CN115824273A - Spherical multi-winding magneto-electric encoder and angle calculating method thereof - Google Patents
Spherical multi-winding magneto-electric encoder and angle calculating method thereof Download PDFInfo
- Publication number
- CN115824273A CN115824273A CN202211167027.0A CN202211167027A CN115824273A CN 115824273 A CN115824273 A CN 115824273A CN 202211167027 A CN202211167027 A CN 202211167027A CN 115824273 A CN115824273 A CN 115824273A
- Authority
- CN
- China
- Prior art keywords
- hall sensor
- plug
- magnetic field
- angle value
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention belongs to the field of encoder manufacturing, and relates to a spherical multi-winding magneto-electric encoder and an angle calculating method thereof, wherein the method comprises the following steps: the method comprises the steps that 3 groups of electrified spherical winding coils connected in parallel are embedded into a combination body of a hemispherical rotor to generate a convergence magnetic field, axial and radial magnetic field component signals are respectively collected by different types of Hall sensors arranged on the same plane, and a single chip microcomputer processes and positions the collected magnetic field component signals of the convergence magnetic field and judges the axial movement and rotation angle value theta of a main shaft. The magnetoelectric encoder adopts the electrified spherical winding coil to generate a convergent magnetic field which is more stable and reliable, and real-time monitoring of axial movement and rotation angle of the main shaft is realized by using Hall sensors of different types and staggered arrangement, so that the space of a servo system is saved.
Description
Technical Field
The invention belongs to the field of encoder manufacturing, and particularly relates to a spherical multi-winding magneto-electric encoder and an angle calculating method thereof.
Background
The rotary encoder is as a branch of rotary sensor, rely on the real-time supervision that can be to the motor running state, the effect that plays in automated control system is more and more important, rotary encoder mainly includes photoelectric encoder and magnetoelectric encoder, in recent years along with the precision and the resolution ratio of magnetoelectric encoder improve rapidly, rely on simple structure reliably more, shock-resistant vibration, anti optical disturbance and higher working condition adaptability for magnetoelectric encoder is more and more widely applied to the aspect of machinery and electric automated control.
Magnetoelectric encoder installs in the motor rear end, the two uses of mutually supporting, because the motor is in the equipment, there is the error in the in-process of installation, lead to at the in-process of motor operation, there is the condition of main shaft axial float to take place, cause very big adverse effect to stable operation and the safety in utilization of motor, and traditional single magnetoelectric encoder can not realize main shaft axial float and angle value real-time supervision simultaneously, and traditional magnetoelectric encoder has the permanent magnet demagnetization and the unable normal operating's of encoder that leads to the situation.
In order to solve the problems, the invention provides a spherical multi-winding magneto-electric encoder and an angle calculating method thereof.
Disclosure of Invention
Aiming at the problems, the invention provides a scheme, aims to solve the problem that the axial movement and the sum angle value of a motor spindle cannot be monitored in real time at the same time, designs a new structure to improve the angle calculation precision and the use stability of an encoder, and provides an angle calculation method based on the encoder with the structure.
The invention discloses a spherical multi-winding magneto-electric encoder and an angle calculating method thereof, wherein the spherical multi-winding magneto-electric encoder comprises the following steps:
the spherical winding coils are embedded in the hemispherical rotor and are electrified to generate a stable magnetic field, the magnetic fields generated by the three groups of spherical winding coils which are connected in parallel and are spaced at a distance of 120 degrees are converged at the spherical center of the hemispherical rotor, the converged magnetic field is only shown as an axial magnetic field component on the axis of the hemispherical rotor, and the converged magnetic field is shown as both an axial magnetic field component and a radial magnetic field component at other positions;
the working surface of the surface mount type Hall sensor is vertical to the axis of the spindle, the surface mount type Hall sensor is mounted in the central position of the signal processing board, the Hall sensor is a linear Hall sensor, the output voltage of the Hall sensor is in direct proportion to the magnetic field intensity vertical to the working surface of the Hall sensor, and the linear Hall sensor is used for collecting the magnetic field intensity signal of the convergence magnetic field generated by the spherical winding coil in the axial magnetic field component;
the plug-in linear Hall sensor comprises a first plug-in linear Hall sensor, a second plug-in linear Hall sensor and a third plug-in linear Hall sensor which are arranged on the same circumference of the center of a signal processing board at intervals of 120 degrees, wherein the circle center of the axis of a vertical spindle is positioned on the same circumference of the center of the signal processing board, the working surface of the first plug-in linear Hall sensor is vertical to the radius direction of the spindle, and the voltage output by the plug-in linear Hall sensor is in direct proportion to the magnetic field intensity of the working surface of the Hall sensor and is used for collecting the magnetic field intensity signal of the converged magnetic field component generated by a spherical winding coil in the radial direction;
the plug-in switch Hall sensor is arranged on the same circumference of the center of a signal processing board at the distance of 30 degrees from the linear Hall sensor, the circle center of the linear Hall sensor is vertical to the axis of the spindle, the working surface of the plug-in switch Hall sensor is vertical to the radius direction of the spindle, the plug-in switch Hall sensor outputs high level outwards only when the magnetic field intensity reaches a preset value, and outputs low level outwards under the other states, and the plug-in switch Hall sensor is used for collecting magnetic field intensity signals of a convergent magnetic field generated by the spherical winding coil in the radial magnetic field component;
the single chip microcomputer is internally provided with a pin state identification module and an analog-to-digital converter and is used for processing analog quantity transmitted by the Hall sensor.
