CN116418176A - Absolute type angular displacement sensor device based on film material and angle resolving method - Google Patents
Absolute type angular displacement sensor device based on film material and angle resolving method Download PDFInfo
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- CN116418176A CN116418176A CN202310393951.9A CN202310393951A CN116418176A CN 116418176 A CN116418176 A CN 116418176A CN 202310393951 A CN202310393951 A CN 202310393951A CN 116418176 A CN116418176 A CN 116418176A
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- 239000000463 material Substances 0.000 title claims abstract description 77
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 16
- CWQXQMHSOZUFJS-UHFFFAOYSA-N molybdenum disulfide Chemical compound S=[Mo]=S CWQXQMHSOZUFJS-UHFFFAOYSA-N 0.000 claims abstract description 64
- 229910052982 molybdenum disulfide Inorganic materials 0.000 claims abstract description 64
- 230000006698 induction Effects 0.000 claims description 34
- 229910001120 nichrome Inorganic materials 0.000 claims description 29
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000000704 physical effect Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 239000010408 film Substances 0.000 claims 20
- 239000010409 thin film Substances 0.000 claims 2
- 230000008859 change Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- H02K11/0094—Structural association with other electrical or electronic devices
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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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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
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Abstract
The invention belongs to the field of electronic manufacturing, and relates to an absolute angular displacement sensor device based on a film material and an angle resolving method. According to the invention, a molybdenum disulfide film material is adhered to a motor rotor, two molybdenum disulfide film materials which are arranged at 90 degrees on the rotor are powered in a sensor-free coil transmission mode, the resistance value of the molybdenum disulfide film material can change under the influence of a strip-type light source, a rotor output coil adhered to the motor rotor can sense an output voltage signal, a linear Hall on a signal receiving board receives an analog signal, an AD converter is arranged in a singlechip to convert the analog signal received by the linear Hall into a digital signal, and then the digital signal is resolved by an arctangent algorithm, so that the actual angle position of the current motor rotor is obtained.
Description
Technical field:
the invention belongs to the field of electronic manufacturing, and particularly relates to an absolute angular displacement sensor device based on a film material and an angle resolving method.
The background technology is as follows:
an angular displacement sensor is a sensor widely used for measuring a change in the position of an angle or rotation of an object. It is generally composed of a sensor body, a signal processing circuit, an output interface and the like. Angular displacement sensors can be used to measure the angle of an object in a variety of ways, such as optical, magnetic, or mechanical techniques. Among them, the most common is a rotary encoder, which is a mechanical measuring device, and by the cooperation of a rotary encoder disk and a photoelectric sensor, high-precision angle measurement can be realized. They have the advantages of high precision, high resolution, fast response time, etc., and they are generally composed of rotary potentiometers, hall sensors, photoelectric encoders, etc. And is widely applied in the fields of robots, automobiles, aerospace, mechanical engineering, ships and the like.
Angular displacement sensors can be classified into various types according to the operating principle and the difference of measured physical quantities. The magnetic angular displacement sensor adopts the magnetic field induction principle, calculates the rotation angle by measuring the magnetic field intensity change, has good anti-interference performance, but has higher price, and is not convenient for mass production. The optical angular displacement sensor also has the advantages of high precision, high requirements on environmental conditions and easy external interference by utilizing the optical principle to measure the rotation angle by detecting the position change of the reflected or transmitted light beam on the rotation shaft. The capacitive angular displacement sensor detects the rotation angle by measuring the change of capacitance value, and has strong anti-interference capability but relatively low precision.
Disclosure of Invention
The invention provides a scheme aiming at solving the problems, and aims to directly, quickly and accurately detect the rotating angle value of the motor rotor under the condition that the motor rotor runs at a high speed. According to the invention, a molybdenum disulfide film material is adhered to a motor rotor, two molybdenum disulfide film materials which are arranged at 90 degrees on the rotor are powered in a sensor-free coil transmission mode, the resistance value of the molybdenum disulfide film material can change under the influence of a strip-type light source, a rotor output coil adhered to the motor rotor can sense an output voltage signal, a linear Hall on a signal receiving board receives an analog signal, an AD converter is arranged in a singlechip to convert the analog signal received by the linear Hall into a digital signal, and then the digital signal is resolved by an arctangent algorithm, so that the actual angle position of the current motor rotor is obtained.
