor 10 is reduced.
The present disclosure also relates to a measuring device 100 for a rotation angle of a rotor of an electric machine, as shown in fig. 3 and 4, the measuring device 100 is configured to include: a magnetic induction member 14, the magnetic induction member 14 being provided on the rotor 12 of the motor 10 and rotating together with the rotor 12; a hall sensor 18, the hall sensor 18 being provided on the stator 16 of the motor 10, wherein the hall sensor 18 is provided on the stator 16 at an arbitrary angle for sensing the magnetic field generated by the magnetic induction member 14; a magnetic induction intensity obtaining unit 102, wherein the magnetic induction intensity obtaining unit 102 is configured to obtain a first magnetic induction intensity value generated by the hall sensor 18; coordinate rotation transformation means 104 for performing coordinate rotation transformation on the first magnetic induction intensity value by the coordinate rotation transformation means 104 to obtain a second magnetic induction intensity value; and a rotation angle determination unit 106, the rotation angle determination unit 106 determining the rotation angle of the rotor 12 from the second magnetic induction value.
The magnetic induction intensity obtaining unit 102, the coordinate rotation transformation unit 104, and the rotation angle determination unit 106 may be disposed on the motor 10, or may be disposed on other devices using the motor 10, such as a pan/tilt head using the motor 10 or an unmanned aerial vehicle using the pan/tilt head. In addition, the magnetic induction intensity obtaining unit 102, the coordinate rotation transformation unit 104, and the rotation angle determination unit 106 may be separate components, or may be integrated into one component, for example, may be integrated into a central processing unit of the control motor 10.
The device 100 for measuring the rotation angle of the motor rotor according to the present disclosure may further include an included angle obtaining unit, configured to obtain an included angle between a transverse direction of the hall sensor 18 and a radial direction of the motor 10, where the transverse direction of the hall sensor 18 is parallel to a transverse arrangement direction of pins of the hall sensor 18. Here, the included angle between the transverse direction of the hall sensor 18 and the radial direction of the motor 10 may be input into the included angle acquisition unit in an input manner, thereby obtaining the included angle; alternatively, the angle may be incorporated into the program controlling the operation of the motor 10 during the manufacturing process of the motor 10.
After obtaining the above-mentioned included angle, the measuring apparatus 100 according to the present disclosure may perform coordinate rotation transformation on the first magnetic induction intensity value obtained by the hall sensor 18, and the coordinate rotation transformation unit transforms the first magnetic induction intensity value according to equation (1):
wherein: bmx is a transverse component value of the obtained first magnetic induction strength value in the transverse direction of the hall sensor 18, Bmy is a longitudinal component value of the obtained first magnetic induction strength value in the longitudinal direction of the hall sensor 18, α is an angle between the transverse direction of the hall sensor 18 and the radial direction of the motor 10, Bx is a radial component value of the second magnetic induction strength value in the radial direction of the motor 10, and By is a tangential component value of the second magnetic induction strength value in the tangential direction of the motor 10.
Further, the coordinate rotation transformation unit 104 of the measuring apparatus 100 is configured to transform the first magnetic induction intensity value according to the following formula (2):
the rotation angle determination unit 106 may be configured to determine a relationship of the rotation angle of the rotor 10 to a radial component value of the second magnetic induction value in the radial direction of the electric machine 10 and a tangential component value of the second magnetic induction value in the tangential direction of the electric machine 10:
Bx＝Br*sinθ
By＝Bt*cosθ
in the above equation, Br is the magnitude of the radial component value of the second magnetic induction strength value in the radial direction of the motor 10, which can be obtained by the test, Bt is the magnitude of the tangential component value of the second magnetic induction strength value in the tangential direction of the motor 10, which can also be obtained by the test, and θ is the rotation angle of the rotor 10 with respect to the stator 16.
Then, By bringing (2) Bx ═ Br ═ sin θ and By ═ Bt ═ cos θ, the relationship between the rotation angle θ of the rotor and the first magnetic induction intensity value measured By the hall sensor 18 can be obtained.
The rotation angle determination unit 106 of the measurement apparatus 100 of the rotation angle of the rotor of the electric machine according to the present disclosure may then calculate the rotation angle θ of the rotor according to the following equation (3):
in the equation (3) as described above, as long as the angle α between the lateral direction of the hall sensor 18 when it is mounted and the radial direction of the motor 10 is obtained and the first magnetic induction intensity value measured by the hall sensor 18 is obtained, the value of the rotation angle θ of the rotor 12 can be obtained, whereby accurate control of the rotor 12 of the motor 10 can be achieved by the controller of the motor 10.