The invention discloses a spherical multi-winding magneto-electric encoder and an angle calculating method thereof, wherein the method comprises the following steps:
the method comprises the following steps: collecting magnetic field intensity signals of a surface mount type Hall sensor, a first plug-in linear Hall sensor, a second plug-in linear Hall sensor, a third plug-in linear Hall sensor and a plug-in switch Hall sensor, and outputting an angle value signal A, B 1 、B 2 、B 3 C, utilizing the singlechip to convert the angle value signal A, B 1 、B 2 、B 3 C is converted into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: under the action of the magnetic conduction plate, three groups of spherical winding coils which are connected in parallel and are spaced at a distance of 120 degrees generate a convergent magnetic field, radial magnetic field components of the convergent magnetic field at the axis of the main shaft are mutually offset, an axial magnetic field component at the center of the sphere is the largest, the mounting position of the surface mount type Hall sensor can only collect magnetic field intensity signals of the convergent magnetic field at the axial magnetic field component, a group of angle value signals A can be collected after the magnetoelectric encoder stably operates for a period of time, and an angle value digital signal H is obtained through processing of a single chip microcomputer A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the allowable axial play distance L of the main shaft of the encoder in the running process is less than or equal to 3mm through actual measurementL =0mm, digital signal H A (t,y A (t)) corresponds to an amplitude of 5V, and at L =3mm, the digital signal H A (t,y A (t)) corresponds to an amplitude of 4.6V;
when y is A (t) when the voltage is more than or equal to 4.6V, the axial movement distance of the motor spindle in the operation process is within an allowable range, and the motor spindle can be regarded as reasonable axial movement;
when y is A (t)<When the voltage is 4.6V, the axial movement distance of the motor spindle exceeds the allowable range in the operation process, and at the moment, an alarm signal needs to be sent to a master control system to avoid engineering accidents;
step three: because the magnetic fields generated by three groups of spherical winding coils which are connected in parallel and are spaced at 120 degrees are converged at the center of a sphere, the spindle is adjusted to drive the hemispherical rotor to rotate once, and the three groups of cosine-shaped change angle value signals B with the phase difference of 120 degrees can be output by the first plug-in linear Hall sensor, the second plug-in linear Hall sensor and the third plug-in linear Hall sensor 1 、B 2 、B 3 Three groups of cosine change angle value digital signals H with phase difference of 120 degrees are obtained through the processing of the singlechip B1 、H B2 、H B3 Comparing the three groups of angle value digital signals and taking the maximum value to obtain an angle value digital signal H B (t,y B (t)), the plug-in switch Hall sensor can acquire a group of angle value signals C distributed at intervals of high and low levels, and the angle value digital signals H are obtained by the singlechip after analog-to-digital conversion C (t,y C (t)), where t is the sampling point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B (t)) the maximum amplitude is noted as y Bmax The minimum amplitude is noted as y Bmin (ii) a Introducing correction zero point y B0 ＝2×y Bmin -y Bmax Corrected amplitude y relative to the correction zero Be ＝)y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C (t)) is divided into six sections, each of which is designated as DE, EF, FG, GH, HJ, and JK, and each of which is divided into DE, EF, FG, and JK sections,GH interval, HJ and JK interval are periodic digital signal images, and since the periodic digital signal images are overlapped by points D and F, F and H and K, the angle value theta can be obtained by solving an inverse trigonometric function;
if the current sampling point t M+1 And the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the rotor is rotating, the rotor does not rotate;
when the hemispherical rotor is rotated all the time, there is a first sampling point t 0 Corresponding to a digital signal of amplitude y B (t 0 )，y C (t 0 ) (ii) a Y with three-time interval in one-way rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) changing from low to high or y B (t)＝y Bmin 、y C (t) high to low, y B (t)＝y Bmax 、y C (t) transitioning from low to high; the amplitude of the sampling point is known to be y when the unidirectional rotation is carried out Bmax To the vicinity of y Bmin Hemispherical rotor rotating