The invention discloses an absolute angular displacement sensor device based on a film material and an angle resolving method, comprising the following steps:
molybdenum disulfide film material: the light can influence the electrical property of the molybdenum disulfide material, and the side profile of the molybdenum disulfide film material is a cosine function line.
Nichrome resistive sheet a and nichrome resistive sheet b: a low temperature drift resistance material has good high temperature stability and the light cannot affect the chemical or physical properties of nichrome.
The method comprises the following specific implementation processes:
step one: the external power supply b supplies power to the motor coil to generate a magnetic field, so that the motor rotor starts to rotate under the action of the magnetic field, the rotor induction coil and the rotor output coil which are glued on the rotor start to rotate, the molybdenum disulfide film material a and the molybdenum disulfide film material b start to rotate, the strip-shaped light source irradiates on the molybdenum disulfide film material a and the molybdenum disulfide film material b, the molybdenum disulfide film material a and the molybdenum disulfide film material b can generate dynamically-changed resistance values due to the influence of the light source, and the external power supply a sends an alternating current signal V G The power supply equation of the external power supply a is formula (1), and the rotor induction coil cuts the magnetic field generated by the stator induction coil, so that the rotor induction coil generates an alternating current signal V e Ac signal V e The calculation formula is formula (2):
V G ＝G×sin(ω×t) (1)
V e ＝E×sin(ω×t) (2)
wherein G is peak voltage of an external power supply a, E is input peak voltage, omega is carrier frequency, and t is time;
step two: the rotor induction coils are connected in parallel to transmit the generated alternating current signals; an alternating current signal is supplied to a molybdenum disulfide film material a and a nichrome resistor disc a through a power output line a, an alternating current signal generated by voltage division is supplied to a rotor output coil a, the rotor output coil a generates a magnetic field, and a linear Hall a acquires a magnetic field signal V generated by the rotor output coil a 1 The calculation formula is formula (3); the alternating current signal is supplied to the molybdenum disulfide film material b and the nichrome resistor disc b through the power output line b, the alternating current signal generated by partial pressure is supplied to the rotor output coil b, the rotor output coil b generates a magnetic field, and the linear Hall b acquires a magnetic field signal V generated by the rotor output coil b 2 The calculation formula is formula (4):
V 1 ＝K×E×sin(ω×t)×sinθ (3)
V 2 ＝K×E×sin(ω×t)×cosθ (4)
wherein ω is the carrier frequency, E is the input peak voltage, θ is the rotor rotation angle, and K is the conversion ratio;
step three: an analog signal V received by the linear Hall a and the linear Hall b is provided with an AD converter in the singlechip 1 、V 2 Analog-to-digital conversion is carried out to obtain a digital signal HV 1 、HV 2 Then the arc tangent algorithm is utilized to obtain the digital signal HV 1 、HV 2 Resolving to obtain angle value theta 1 The solution formula is (5):
thereby obtaining the actual angle position of the current motor rotor.
The beneficial effects of the invention are as follows:
1. compared with the traditional magneto-electric angular displacement sensor, the angular displacement sensor is free of magnetic steel and magnets, and the influence of cracking, demagnetization and the like of the magnetic steel caused by long-time operation of the sensor is avoided.
2. The invention adopts the coil mutual inductance principle to supply power, can control the amplitude of signals, can provide corresponding voltage according to different working environments, and ensures that the application range of the sensor is wider and more convenient.
3. The molybdenum disulfide film material adopted by the invention has excellent photoelectric effect, is a material with thin thickness and light weight, can be well attached to a motor rotor, and does not influence the mechanical property of the motor.