The measuring device 100 of the rotation angle of the motor rotor according to the present disclosure further includes an amplitude calibration unit for calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor 10 and the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10. Here, calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor 10 includes obtaining a maximum value and a minimum value of the radial component value through testing, and a half of a difference value between the maximum value and the minimum value of the radial component value is the calibrated amplitude of the radial component value; calibrating the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10 includes obtaining the maximum value and the minimum value of the tangential component value through testing, and half of the difference value between the maximum value and the minimum value of the tangential component value is the calibrated amplitude of the tangential component value.
The measuring device 100 of the rotation angle of the motor rotor according to the present disclosure further includes an offset calibration unit that calibrates an offset of a radial component value of the second magnetic induction intensity value in the radial direction of the motor 10 and an offset of a tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10. Herein, calibrating the offset of the radial component value of the second magnetic induction strength value in the radial direction of the motor 10 includes obtaining the maximum value and the minimum value of the radial component value through testing, and the half of the sum of the maximum value and the minimum value of the radial component value is the offset of the radial component value; calibrating the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor 10 includes obtaining the maximum value and the minimum value of the tangential component value through testing, and the half of the sum of the maximum value and the minimum value of the tangential component value is the offset of the tangential component value. The amplitude and offset of the second magnetic induction intensity value can be calibrated to enable the second magnetic induction intensity value to have a more linear relationship with the rotation angle of the rotor 12 of the motor 10, so that a more accurate rotation angle value can be calculated through the obtained second magnetic induction intensity value. The above-mentioned included angle obtaining unit, the amplitude calibration unit and the offset calibration unit may be separate processing units, or may be integrated in the same processing unit, for example, may be integrated in a central processing unit of the control motor 10.
Further, the magnetic induction part 14 of the measuring apparatus 100 for the rotation angle of the rotor of the motor according to the present disclosure includes a ring magnet that may be disposed around the end of the rotor 12 of the motor 10, thereby being capable of inducing a magnetic field generated during the rotation of the rotor 12, thereby more accurately calculating the rotation angle of the rotor 12.
It should be noted that the hall sensor 18 of the measuring device 100 for measuring the rotation angle of the rotor of the motor according to the present disclosure is a 2-dimensional hall sensor, and it should be understood that the measuring device 100 according to the present disclosure may employ a 3-dimensional hall sensor capable of measuring the magnetic induction in the radial direction, the tangential direction, and the axial direction of the motor 10. In addition, instead of the 2-dimensional hall sensor described in the present disclosure, 2 1-dimensional hall sensors may be disposed on the stator 16 of the motor 10, where the 2 1-dimensional hall sensors may be disposed at an angle of 90 ° with respect to the rotational axis of the rotor of the motor 10, that is, in the schematic view shown in fig. 3, the 2 1-dimensional hall sensors are disposed at an angle of 90 ° around the axis of the rotor 12, wherein one 1-dimensional hall sensor is used to sense a magnetic field distributed in the radial direction of the motor 10, and the other 1-dimensional hall sensor is used to sense a magnetic field distributed in the tangential direction of the motor 10, which can achieve the same sensing effect as the one 2-dimensional hall sensor.
The present disclosure also relates to a motor 200, as shown in fig. 5, the motor 200 includes the device 100 for measuring the rotation angle of the rotor of the motor.
According to another aspect of the present disclosure, it also relates to a head 300, wherein the head 300 employs a motor 200 comprising a measuring device 100 of the rotation angle of the rotor of the motor according to the present disclosure.
Further, the present disclosure also relates to an unmanned aerial vehicle 400, the unmanned aerial vehicle 400 comprising a head 300 according to the present disclosure.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (29)
1. A method for measuring the rotation angle of a motor rotor is characterized in that,
the magnetic induction component is arranged on a rotor of the motor and rotates along with the rotor;
the Hall sensor is arranged on a stator of the motor, wherein the Hall sensor is arranged on the stator at any angle and used for sensing a magnetic field generated by the magnetic induction component;
the method comprises the following steps:
acquiring a first magnetic induction intensity value generated by the Hall sensor;
carrying out coordinate rotation transformation on the first magnetic induction intensity value to obtain a second magnetic induction intensity value;
and determining the rotation angle of the rotor according to the second magnetic induction intensity value.