Each time y B (t)＝y Bmax 、y C (t) changing from high to low or each time y B (t)＝y Bmin 、y C (t) the transition from low to high is recorded as an incremental count Z 1 Setting as positive rotation, i.e. recording the sampling point as positive rotation increment count Z every time passing DE interval or EF interval 1 That is, the sampling point is recorded as a positive rotation increment count Z every time passing DE interval or EF interval 1 Each time y B (t)＝y Bmin 、y C (t) changing from high to low or each time y B (t)＝y Bmax 、y C (t) the transition from low to high is recorded as a single inverted incremental count Z 2 That is, each time a sampling point passes through an FE interval or an ED interval, the sampling point is recorded as a reverse increment count Z 2 A variable P is introduced through positive and negative rotation of the main shaft to solve the rotation angle of the main shaft;
if there is no increment counting, the angle value digital signal H is compared B (t,y B (t)) the magnitude of the amplitude determines the positive or negative rotation, i.e. y C (t M+1 ) When =0V, y B (t M+1 )>y B (t M ) At the moment, the hemispherical rotor rotates forwards;
y C (t M+1 ) When =0V, y B (t M+1 )<y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )>y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )<y B (t M ) At the moment, the hemispherical rotor rotates forwards;
if y C (t 0 )＝0V，y C (t M+1 ) If =0V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 )＝0V，Then the value theta of the rotation angle of the hemispherical rotor at the moment is shown as the following formula (4);
by combining the above, the value theta of the rotation angle of the hemispherical rotor, namely the rotation angle theta of the main shaft can be solved.
The invention has the beneficial effects that:
1. the magnetoelectric encoder is characterized in that three groups of spherical winding coils which are connected in parallel and are separated by 120 degrees are electrified to generate a convergent magnetic field, and the magnetoelectric encoder is more stable and reliable relative to a magnetic field generated by a permanent magnet.
2. The magnetoelectric encoder utilizes the difference of Hall sensor mounted position for gather and assemble the component of magnetic field in equidirectional not, realize carrying out real-time supervision to main shaft turned angle, main shaft axial float simultaneously.
3. This magnetoelectric encoder uses linear hall sensor and switch hall sensor cooperation, has improved the reliability and the angle of encoder and has solved the precision.
Description of the drawings:
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic diagram of a magnetic field signal generating device according to the present invention;
FIG. 3 is a schematic diagram of a signal receiving and processing apparatus according to the present invention;
FIG. 4 is a signal acquisition image of the surface mount Hall sensor (wherein a is an image of a sampling point when the axial play distance L is less than or equal to 3mm, and b is a voltage image corresponding to the axial play distance L is less than or equal to 3 mm);
FIG. 5 shows digital signals of angle values collected by the first, second and third linear Hall sensors when the hemispherical rotor rotates for one circle;
fig. 6 is a signal acquisition image of the plug-in hall sensor of one rotation of the hemispherical rotor (where c is a maximum value image of the angle value digital signal acquired by the three groups of plug-in linear hall sensors, and d is an image of the angle value digital signal acquired by the plug-in switch hall sensor);
FIG. 7 is a front view of a spherical winding coil assembly;
table 1 variable P value comparison table;
in the figure, the encoder comprises a shell 1, an encoder shell 1-1, a shell body 1-2, a bearing 1-3, an end cover 1-4, a bolt 2, a magnetic field signal generating device 2-1, a spherical winding 2-2, a hemispherical rotor 2-3, a first bus ring 2-4, a first brush support 2-5, a first brush 2-6, a second brush support 2-7, a second brush 2-8, a second bus ring 2-9, a main shaft 2-10, a first screw 3, a signal receiving and processing device 3-1, a signal processing board support 3-2, a single chip microcomputer 3-3, a power chip 3-4, a signal processing board 3-5, a patch type Hall sensor 3-6, a plug-in type linear Hall sensor 3-6-1, a plug-in type linear Hall sensor one, 3-6-2, a plug-in type linear Hall sensor two, 3-6-3, a plug-in type linear Hall sensor three, a plug-in type Hall sensor 3-7, a magnetic conduction type switch sensor 3-8, a plug-in type linear Hall sensor 3-6, a plug-2, a plug-in type switch sensor 3-9 and a screw.
The specific implementation mode is as follows:
the following detailed description of embodiments of the invention refers to the accompanying drawings.
The embodiments/examples described herein are specific embodiments of the present invention, are intended to be illustrative of the concepts of the present invention, are intended to be illustrative and exemplary, and should not be construed as limiting the embodiments and scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include the technical solutions of making any obvious replacement or modification of the embodiments described herein, and are within the scope of the present invention.