4. Compared with other types of external angular displacement sensors, the angular displacement sensor reduces the mechanical error during the installation of the sensor, and the angle calculation is more accurate.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings:
FIG. 1 is a schematic view of the overall structure of the device according to the present invention;
FIG. 2 is a schematic diagram showing the internal structure distribution of the device according to the present invention;
FIG. 3 is a schematic diagram of the stator coil structure of the apparatus of the present invention;
FIG. 4 is a schematic diagram showing the position distribution of a signal receiving plate and a strip light source of the device according to the present invention;
FIG. 5 is a schematic diagram of the structural distribution of the motor rotor and rotor coil of the apparatus of the present invention;
FIG. 6 is a schematic diagram of the structural distribution of molybdenum disulfide material of the apparatus of the present invention;
FIG. 7 is a schematic diagram showing the distribution of signal receiving plate structures of the device according to the present invention;
FIG. 8 is a waveform of the AC voltage signal and rotor rotation angle of the device according to the present invention;
in the figure, 1, a front end cover; 2. a bearing a; 3. a motor rotor; 4. molybdenum disulfide film material; 4-1, molybdenum disulfide film material a;4-2, molybdenum disulfide film material b; 5. a bearing b; 6. a motor stator; 7. an external power source a; 8. an external power supply b; 9. a signal receiver; 10. a rear end cover; 11. a bolt; 12. a nut; 13. a screw; 14. a stator induction coil; 15. a stator coil; 16. a strip-shaped light source; 17. a signal receiving board; 17-1, linear hall a;17-2 linear hall b;17-3 single chip microcomputer; 18. a rotor induction coil; 19. a rotor output coil a; 20. a rotor output coil b; 21. a power supply output line a; 22. a return line a; 23. a power supply output line b; 24. a return line b; 25. a nichrome resistor sheet a; 26. nichrome resistor b.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The structural composition of the present invention is shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7, and the specific structure and specific embodiment of the present invention will be further described with reference to the accompanying drawings:
the absolute type angular displacement sensor device based on the film material comprises a front end cover (1), a bearing a (2), a motor rotor (3), molybdenum disulfide film material (4), a bearing b (5), a motor stator (6), an external power supply a (7), an external power supply b (8), a signal receiver (9), a rear end cover (10), a bolt (11), a nut (12), a screw (13), a stator induction coil (14), a stator coil (15), a strip-shaped light source (16), a signal receiving plate (17), a rotor induction coil (18), a rotor output coil a (19), a rotor output coil b (20), a power output line a (21), a return line a (22), a power output line b (23), a return line b (24), a nichrome resistor disc a (25) and a nichrome resistor disc b (26); the molybdenum disulfide film material (4) comprises a molybdenum disulfide film material a (4-1) and a molybdenum disulfide film material b (4-2), and the molybdenum disulfide film material a (4-1) and the molybdenum disulfide film material b (4-2) are placed on the motor rotor (3) at 90 degrees; a linear Hall a (17-1), a linear Hall b (17-2) and a singlechip (17-3) are soldered on the signal receiving plate (17); the motor comprises a molybdenum disulfide film material a (4-1), a molybdenum disulfide film material b (4-2), a nichrome resistor piece a (25) and a nichrome resistor piece b (26) which are all glued on a motor rotor (3), a rotor induction coil (18), a rotor output coil a (19) and a rotor output coil b (20) which are all glued on the motor rotor (3), a stator induction coil (14) and a stator coil (15) which are wound on a motor stator (6), a strip-shaped light source (16) which is glued on the motor stator (6), and a bearing a (2) and a bearing b (5) which are positioned and fixed on the motor rotor (3) through shaft shoulders; the rotor induction coil (18) is connected with a power output line a (21), the power output line a (21) is connected with a nichrome resistor disc a (25), the power output line a (21) is connected with a rotor output coil a (19), the rotor output coil a (19) is connected with a return line a (22), the return line a (22) is connected with a molybdenum disulfide film material a (4-1), and the return line a (22) is connected with the rotor induction coil (18); the rotor induction coil (18) is connected with a power output line b (23), the power output line b (23) is connected with a nichrome resistor disc b (26), the power output line b (23) is connected with a rotor output coil b (20), the rotor output coil b (20) is connected with a return line b (24), the return line b (24) is connected with a molybdenum disulfide film material b (4-2), and the return line b (24) is connected with the rotor induction coil (18); the external power source a (7), the external power source b (8) and the signal receiver (9) are welded on the motor stator (6), the front end cover (1) is connected with the motor stator (6) through bolts (11) and nuts (12), and the rear end cover (10) is connected with the motor stator (6) through bolts (13).
Molybdenum disulfide film material (4): the light can influence the electrical property of the molybdenum disulfide material, and the side profile of the molybdenum disulfide film material is a cosine function line.