2. The method of measuring a rotation angle of a rotor of an electric machine according to claim 1,
the method further comprises the step of obtaining an included angle between the transverse direction of the Hall sensor and the radial direction of the motor, wherein the transverse direction of the Hall sensor is parallel to the transverse arrangement direction of pins of the Hall sensor.
3. The method of measuring a rotation angle of a rotor of an electric machine according to claim 2,
performing coordinate rotation transformation on the first magnetic induction value comprises transforming the first magnetic induction value according to equation (1):
wherein: bmx is a transverse component value of the obtained first magnetic induction intensity value in the transverse direction of the hall sensor, Bmy is a longitudinal component value of the obtained first magnetic induction intensity value in the longitudinal direction of the hall sensor, α is an included angle between the transverse direction of the hall sensor and the radial direction of the motor, Bx is a radial component value of the second magnetic induction intensity value in the radial direction of the motor, and By is a tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
4. The method of measuring a rotation angle of a rotor of an electric machine according to claim 3,
performing coordinate rotation transformation on the first magnetic induction intensity value further comprises transforming the first magnetic induction intensity value according to equation (2):
5. the method of measuring a rotation angle of a rotor of an electric machine according to claim 4,
determining the rotation angle of the rotor from the second magnetic induction value comprises:
determining a relationship of the rotation angle of the rotor to a radial component value of the second magnetic induction strength value in a radial direction of the electric machine and a tangential component value of the second magnetic induction strength value in a tangential direction of the electric machine:
Bx＝Br*sinθ
By＝Bt*cosθ
where Br is an amplitude of a radial component value of the second magnetic induction intensity value in the radial direction of the motor, which can be obtained through a test, Bt is an amplitude of a tangential component value of the second magnetic induction intensity value in the tangential direction of the motor, which can be obtained through a test, and θ is a rotation angle of the rotor.
6. The method of measuring a rotation angle of a rotor of an electric machine according to claim 5,
determining the angle of rotation of the rotor from the second magnetic induction values further comprises calculating the angle of rotation of the rotor according to equation (3):
7. the method of measuring a rotation angle of a rotor of an electric machine according to claim 5, further comprising:
and calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor and the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
8. The method of measuring a rotation angle of a rotor of an electric machine according to claim 7,
calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor comprises obtaining the maximum value and the minimum value of the radial component value through testing, wherein one half of the difference value between the maximum value and the minimum value of the radial component value is the calibrated amplitude of the radial component value;
calibrating the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor comprises obtaining the maximum value and the minimum value of the tangential component value through testing, and half of the difference value between the maximum value and the minimum value of the tangential component value is the calibration amplitude of the tangential component value.
9. The method of measuring a rotation angle of a rotor of an electric machine according to claim 5, further comprising:
calibrating the offset of the radial component value of the second magnetic induction intensity value in the radial direction of the motor and the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
10. The method of measuring a rotation angle of a rotor of an electric machine according to claim 9,
calibrating the offset of the radial component value of the second magnetic induction intensity value in the radial direction of the motor comprises obtaining the maximum value and the minimum value of the radial component value through testing, wherein the half of the sum of the maximum value and the minimum value of the radial component value is the offset of the radial component value;
calibrating the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor comprises obtaining the maximum value and the minimum value of the tangential component value through testing, wherein the half of the sum of the maximum value and the minimum value of the tangential component value is the offset of the tangential component value.
11. Method for measuring the angle of rotation of a rotor of an electric machine according to any one of claims 1-10,
the magnetic induction component comprises a ring magnet.
12. Method for measuring the angle of rotation of a rotor of an electric machine according to any one of claims 1-10,
the Hall sensor comprises a 2-dimensional Hall sensor or a 3-dimensional Hall sensor.
13. Method for measuring the angle of rotation of a rotor of an electric machine according to any one of claims 1-10,
the hall sensors include 2 1-dimensional hall sensors, and the 2 1-dimensional hall sensors are arranged at an angle of 90 ° with the rotation axis of the rotor of the motor 10 as the center.
14. A device for measuring the angle of rotation of a rotor of an electric machine, comprising:
a magnetic induction component disposed on a rotor of the electric machine and rotating with the rotor;
the Hall sensor is arranged on a stator of the motor, and is arranged on the stator at any angle and used for sensing a magnetic field generated by the magnetic induction component;
the magnetic induction intensity acquisition unit is used for acquiring a first magnetic induction intensity value generated by the Hall sensor;
the coordinate rotation transformation unit is used for carrying out coordinate rotation transformation on the first magnetic induction intensity value to obtain a second magnetic induction intensity value; and
a rotation angle determination unit that determines a rotation angle of the rotor according to the second magnetic induction intensity value.