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and table 1, the following technical solutions are adopted in the present embodiment:
the spherical multi-winding magneto-electric encoder is composed of an encoder shell 1, a magnetic field signal generating device 2 and a signal receiving and processing device 3.
The method is characterized in that: the encoder shell 1 is in transition fit with the magnetic field signal generating device 2, and the encoder shell 1 is in interference fit with the signal receiving and processing device 3;
further, the encoder shell 1 comprises a shell body 1-1, a bearing 1-2, an end cover 1-3 and a bolt 1-4, wherein the shell body 1-1 is in transition fit with the bolt 1-4, the bearing 1-2 is in transition fit with the end cover 1-3, and the end cover 1-3 is in transition fit with the bolt 1-4;
further, the magnetic field signal generating device 2 comprises a spherical winding 2-1, a hemispherical rotor 2-2, a first bus ring 2-3, a first brush support 2-4, a first brush 2-5, a second brush support 2-6, a second brush 2-7, a second bus ring 2-8, a main shaft 2-9 and a first screw 2-10, wherein the spherical winding 2-1 is in transition fit with the hemispherical rotor 2-2, the spherical winding 2-1 is in interference fit with the first bus ring 2-3 and the second bus ring 2-8, the hemispherical rotor 2-2 is in transition fit with the first bus ring 2-3, the first bus ring 2-3 is in line contact with the first brush 2-5, the first brush support 2-4 is in transition fit with the first brush 2-5, the second bus ring 2-8 is in line contact with the second brush 2-7, the second brush support 2-6 is in transition fit with the second brush 2-7, the hemispherical rotor 2-2 is in transition fit with the second bus ring 2-8, and the hemispherical rotor 2-2 is in transition fit with the second bus ring 2-10; the main shaft 2-9 is in transition fit with the bearing 1-3, and the brush support I2-4 and the brush support II 2-6 are in interference fit through the bolt 1-2;
further, the signal receiving and processing device 3 comprises a signal processing board support frame 3-1, a single chip microcomputer 3-2, a power supply chip 3-3, a signal processing board 3-4, a surface mount type Hall sensor 3-5, a linear Hall sensor 3-6, a plug-in type linear Hall sensor I3-6-1, a plug-in type linear Hall sensor II 3-6-2, a plug-in type linear Hall sensor III 3-6-3, a plug-in type switch Hall sensor 3-7, a magnetic conductive plate 3-8 and a screw II 3-9, wherein the signal processing board support frame 3-1 is in interference fit with the shell 1, the signal processing board 3-4 and the magnetic conductive plate 3-8 are in fastening fit with the screw II 3-9 through the signal processing board 3-1, the single chip microcomputer 3-2 and the power supply chip 3-3 are welded with the signal processing board 3-4, the surface mount type Hall sensor 3-5, the linear Hall sensor I3-6-1, the linear Hall sensor II 3-6-2, the linear Hall sensor III 3-6-3, the plug-7 and the signal processing board 3-4 are welded with the signal processing board support frame.
The magnetoelectric encoder realizes conversion and acquisition of digital signals.
A calculation angle resolving method is applied to a spherical multi-winding magneto-electric encoder;
an angle calculation method is specifically realized by the following steps:
the method comprises the following steps: collecting magnetic field intensity signals of a surface mount type Hall sensor, a first plug-in linear Hall sensor, a second plug-in linear Hall sensor, a third plug-in linear Hall sensor and a plug-in switch Hall sensor, and outputting an angle value signal A, B 1 、B 2 、B 3 And C, utilizing the singlechip to convert the angle value signal A, B into an angle value signal 5363 1 、B 2 、B 3 C is converted into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: under the action of the magnetic conduction plate, three groups of spherical winding coils which are connected in parallel and are spaced at a distance of 120 degrees generate a convergent magnetic field, radial magnetic field components of the convergent magnetic field at the axis of the main shaft are mutually offset, an axial magnetic field component at the center of the sphere is the largest, the mounting position of the surface mount type Hall sensor can only collect magnetic field intensity signals of the convergent magnetic field at the axial magnetic field component, a group of angle value signals A can be collected after the magnetoelectric encoder stably operates for a period of time, and an angle value digital signal H is obtained through processing of a single chip microcomputer A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the allowable axial play distance L of the main shaft of the encoder in the running process is less than or equal to 3mm as shown in figure 4a, and when the distance L is less than or equal to 0mm through actual measurement, the digital signal H is a digital signal H A (t,y A (t)) correspond toIs 5V, and when L =3mm, the digital signal H A (t,y A (t)) corresponds to a magnitude of 4.6V as shown in FIG. 4 b;