Nichrome resistor disc a (25) and nichrome resistor disc b (26): a low temperature drift resistance material has good high temperature stability and the light cannot affect the chemical or physical properties of nichrome.
The method for resolving the angle of the absolute angular displacement sensor device based on the film material comprises the following specific implementation processes:
the method comprises the following specific implementation processes:
step one: external power supply bThe electric motor generates a magnetic field to enable a motor rotor to start rotating under the action of the magnetic field, so that a rotor induction coil and a rotor output coil which are glued on the rotor rotate, a molybdenum disulfide film material a and a molybdenum disulfide film material b start rotating, a strip-shaped light source irradiates on the molybdenum disulfide film material a and the molybdenum disulfide film material b, the molybdenum disulfide film material a and the molybdenum disulfide film material b can generate dynamically-changed resistance values due to the influence of the light source, and an external power supply a sends an alternating current signal V G The power supply equation of the external power supply a is formula (1), and the rotor induction coil cuts the magnetic field generated by the stator induction coil, so that the rotor induction coil generates an alternating current signal V e Ac signal V e The calculation formula is formula (2):
V G ＝G×sin(ω×t) (1)
V e ＝E×sin(ω×t) (2)
wherein G is peak voltage of an external power supply a, E is input peak voltage, omega is carrier frequency, and t is time;
step two: the rotor induction coils are connected in parallel to transmit the generated alternating current signals; an alternating current signal is supplied to a molybdenum disulfide film material a and a nichrome resistor disc a through a power output line a, an alternating current signal generated by voltage division is supplied to a rotor output coil a, the rotor output coil a generates a magnetic field, and a linear Hall a acquires a magnetic field signal V generated by the rotor output coil a 1 The calculation formula is formula (3); the alternating current signal is supplied to the molybdenum disulfide film material b and the nichrome resistor disc b through the power output line b, the alternating current signal generated by partial pressure is supplied to the rotor output coil b, the rotor output coil b generates a magnetic field, and the linear Hall b acquires a magnetic field signal V generated by the rotor output coil b 2 The calculation formula is formula (4):
V 1 ＝K×E×sin(ω×t)×sinθ (3)
V 2 ＝K×E×sin(ω×t)×cosθ (4)
wherein ω is the carrier frequency, E is the input peak voltage, θ is the rotor rotation angle, and K is the conversion ratio;
step three: an analog signal V received by the linear Hall a and the linear Hall b is provided with an AD converter in the singlechip 1 、V 2 Analog-to-digital conversion is carried out to obtain a digital signal HV 1 、HV 2 Then the arc tangent algorithm is utilized to obtain the digital signal HV 1 、HV 2 Resolving to obtain angle value theta 1 The solution formula is (5):
thereby obtaining the actual angle position of the current motor rotor.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. An absolute angular displacement sensor device based on a thin film material, characterized in that: the device structurally comprises a front end cover (1), a bearing a (2), a motor rotor (3), molybdenum disulfide film materials (4), a bearing b (5), a motor stator (6), an external power supply a (7), an external power supply b (8), a signal receiver (9), a rear end cover (10), a bolt (11), a nut (12), a screw (13), a stator induction coil (14), a stator coil (15), a strip-shaped light source (16), a signal receiving plate (17), a rotor induction coil (18), a rotor output coil a (19), a rotor output coil b (20), a power output line a (21), a return line a (22), a power output line b (23), a return line b (24), a nichrome resistor a (25) and a nichrome resistor b (26); the molybdenum disulfide film material (4) comprises a molybdenum disulfide film material a (4-1) and a molybdenum disulfide film material b (4-2), and the molybdenum disulfide film material a (4-1) and the molybdenum disulfide film material b (4-2) are placed on the motor rotor (3) at 90 degrees; a linear Hall a (17-1), a linear Hall b (17-2) and a singlechip (17-3) are soldered on the signal receiving plate (17); the molybdenum disulfide film material a (4-1), the molybdenum disulfide film material b (4-2), the nichrome resistor piece a (25) and the nichrome resistor piece b (26) are all glued on the motor rotor (3), the rotor induction coil (18), the rotor output coil a (19) and the rotor output coil b (20) are all glued on the motor rotor (3), the stator induction coil (14) and the stator coil (15) are wound on the motor stator (6), the strip-shaped light source (16) is glued on the motor