15. The apparatus for measuring the rotation angle of a rotor of an electric machine according to claim 14,
the measuring device further comprises an included angle acquisition unit, wherein the included angle acquisition unit is used for acquiring an included angle between the transverse direction of the Hall sensor and the radial direction of the motor, and the transverse direction of the Hall sensor is parallel to the transverse arrangement direction of pins of the Hall sensor.
16. The apparatus for measuring the rotation angle of a rotor of an electric machine according to claim 15,
the coordinate rotation transformation unit is configured to transform the first magnetic induction intensity value according to equation (1):
wherein: bmx is a transverse component value of the obtained first magnetic induction intensity value in the transverse direction of the hall sensor, Bmy is a longitudinal component value of the obtained first magnetic induction intensity value in the longitudinal direction of the hall sensor, α is an included angle between the transverse direction of the hall sensor and the radial direction of the motor, Bx is a radial component value of the second magnetic induction intensity value in the radial direction of the motor, and By is a tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
17. The apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 16,
the coordinate rotation transformation unit is further configured to transform the first magnetic induction intensity value according to equation (2):
18. the apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 17,
the rotation angle determination unit is configured to determine a relationship between a rotation angle of the rotor and a radial component value of the second magnetic induction value in a radial direction of the electric machine and a tangential component value of the second magnetic induction value in a tangential direction of the electric machine:
Bx＝Br*sinθ
By＝Bt*cosθ
where Br is an amplitude of a radial component value of the second magnetic induction intensity value in the radial direction of the motor, which can be obtained through a test, Bt is an amplitude of a tangential component value of the second magnetic induction intensity value in the tangential direction of the motor, which can be obtained through a test, and θ is a rotation angle of the rotor.
19. The apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 18,
the rotation angle determination unit is further configured to calculate a rotation angle of the rotor according to equation (3):
20. the apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 18,
the motor control device further comprises an amplitude calibration unit, wherein the amplitude calibration unit is used for calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor and the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
21. The apparatus for measuring the rotation angle of a rotor of an electric machine according to claim 20,
calibrating the amplitude of the radial component value of the second magnetic induction intensity value in the radial direction of the motor comprises obtaining the maximum value and the minimum value of the radial component value through testing, wherein one half of the difference value between the maximum value and the minimum value of the radial component value is the calibrated amplitude of the radial component value;
calibrating the amplitude of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor comprises obtaining the maximum value and the minimum value of the tangential component value through testing, and half of the difference value between the maximum value and the minimum value of the tangential component value is the calibration amplitude of the tangential component value.
22. The apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 18,
the offset calibration unit calibrates the offset of the radial component value of the second magnetic induction intensity value in the radial direction of the motor and the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor.
23. The apparatus for measuring a rotation angle of a rotor of an electric machine according to claim 22,
calibrating the offset of the radial component value of the second magnetic induction intensity value in the radial direction of the motor comprises obtaining the maximum value and the minimum value of the radial component value through testing, wherein the half of the sum of the maximum value and the minimum value of the radial component value is the offset of the radial component value;
calibrating the offset of the tangential component value of the second magnetic induction intensity value in the tangential direction of the motor comprises obtaining the maximum value and the minimum value of the tangential component value through testing, wherein the half of the sum of the maximum value and the minimum value of the tangential component value is the offset of the tangential component value.
24. Device for measuring the angle of rotation of a rotor of an electric machine according to any one of claims 14-23,
the magnetic induction component comprises a ring magnet.
25. Device for measuring the angle of rotation of a rotor of an electric machine according to any one of claims 14-23,
the Hall sensor comprises a 2-dimensional Hall sensor or a 3-dimensional Hall sensor.
26. Method for measuring the angle of rotation of a rotor of an electric machine according to any of claims 14-23,
the hall sensors include 2 1-dimensional hall sensors, and the 2 1-dimensional hall sensors are arranged at an angle of 90 ° with the rotation axis of the rotor of the motor 10 as the center.
27. An electrical machine, characterized in that the electrical machine comprises a device for measuring the angle of rotation of the rotor of the electrical machine according to any of claims 14-26.
28. A head, characterized in that it comprises a motor according to claim 27.
29. An unmanned aerial vehicle, comprising a head according to claim 28.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2020/111520 WO2022041007A1 (en) | 2020-08-26 | 2020-08-26 | Measuring method and measuring device for rotation angle of rotor of electric motor, and electric motor, gimbal and unmanned aerial vehicle |
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