when y is A (t) when the voltage is more than or equal to 4.6V, the axial movement distance of the motor spindle in the operation process is within an allowable range, and the motor spindle can be regarded as reasonable axial movement;
when y is A (t)<When the voltage is 4.6V, the axial movement distance of the motor spindle exceeds the allowable range in the operation process, and at the moment, an alarm signal needs to be sent to a master control system to avoid engineering accidents;
step three: because the magnetic fields generated by three groups of spherical winding coils which are connected in parallel and are spaced at 120 degrees are converged at the center of a sphere, the spindle is adjusted to drive the hemispherical rotor to rotate once, and the three groups of cosine-shaped change angle value signals B with the phase difference of 120 degrees can be output by the first plug-in linear Hall sensor, the second plug-in linear Hall sensor and the third plug-in linear Hall sensor 1 、B 2 、B 3 Three groups of cosine change angle value digital signals H with phase difference of 120 degrees are obtained through the processing of the singlechip B1 、H B2 、H B3 As shown in fig. 4, the three sets of angle value digital signals are compared and the maximum value is taken to obtain the angle value digital signal H B (t,y B (t)) as shown in fig. 6C, the plug-in switch hall sensor can acquire a group of angle value signals C distributed at intervals of high and low levels, and the angle value digital signal H is obtained by the singlechip after analog-to-digital conversion C (t,y C (t)) is shown in FIG. 6d, where t is the sample point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B (t)) the maximum amplitude is noted as y Bmax The minimum amplitude is noted as y Bmin (ii) a Introducing correction zero point y B0 ＝2×y Bmin -y Bmax Corrected amplitude y relative to the correction zero Be ＝(y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C (t)) is divided into six sections, each of which is marked as DE, EF, FG, GH, HJ, and JK sections as shown in FIG. 6, and the DE, EF sections, and F sectionsG. GH interval, HJ and JK interval are periodic digital signal images, and since the periodic digital signal images are overlapped by points D and F, F and H and K, the angle value theta can be obtained by solving an inverse trigonometric function;
if the current sampling point t M+1 And the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the hemispherical rotor does not rotate;
when the hemispherical rotor is rotated all the time, there is a first sampling point t 0 Corresponding to a digital signal of amplitude y B (t 0 )，y C (t 0 ) (ii) a Y with three-time interval in one-way rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) changing from low to high or y B (t)＝y Bmin 、y C (t) transition from high to low, y B (t)＝y Bmax 、y C (t) transitioning from a low level to a high level; the amplitude of the sampling point is known to be y when the unidirectional rotation is carried out Bmax To the vicinity of y Bmin Hemispherical rotor rotating
Each time y B (t)＝y Bmax 、y C (t) changing from high to low or each time y B (t)＝y Bmin 、y C (t) converting from low level to high level and recording as a positive rotation increment count Z 1 That is, the sampling point is recorded as a positive rotation increment count Z every time passing DE interval or EF interval 1 Each time y B (t)＝y Bmin 、y C (t) changing from high to low or each time y B (t)＝y Bmax 、y C (t) the transition from low to high is recorded as a single inverted incremental count Z 2 That is, each time a sampling point passes through the FE interval or the ED interval, the sampling point is recorded as a reverse incremental count Z 2 Determining the positive and negative rotation of the main shaft by looking up a table 1, and introducing a variable P to solve the rotation angle of the main shaft;
if there is no increment counting, the angle value digital signal H is compared B (t,y B (t)) the magnitude of the amplitude determines positive and negative rotation, i.e. y C (t M+1 ) When =0V, y B (t M+1 )>y B (t M ) At the moment, the hemispherical rotor rotates forwards;
y C (t M+1 ) When =0V, y B (t M+1 )<y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )>y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )<y B (t M ) At the moment, the hemispherical rotor rotates forwards;
if y C (t 0 )＝0V，y C (t M+1 ) If =0V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 ) If =0V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (4);