stator (6), and the bearing a (2) and the bearing b (5) are positioned and fixed on the motor rotor (3) through shaft shoulders; the rotor induction coil (18) is connected with a power output line a (21), the power output line a (21) is connected with a nichrome resistor disc a (25), the power output line a (21) is connected with a rotor output coil a (19), the rotor output coil a (19) is connected with a return line a (22), the return line a (22) is connected with a molybdenum disulfide film material a (4-1), and the return line a (22) is connected with the rotor induction coil (18); the rotor induction coil (18) is connected with a power output line b (23), the power output line b (23) is connected with a nichrome resistor disc b (26), the power output line b (23) is connected with a rotor output coil b (20), the rotor output coil b (20) is connected with a return line b (24), the return line b (24) is connected with a molybdenum disulfide film material b (4-2), and the return line b (24) is connected with the rotor induction coil (18); the external power source a (7), the external power source b (8) and the signal receiver (9) are welded on the motor stator (6), the front end cover (1) is connected with the motor stator (6) through bolts (11) and nuts (12), and the rear end cover (10) is connected with the motor stator (6) through bolts (13);
molybdenum disulfide film material (4): the light can influence the electrical property of the molybdenum disulfide material, and the side profile of the molybdenum disulfide film material is a cosine function line;
nichrome resistor disc a (25) and nichrome resistor disc b (26): a low temperature drift resistance material has good high temperature stability and the light cannot affect the chemical or physical properties of nichrome.
2. The method for angular resolution of a thin film material based absolute angular displacement sensor device of claim 1, wherein: the method comprises the following specific implementation processes:
step one: the external power supply b supplies power to the motor coil to generate a magnetic field, so that the motor rotor starts to rotate under the action of the magnetic field, the rotor induction coil and the rotor output coil which are glued on the rotor start to rotate, the molybdenum disulfide film material a and the molybdenum disulfide film material b start to rotate, the strip-shaped light source irradiates on the molybdenum disulfide film material a and the molybdenum disulfide film material b, the molybdenum disulfide film material a and the molybdenum disulfide film material b can generate dynamically-changed resistance values due to the influence of the light source, and the external power supply a sends an alternating current signal V G The power supply equation of the external power supply a is formula (1), and the rotor induction coil cuts the magnetic field generated by the stator induction coil, so that the rotor induction coil generates an alternating current signal V e Ac signal V e The calculation formula is formula (2):
V G ＝G×sin(ω×t) (1)
V e ＝E×sin(ω×t) (2)
wherein G is peak voltage of an external power supply a, E is input peak voltage, omega is carrier frequency, and t is time;
step two: the rotor induction coils are connected in parallel to transmit the generated alternating current signals; an alternating current signal is supplied to a molybdenum disulfide film material a and a nichrome resistor disc a through a power output line a, an alternating current signal generated by voltage division is supplied to a rotor output coil a, the rotor output coil a generates a magnetic field, and a linear Hall a acquires a magnetic field signal V generated by the rotor output coil a 1 The calculation formula is formula (3); the alternating current signal is supplied to the molybdenum disulfide film material b and the nichrome resistor disc b through the power output line b, the alternating current signal generated by partial pressure is supplied to the rotor output coil b, the rotor output coil b generates a magnetic field, and the linear Hall b acquires a magnetic field signal V generated by the rotor output coil b 2 The calculation formula is formula (4):
V 1 ＝K×E×sin(ω×t)×sinθ (3)
V 2 ＝K×E×sin(ω×t)×cosθ (4)
wherein ω is the carrier frequency, E is the input peak voltage, θ is the rotor rotation angle, and K is the conversion ratio;
step three: an analog signal V received by the linear Hall a and the linear Hall b is provided with an AD converter in the singlechip 1 、V 2 Analog-to-digital conversion is carried out to obtain a digital signal HV 1 、HV 2 Then the arc tangent algorithm is utilized to obtain the digital signal HV 1 、HV 2 Resolving to obtain angle value theta 1 The solution formula is (5):
thereby obtaining the actual angle position of the current motor rotor.
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Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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