by combining the above, the value theta of the main shaft rotation angle, namely the main shaft rotation angle theta, can be solved.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The method is applied to a spherical multi-winding magneto-electric encoder and the angle calculating method thereof, and comprises an encoder shell (1), a magnetic field signal generating device (2) and a signal receiving and processing device (3), wherein the encoder shell (1) is in transition fit with the magnetic field signal generating device (2), and the encoder shell (1) is in interference fit with the signal receiving and processing device (3); the encoder shell (1) comprises a shell body (1-1), bearings (1-2), end covers (1-3) and bolts (1-4), wherein the shell body (1-1) is in transition fit with the bolts (1-4), the bearings (1-2) are in transition fit with the end covers (1-3), and the end covers (1-3) are in transition fit with the bolts (1-4); the magnetic field signal generating device (2) comprises a spherical winding (2-1), a hemispherical rotor (2-2), a first bus ring (2-3), a first brush support (2-4), a first brush (2-5), a second brush support (2-6), a second brush (2-7), a second bus ring (2-8), a main shaft (2-9) and a first screw (2-10), wherein the spherical winding (2-1) is in transition fit with the hemispherical rotor (2-2), the spherical winding (2-1) is in interference fit with the first bus ring (2-3) and the second bus ring (2-8), the hemispherical rotor (2-2) is in transition fit with the first bus ring (2-3), the first bus ring (2-3) is in line contact with the first brush (2-5), the first brush support (2-4) is in transition fit with the first brush (2-5), the second bus ring (2-8) is in line contact with the second brush (2-7), the second brush support (2-6) is in transition fit with the second bus ring (2-7), and the second bus ring (2-10) is connected with the first bus ring (2-10), the main shaft (2-9) is in transition fit with the bearing (1-3), and the electric brush support I (2-4) and the electric brush support II (2-6) are in interference fit through the bolt (1-2); the signal receiving and processing device (3) comprises a signal processing board support frame (3-1), a single chip microcomputer (3-2), a power chip (3-3), a signal processing board (3-4), a patch type Hall sensor (3-5), a plug-in type linear Hall sensor (3-6), a plug-in type linear Hall sensor I (3-6-1), a plug-in type linear Hall sensor II (3-6-2), a plug-in type linear Hall sensor III (3-6-3), a plug-in type switch Hall sensor (3-7), a magnetic conduction plate (3-8) and a screw II (3-9), the signal processing board support frame (3-1) is in interference fit with the shell (1), the signal processing board (3-4) and the magnetic conduction board (3-8) are tightly matched with the screw II (3-9) by the signal processing board support frame (3-1), the single chip microcomputer (3-2), the power chip (3-3) and the signal processing board (3-4) are welded, and the patch type Hall sensor (3-5), the plug-in type linear Hall sensor I (3-6-1), the plug-in type linear Hall sensor II (3-6-2), the plug-in type linear Hall sensor III (3-6-3), the plug-in type switch Hall sensor (3-7) is welded with the signal processing board (3-4);
the method is characterized in that: the method comprises the following specific implementation processes:
the method comprises the following steps: collecting magnetic field intensity signals of a surface mount type Hall sensor, a first plug-in linear Hall sensor, a second plug-in linear Hall sensor, a third plug-in linear Hall sensor and a plug-in switch Hall sensor, and outputting an angle value signal A, B 1 、B 2 、B 3 And C, utilizing the singlechip to convert the angle value signal A, B into an angle value signal 5363 1 、B 2 、B 3 C is converted into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: under the action of the magnetic conduction plate, three groups of spherical winding coils which are connected in parallel and are spaced by 120 degrees generate a convergent magnetic field, radial magnetic field components of the convergent magnetic field at the axis of the main shaft are mutually offset, an axial magnetic field component at the position of the spherical center is the largest, and the surface-mounted type Hob is used forThe installation position of the sensor can only collect the magnetic field intensity signal of the convergent magnetic field in the axial magnetic field component, a group of angle value signals A can be collected after the magnetoelectric encoder stably operates for a period of time, and the angle value signals A are processed by the singlechip to obtain angle value digital signals H A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the allowable axial play distance L of the main shaft of the encoder in the running process is less than or equal to 3mm, and when the distance L =0mm through actual measurement, the digital signal H A (t,y A (t)) corresponds to an amplitude of 5V, and at L =3mm, the digital signal H A (t,y A (t)) corresponds to an amplitude of 4.6V;
when y is A (t) when the voltage is more than or equal to 4.6V, the axial movement distance of the motor spindle in the operation process is within an allowable range, and the motor spindle can be regarded as reasonable axial movement;
when y is A (t)<When the voltage is 4.6V, the axial movement distance of the motor spindle exceeds the allowable range in the operation process, and at the moment, an alarm signal needs to be sent to a master control system to avoid engineering accidents;
step three: because the magnetic fields generated by three groups of spherical winding coils which are connected in parallel and are spaced at 120 degrees are converged at the center of a sphere, the spindle is adjusted to drive the hemispherical rotor to rotate once, and the three groups of cosine-shaped change angle value signals B with the phase difference of 120 degrees can be output by the first plug-in linear Hall sensor, the second plug-in linear Hall sensor and the third plug-in linear Hall sensor 1 、B 2 、B 3 Three groups of cosine change angle value digital signals H with phase difference of 120 degrees are obtained through the processing of the singlechip B1 、H B2 、H B3 Comparing the three groups of angle value digital signals and taking the maximum value to obtain an angle value digital signal H B (t,y B (t)), the plug-in switch Hall sensor can acquire a group of angle value signals C distributed at intervals of high and low levels, and the angle value digital signals H are obtained by the singlechip after analog-to-digital conversion C (t,y C (t)), where t is the sampling point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B (t)) maximum amplitudeThe value is denoted as y Bmax The minimum amplitude is noted as y Bmin (ii) a Introducing correction zero point y B0 ＝2×y Bmin -y Bmax Corrected amplitude y relative to the correction zero Be ＝(y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C (t)) the corresponding image is divided into six sections which are respectively marked as DE, EF, FG, GH, HJ and JK sections, and the DE, EF sections, FG, GH sections, HJ and JK sections are periodic digital signal images, and because the D point of the periodic digital signal image is superposed with the F point, the F point is superposed with the H point, and the H point is superposed with the K point, the inverse trigonometric function is solved to obtain an angle value theta;
if the current sampling point t M+1 And the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the rotor is rotating, the rotor does not rotate;
when the hemispherical rotor is rotated all the time, there is a first sampling point t 0 Corresponding to a digital signal of amplitude y B (t 0 )，y C (t 0 ) (ii) a Y with three-time interval in one-way rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) changing from low to high or y B (t)＝y Bmin 、y C (t) transition from high to low, y B (t)＝y Bmax 、y C (t) transitioning from low to high; the amplitude of the sampling point is known to be y when the unidirectional rotation is carried out Bmax To the vicinity of y Bmin Hemispherical rotor rotating
Each time y B (t)＝y Bmax 、y C (t) changing from high to low or each time y B (t)＝y Bmin 、y C (t) the transition from low to high is recorded as an incremental count Z 1 Set to positive rotation, i.e. each time a sampling point passes the DE zoneThe interval between intervals EF is recorded as a positive rotation increment count Z 1 That is, the sampling point is recorded as a positive rotation increment count Z every time passing DE interval or EF interval 1 Each time y B (t)＝y Bmin 、y C (t) changing from high to low or each time y B (t)＝y Bmax 、y C (t) the transition from low to high is recorded as a single inverted incremental count Z 2 That is, each time a sampling point passes through an FE interval or an ED interval, the sampling point is recorded as a reverse increment count Z 2 A variable P is introduced through positive and negative rotation of the main shaft to solve the rotation angle of the main shaft;
if there is no increment counting, the angle value digital signal H is compared B (t,y B (t)) the magnitude of the amplitude determines positive and negative rotation, i.e. y C (t M+1 ) When =0V, y B (t M+1 )>y B (t M ) At the moment, the hemispherical rotor rotates forwards;
y C (t M+1 ) When =0V, y B (t M+1 )<y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )>y B (t M ) When the hemispherical rotor rotates reversely;
y C (t M+1 ) When =5V, y B (t M+1 )<y B (t M ) At the moment, the hemispherical rotor rotates forwards;
if y C (t 0 )＝0V，y C (t M+1 ) If =0V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) If =5V, the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 ) =0V, and the value θ of the rotation angle of the hemispherical rotor at this time is as shown in the following formula (4);
by combining the above, the value theta of the rotation angle of the hemispherical rotor, namely the rotation angle theta of the main shaft can be solved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211167027.0A CN115824273B (en) | 2022-09-23 | 2022-09-23 | Spherical multi-winding magneto-electric encoder and angle resolving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211167027.0A CN115824273B (en) | 2022-09-23 | 2022-09-23 | Spherical multi-winding magneto-electric encoder and angle resolving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115824273A true CN115824273A (en) | 2023-03-21 |
| CN115824273B CN115824273B (en) | 2023-06-16 |
Family
ID=85523912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211167027.0A Active CN115824273B (en) | 2022-09-23 | 2022-09-23 | Spherical multi-winding magneto-electric encoder and angle resolving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115824273B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014070977A (en) * | 2012-09-28 | 2014-04-21 | Nidec Sankyo Corp | Encoder, and abnormality detection method of encoder |
| CN108120455A (en) * | 2016-11-28 | 2018-06-05 | 姜国超 | Encoder based on the digital analogue signal combination that Hall sensor generates |
| CN111721329A (en) * | 2020-07-07 | 2020-09-29 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
| CN112113585A (en) * | 2020-07-24 | 2020-12-22 | 哈尔滨工业大学 | Encoder and method for detecting absolute angle of encoder |
| CN112986608A (en) * | 2021-03-31 | 2021-06-18 | 长光卫星技术有限公司 | Micro-nano satellite reaction flywheel speed measurement method based on linear Hall |
| CN114440940A (en) * | 2022-03-17 | 2022-05-06 | 哈尔滨理工大学 | double-Hall magnetoelectric encoder angle estimation method and device based on special-shaped gear |
| KR20220106353A (en) * | 2021-01-22 | 2022-07-29 | 주식회사 에스앤에이 | Angle measurement system using magnetic encoder, measurement method therefor, parameter setting method of the angle measurement system |
| CN114938164A (en) * | 2022-05-09 | 2022-08-23 | 江苏科技大学 | Encoder device based on linear Hall sensor and fault-tolerant control method |
-
2022
- 2022-09-23 CN CN202211167027.0A patent/CN115824273B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014070977A (en) * | 2012-09-28 | 2014-04-21 | Nidec Sankyo Corp | Encoder, and abnormality detection method of encoder |
| CN108120455A (en) * | 2016-11-28 | 2018-06-05 | 姜国超 | Encoder based on the digital analogue signal combination that Hall sensor generates |
| CN111721329A (en) * | 2020-07-07 | 2020-09-29 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
| CN112113585A (en) * | 2020-07-24 | 2020-12-22 | 哈尔滨工业大学 | Encoder and method for detecting absolute angle of encoder |
| KR20220106353A (en) * | 2021-01-22 | 2022-07-29 | 주식회사 에스앤에이 | Angle measurement system using magnetic encoder, measurement method therefor, parameter setting method of the angle measurement system |
| CN112986608A (en) * | 2021-03-31 | 2021-06-18 | 长光卫星技术有限公司 | Micro-nano satellite reaction flywheel speed measurement method based on linear Hall |
| CN114440940A (en) * | 2022-03-17 | 2022-05-06 | 哈尔滨理工大学 | double-Hall magnetoelectric encoder angle estimation method and device based on special-shaped gear |
| CN114938164A (en) * | 2022-05-09 | 2022-08-23 | 江苏科技大学 | Encoder device based on linear Hall sensor and fault-tolerant control method |
Non-Patent Citations (3)
| Title |
|---|
| LEI WANG: "Research on Angle Subdivision Method of Multi-Pole Magnetic Encoder Based on Pole Number Quotient Remainder", IEEE TRANSACTIONS ON MAGNETICS, vol. 57, no. 10, XP011879369, DOI: 10.1109/TMAG.2021.3106158 * |
| 迟涵文: "绝对式磁编码器的设计", CNKI优秀硕士学位论文全文库, vol. 2021, no. 4 * |
| 陈文镥: "一种新型绝对式多磁极磁电编码器", 电机与控制应用, vol. 47, no. 8 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115824273B (en) | 2023-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114858192B (en) | double-Hall magnetoelectric encoder based on double-wheel structure and angle resolving method thereof | |
| CN101535816B (en) | Methods of processing encoder signals | |
| US8179126B2 (en) | Hall rotary transformer and hall rotation angle encoder made of it | |
| CN101846531A (en) | Multipole combined-type magnetic encoder | |
| CN110736486B (en) | Compact dual-redundancy absolute encoder | |
| CN202364092U (en) | Servo motor and servo control system | |
| CN109854093B (en) | Detection method and device for position of lock cylinder of intelligent lock | |
| CN206099665U (en) | Take magnetic encoder's permanent magnet brushless DC motor | |
| CN111446821B (en) | Magnetic coding multi-Hall redundancy device | |
| CN106208539B (en) | A kind of magneto-electric encoder | |
| CN115824273A (en) | Spherical multi-winding magneto-electric encoder and angle calculating method thereof | |
| CN202394685U (en) | Rotary transformer and motion encoder using same | |
| CN209375383U (en) | A kind of permanent magnet machine rotor position-measurement device | |
| CN112097804A (en) | Eddy current induction type absolute value rotary encoder | |
| CN116294972A (en) | Method and device for calculating angle of circular winding magneto-electric encoder | |
| CN207268624U (en) | A kind of multi-turn magnetic absolute angle sensor | |
| CN212518694U (en) | Multi-circle encoder and motor | |
| CN116488534B (en) | Magneto-electric encoder angle resolving method and device based on magneto-resistance principle | |
| CN115021625A (en) | Position analysis circuit and method of permanent magnet synchronous motor, and control circuit and system thereof | |
| CN112344970A (en) | Off-axis single-ring single-antipode absolute magnetic encoder | |
| CN116222371B (en) | Magnetic grid type magneto-electric encoder and angle resolving method thereof | |
| CN216672886U (en) | Rotary transformer decoding system based on AD2S1205 | |
| CN219624689U (en) | Photoelectric nacelle angle positioning device | |
| Wang et al. | Design of magnetic encoder based on reconstructing and mapping looking-up table | |
| CN218766979U (en) | Magnetoelectric sensor signal processing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |