CN117330111A - Electromagnetic induction type angle sensor based on single winding - Google Patents

Electromagnetic induction type angle sensor based on single winding Download PDF

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Publication number
CN117330111A
CN117330111A CN202311282235.XA CN202311282235A CN117330111A CN 117330111 A CN117330111 A CN 117330111A CN 202311282235 A CN202311282235 A CN 202311282235A CN 117330111 A CN117330111 A CN 117330111A
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CN
China
Prior art keywords
stator
winding
stator teeth
coil wound
resistor
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CN202311282235.XA
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Chinese (zh)
Inventor
陈锡侯
张治滔
张书豪
邓豪
任松
陶虹羽
董嘉炜
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Chongqing University of Technology
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Chongqing University of Technology
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Priority to CN202311282235.XA priority Critical patent/CN117330111A/en
Publication of CN117330111A publication Critical patent/CN117330111A/en
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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
    • G01D5/14—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
    • G01D5/20—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 by varying inductance, e.g. by a movable armature
    • G01D5/204—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2073—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to two or more coils
    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention discloses an electromagnetic induction type angle sensor based on a single winding, which adopts the single winding as a sensing winding, only one coil with equal turns is wound on each sector tooth, 4N coils are used as excitation windings and also as induction coils, and a fine machine winding and a coarse machine winding are formed by different combination time sharing; compared with the existing absolute electromagnetic induction type angle sensor adopting a coarse-fine machine mode, two independent sets of sensing units of the fine-coarse machine are changed into one set of sensing units shared by the fine-coarse machine in a time sharing manner, so that the number of windings is reduced, the structure of the sensor is simplified, the problem of parasitic capacitance is avoided, and the measuring precision of the sensor is improved.

Description

Electromagnetic induction type angle sensor based on single winding
Technical Field
The invention belongs to the technical field of precise measurement and sensing, and particularly relates to an electromagnetic induction type angle sensor based on a single winding.
Background
In the field of precise angular displacement measurement, a rough measurement and precise measurement combination is an effective technical scheme for realizing high-resolution absolute angular displacement (angle) measurement.
CN109631749a discloses an absolute time grating angular displacement sensor, which realizes absolute angular displacement measurement by combining rough measurement and fine measurement. It still has the following problems: (1) Independent excitation windings and induction windings are adopted to wind on stator teeth, parasitic capacitance is inevitably present between the excitation windings and the induction windings, and therefore interference is generated on induction signals; (2) The excitation winding and the induction winding are wound on the stator teeth, the stator tooth slot is large in size, magnetic leakage of the tooth slot part is increased, winding difficulty is also high, and absolute measurement accuracy of the sensor is reduced; (3) The close distance between the excitation winding and the sensing winding can bring error components to the sensor signal.
Disclosure of Invention
The invention aims to provide an electromagnetic induction type angle sensor based on a single winding, which is used for simplifying the structure of the sensor and improving the absolute measurement precision of the sensor.
The invention relates to a single-winding-based electromagnetic induction type angle sensor, which comprises a stator, a rotor and a signal processing circuit, wherein the stator is connected with the rotor; the stator comprises a stator matrix and a sensing winding, wherein the stator matrix is a magnetic-conductive cylindrical ring, and 4N axially-through grooves with sector cross sections are uniformly formed in the inner cylindrical surface of the stator at intervals along the circumferential direction, so that a space structure with 4N sector teeth and 4N sector grooves distributed in a staggered manner is formed; the rotor is a magnetic-conductive cylindrical ring, is positioned in the stator base body and is coaxial with the stator base body, a gap is reserved between the rotor and the stator base body, and the rotor can rotate relative to the stator. The sensor also comprises a coarse-fine switching circuit.
The outer wall of the rotor is provided with P x N convex teeth which are arranged along the circumferential direction and are penetrated along the axial direction, and the section outer contour line (namely the contour line of the convex teeth) of the rotor meets the following conditions:θ i ∈[0,2π],i＝1,23, … …; wherein θ i Represents the central angle, ρ, between the ith point and the 1 st point on the section outline of the rotor i Represents the distance between the ith point on the section outline of the rotor and the section center O of the rotor (corresponding to the radius at the ith point on the section outline of the rotor), R represents the rotor radius threshold, E represents the length factor of the rotor, F represents the shape factor of the rotor, a 1 Characteristic coefficient representing refiner, a 2 Characteristic coefficient of coarse machine, R, E, F, a 1 、a 2 Are all determined (i.e. known in value), N, P is a positive integer, P>4, and P is compatible with 4.
The sensing winding consists of 4N coils wound on 4N sector teeth, and the 4N coils are connected with a precision resistor to form an electric bridge; the 4N coils are combined to form a fine machine winding, and the coarse machine winding is formed by combining the 4N coils through changing the connection relation of the coils by a coarse and fine switching circuit.
When the rotor rotates relative to the stator and is electrified, the roughing machine winding is firstly used as one side bridge arm of the bridge, one path of excitation signal is introduced into the input end of the bridge, the output end of the bridge outputs an induction signal, and the induction signal is processed by the signal processing circuit to obtain the roughing angle theta 0 Storing the rough measurement angle theta 0 Rough measurement of angle θ 0 The device is used for positioning the counter electrode during power-on; then switching by a coarse-fine switching circuit to enable the fine machine winding to be used as one side bridge arm of the bridge, outputting an induction signal by the output end of the bridge, and processing by a signal processing circuit to obtain a fine measurement angle theta'; the precise angle theta' and the rough angle theta are measured 0 The absolute angle value beta of the rotor is obtained through combination. One power-on test only needs to use one coarse machine winding, and the follow-up measurement uses a fine machine winding (namely, works in a fine machine state).
Preferably, the 4N coils are combined to form the refiner winding in the following manner: one of the sector teeth is called a number 1 stator tooth, and the other sector teeth are sequentially called a number 2 stator tooth to a number 4N stator tooth along the circumferential direction. The coils wound on the stator teeth of the number 4n-3 are connected as winding segments I. The coils wound on the stator teeth of the number 4n-2 are connected as a winding section II. The coils wound on the stator teeth of the number 4n-1 are connected as winding sections III. The coils wound on the number 4n stator teeth are connected as winding segments iv. The winding section I is connected with the winding section III, the winding section III is connected with the winding section II, and the winding section II is connected with the winding section IV to form the fine machine winding. Wherein N is all integers from 1 to N in turn.
The rotor positions of the winding section I and the winding section III are complementary, the rotor positions of the winding section II and the winding section IV are complementary, the winding section I is connected with the winding section III, the magnetic conductance can be approximately counteracted after the winding section II is connected with the winding section IV, and the condition of constant excitation is met; meanwhile, the relative positions of the winding section I and the winding section III and the winding section II and the winding section IV can approximately offset the error influence on the fine machine caused by the eccentricity of the coarse machine.
The combination of 4N coils to form the coarse winding is summarized as follows: one winding section occupies 180 degrees of winding wire of one stator tooth at intervals, and two adjacent winding sections are overlapped and distributed by 90 degrees.
Preferably, when N is even, the 4N coils are combined to form the coarse machine winding in the following manner: wound around 3N+2m 1 -stator tooth number 1 and 2m 1 The coils on the stator teeth No. 1 are connected as winding segments a; wherein m is 1 Sequentially taking 1 toIs a whole number of (c). Around 2m 2 The coils on the stator teeth are connected as winding segments B. Around N+2m 2 The coils on stator tooth number 1 are connected as winding segments C. Wound around 2N+2m 2 The coils on the stator teeth are connected as winding segments D. Wherein m is 2 All integers from 1 to N are taken in sequence. The winding section A is connected with the winding section C, the winding section C is connected with the winding section B, and the winding section B is connected with the winding section D to form the roughing machine winding.
The air gap at the rotor position corresponding to the winding section A and the air gap at the rotor position corresponding to the winding section C are complementary, the air gap at the rotor position corresponding to the winding section B and the air gap at the rotor position corresponding to the winding section D are complementary, the winding section A is connected with the winding section C, the flux guide can be approximately counteracted after the winding section B is connected with the winding section D, and the condition of constant excitation is met; meanwhile, the winding section A and the winding section C, and the winding section B and the winding section D are complementary at the corresponding rotor positions, so that the error influence of the convex teeth of the fine machine on the coarse machine can be approximately counteracted.
Preferably, the coarse-fine switching circuit comprises 9 alternative analog switches connected with the coil; the 9 alternative analog switches are respectively arranged at 9 switching nodes, and stator teeth corresponding to the 9 switching nodes are respectively: n-3 stator teeth, N-1 stator teeth, 3N-3 stator teeth, 3N-1 stator teeth, 2N-2 stator teeth, 4N-3 stator teeth, 4N-2 stator teeth, and 4N-1 stator teeth. Specific: the three interfaces of the 1 st alternative analog switch are respectively connected with a coil wound on the N-3 stator teeth, a coil wound on the N+1 stator teeth and a coil wound on the 3 stator teeth. The three interfaces of the 2 nd alternative analog switch are respectively connected with the coil wound on the N-1 stator tooth, the coil wound on the N+3 stator tooth and the coil wound on the 3N+1 stator tooth. The three interfaces of the 3 rd alternative analog switch are respectively connected with a coil wound on the 3N-3 stator teeth, a coil wound on the 3N+1 stator teeth and a coil wound on the N+3 stator teeth. The three interfaces of the 4 th alternative analog switch are respectively connected with a coil wound on the 3N-1 stator tooth, a coil wound on the 3N+3 stator tooth and a coil wound on the 2 nd stator tooth. The three interfaces of the 5 th alternative analog switch are respectively connected with a coil wound on the No. 2N-2 stator teeth, a coil wound on the 2N+2 stator teeth and a coil wound on the No. 4 stator teeth. The three interfaces of the 6 th alternative analog switch are respectively connected with the coil wound on the No. 4N stator teeth and the coil wound on the 2N+2 stator teeth, and the other connecting terminal cos-at the input end of the bridge. The three interfaces of the 7 th alternative analog switch are respectively connected with coils wound on the No. 4N-3 stator teeth, coils wound on the No. 3 stator teeth and coils wound on the 3N+3 stator teeth. The three interfaces of the 8 th alternative analog switch are respectively connected with the coil wound on the No. 4N-2 stator tooth, the coil wound on the No. 4 stator tooth and the other connecting terminal cos-of the bridge input end. The three interfaces of the 9 th alternative analog switch are respectively connected with a coil wound on the No. 4N-1 stator tooth, a coil wound on the No. 2 stator tooth and a coil wound on the N+1 stator tooth. The coarse-fine switching circuit can realize time-sharing measurement of the rotor, the stator and the coil shared by the fine machine and the coarse machine.
Preferably, the coarse-fine switching circuit further comprises 2 alternative analog switches. The precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4. One end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the No. 1 stator tooth. One end of the resistor R4 is used as another connecting terminal cos-of the bridge input end, a coil (belonging to a winding section IV) wound on the No. 4N stator tooth is connected through one interface of the No. 6 alternative analog switch, and a coil (belonging to a winding section D) wound on the No. 4N-2 stator tooth is connected through one interface of the No. 8 alternative analog switch. The excitation signal is input via one connection terminal cos+ and the other connection terminal cos+ of the bridge input. The other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 Output the sensing signal U 1 . Second connection terminal S of bridge output end 1 The coil wound on the No. 4N-3 stator tooth (belonging to the winding section I) and the coil wound on the No. 4N-1 stator tooth (belonging to the winding section A) are connected through an alternative analog switch, and the induction signal U is output 2 . The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator tooth and a coil wound on the No. 4N-1 stator tooth (belonging to the winding section III) or a coil wound on the No. 3N-1 stator tooth (belonging to the winding section C). The other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 Output the sensing signal U 3 . Fourth connecting terminal S of bridge output end 2 The coil wound on the No. 4N-2 stator teeth (belonging to the winding section II) and the coil wound on the No. 2N stator teeth (belonging to the winding section B) are connected through an alternative analog switch, and an induction signal U is output 4 . Inductive signal U 1 Sensing signal U 2 Sensing signal U 3 Sensing signal U 4 Input to a signal processing circuit for processing.
Preferably, when N is an odd number, the 4N coils are combined to form the coarse machine winding in the following manner:
wound around 3N+2m 3 Stator teeth number 2m 3 The coils on the stator teeth No. 1 are connected as winding segments a; wherein m is 3 Sequentially taking 1To the point ofIs a whole number of (c). Around 2m 4 Coils on the stator teeth are connected and used as a winding section B; around N+2m 4 Coils on the stator teeth are connected and used as a winding section C; wound around 2N+2m 4 Coils on the stator teeth are connected and used as a winding section D; wherein m is 4 All integers from 1 to N-1 are taken in sequence. The winding section A is connected with the winding section C, the winding section C is connected with the winding section B, and the winding section B is connected with the winding section D to form the roughing machine winding.
The air gap at the rotor position corresponding to the winding section A and the air gap at the rotor position corresponding to the winding section C are complementary, the air gap at the rotor position corresponding to the winding section B and the air gap at the rotor position corresponding to the winding section D are complementary, the winding section A is connected with the winding section C, the flux guide can be approximately counteracted after the winding section B is connected with the winding section D, and the condition of constant excitation is met; meanwhile, the winding section A and the winding section C, and the winding section B and the winding section D are complementary at the corresponding rotor positions, so that the error influence of the convex teeth of the fine machine on the coarse machine can be approximately counteracted. When N is an odd number, the coils wound on the four stator teeth N, 2N, 3N, 4N are not used as a part of the coarse machine winding and are not connected into the bridge in order to make the winding section a completely orthogonal to the winding section C and the winding section B completely orthogonal to the winding section D.
Preferably, the coarse-fine switching circuit comprises 12 alternative analog switches connected with the coil; the 12 alternative analog switches are respectively arranged at 12 switching nodes, and stator teeth corresponding to the 12 switching nodes are respectively: n-4 stator teeth, N+4 stator teeth, N-2 stator teeth, 3N-4 stator teeth, 3N+4 stator teeth, 3N-2 stator teeth, 2N-4 stator teeth, 2N+4 stator teeth, 4N-4 stator teeth, 4N-3 stator teeth, 4N-2 stator teeth, 4N-1 stator teeth. The method comprises the following steps: the three interfaces of the 1 st alternative analog switch are respectively connected with the coil wound on the N-4 stator teeth, the coil wound on the N stator teeth and the coil wound on the 3 stator teeth. The three interfaces of the 2 nd alternative analog switch are respectively connected with the coil wound on the N+4 stator teeth, the coil wound on the N stator teeth and the coil wound on the 4N-1 stator teeth. The three interfaces of the 3 rd alternative analog switch are respectively connected with the coil wound on the N-2 stator teeth, the coil wound on the N+2 stator teeth and the coil wound on the 3N+2 stator teeth. The three interfaces of the 4 th alternative analog switch are respectively connected with the coil wound on the 3N-4 stator teeth, the coil wound on the 3N stator teeth and the coil wound on the 2 nd stator teeth. The three interfaces of the 5 th alternative analog switch are respectively connected with coils wound on the 3N+4 stator teeth, coils wound on the 3N stator teeth and coils wound on the 4N-3 stator teeth. The three interfaces of the 6 th alternative analog switch are respectively connected with a coil wound on the 3N-2 stator teeth, a coil wound on the 3N+2 stator teeth and a coil wound on the N+2 stator teeth. The three interfaces of the 7 th alternative analog switch are respectively connected with the coil wound on the No. 2N-4 stator teeth, the coil wound on the No. 2N stator teeth and the coil wound on the No. 4 stator teeth. The three interfaces of the 8 th alternative analog switch are respectively connected with coils wound on 2N+4 stator teeth, coils wound on 2N stator teeth and coils wound on 4N-4 stator teeth. The three interfaces of the 9 th alternative analog switch are respectively connected with coils wound on the No. 4N-4 stator teeth, coils wound on the No. 4N stator teeth and coils wound on the 2N+4 stator teeth. The three interfaces of the 10 th alternative analog switch are respectively connected with coils wound on the No. 4N-3 stator teeth, coils wound on the No. 3 stator teeth and coils wound on the 3N+4 stator teeth. The two interfaces of the 11 th alternative analog switch are respectively connected with a coil wound on the No. 4N-2 stator tooth and a coil wound on the No. 4 stator tooth, and the other interface is suspended. The three interfaces of the 12 th alternative analog switch are respectively connected with a coil wound on the No. 4N-1 stator tooth, a coil wound on the No. 2 stator tooth and a coil wound on the N+4 stator tooth. The coarse-fine switching circuit can realize time-sharing measurement of the rotor, the stator and the coil shared by the fine machine and the coarse machine.
Preferably, the coarse-fine switching circuit further comprises 3 alternative analog switches. The precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4. One end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the No. 1 stator tooth. One end of the resistor R4 is used as the other connecting terminal cos-of the bridge input end and is connected with the winding through an alternative analog switchA coil on the number 4N stator tooth (belonging to the winding section IV) and a coil wound on the number 4N-2 stator tooth (belonging to the winding section D). The excitation signal is input via one connection terminal cos+ and the other connection terminal cos+ of the bridge input. The other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 Output the sensing signal U 1 . Second connection terminal S of bridge output end 1 The coil wound on the No. 4N-3 stator tooth (belonging to the winding section I) and the coil wound on the No. 4N-1 stator tooth (belonging to the winding section A) are connected through an alternative analog switch, and the induction signal U is output 2 . The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator tooth and a coil wound on the No. 4N-1 stator tooth (belonging to the winding section III) or a coil wound on the No. 3N-4 stator tooth (belonging to the winding section C). The other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 Output the sensing signal U 3 . Fourth connecting terminal S of bridge output end 2 The coil wound on the No. 4N-2 stator tooth (belonging to the winding section II) and the coil wound on the No. 2N-2 stator tooth (belonging to the winding section B) are connected through a two-out-of-one analog switch, and the induction signal U is output 4 . Inductive signal U 1 Sensing signal U 2 Sensing signal U 3 Sensing signal U 4 Input to a signal processing circuit for processing.
Preferably, the signal processing circuit comprises an operational amplifier A3, an operational amplifier A4, a filter LPF1, a filter LPF2, a phase shifting circuit, an adding circuit, a phase discriminating circuit and a microprocessor; the microprocessor generates the excitation signal and controls the alternative analog switch to act (i.e. switch).
Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by the addition circuit, the travelling wave is obtainedA signal U; sending the traveling wave signal U and the excitation signal into a phase discrimination circuit for phase discrimination, wherein the phase difference is represented by the number of the interpolated high-frequency clock pulses, and obtaining a rough measurement angle theta after the operation of a microprocessor 0 Or precisely measuring the angle theta'; the microprocessor measures the angle theta' precisely and the angle theta roughly 0 The absolute angle value beta of the rotor is obtained through combination.
Compared with the prior art, the invention has the following effects:
(1) A single winding (4N coils wound on 4N sector teeth) is adopted as a sensing winding, only one coil with equal turns is wound on each sector tooth, and the 4N coils are used as an excitation winding and an induction winding (comprising a precision machine winding and a rough machine winding) through different combinations; compared with the whole structure of the existing absolute time grating angular displacement sensor, two sets of independent sensing units of the fine-coarse machine are changed into one set of sensing units (sensing windings) shared by the fine-coarse machine in a time sharing way, so that the number of windings is reduced, and the structure of the sensor is simplified.
(2) Compared with the existing alternate winding method (comprising two coils on each stator tooth) and the multi-turn winding method (comprising three coils on each stator tooth), the single winding (only one coil on each stator tooth) avoids the problem of generating symbiotic capacitance between two or three coils on the same stator tooth, thereby avoiding signal interference and improving the absolute measurement precision of the sensor.
(3) Compared with the existing absolute time grating angular displacement sensor, the coil multiplexing (serving as a fine machine winding and a coarse machine winding) is realized through the coarse and fine switching circuit, and absolute measurement can be realized only by winding a primary wire on the stator teeth.
(4) The shape of the convex teeth of the rotor is represented by curve ρ i And defining, enabling the change of the air gap permeability to be similar to sinusoidal change, and designing parameters of the fine machine and the coarse machine into the same rotor, so that the rotor multiplexing is realized.
Drawings
Fig. 1 is a schematic diagram showing the structure of a rotor and a stator and the distribution of stator windings on stator teeth in embodiment 1.
Fig. 2 is a schematic diagram showing the structure of the rotor and stator and the distribution of the roughing winding on the stator teeth in embodiment 1.
Fig. 3 is a schematic diagram showing connection of the coarse machine winding and the fine machine winding in example 1.
Fig. 4 is a schematic diagram of the fine machine winding and the coarse machine winding as one side arm of the bridge in embodiment 1.
Fig. 5 is a schematic diagram showing the structure of the rotor and stator and the distribution of the stator windings on the stator teeth in embodiment 2.
Fig. 6 is a schematic diagram showing the structure of the rotor and stator and the distribution of the roughing winding on the stator teeth in embodiment 2.
Fig. 7 is a schematic diagram showing connection of the coarse machine winding and the fine machine winding in example 2.
Fig. 8 is a schematic block diagram of the fine machine winding and the coarse machine winding as one side arm of the bridge in embodiment 2.
Fig. 9 is a schematic block diagram of signal processing in embodiment 1 and embodiment 2.
Detailed Description
Example 1: as shown in fig. 1 to 4 and 9, the electromagnetic induction type angle sensor based on a single winding in the present embodiment includes a stator 1, a rotor 2, a coarse-fine switching circuit, a fine resistor and a signal processing circuit. The signal processing circuit includes an operational amplifier A3, an operational amplifier A4, a filter LPF1, a filter LPF2, a phase shift circuit, an addition circuit, a phase discrimination circuit, and a microprocessor (e.g., based on a field programmable gate array FPGA). The stator 1 comprises a stator base 11 and a sensing winding, the stator base 11 is a magnetically conductive cylindrical ring, 32 (i.e. n=8 in this embodiment) slots with axially penetrating cross sections are uniformly formed on the inner cylindrical surface of the stator base at intervals along the circumferential direction, so as to form a space structure in which 32 sector teeth 112 and 32 sector slots 111 are distributed in a staggered manner, the central angle of one sector tooth 112 is 5.625 degrees, and the central angle of one sector slot 111 is 5.625 degrees. The rotor 2 is a magnetic-conductive cylindrical ring, the rotor 2 is positioned in the stator base body 11, is coaxial with the stator base body 11 and can rotate relative to the stator 1, and a gap (the gap range is 0.2 mm-0.8 mm) is reserved between the rotor 2 and the stator base body 11. The outer wall of the rotor 2 is provided with 56 convex teeth (i.e. p=7 and n=8 in the embodiment) which are arranged along the circumferential direction and are penetrated along the axial direction, and the central angle of each convex tooth is 6.4 3 deg.. The profile of the rotor 2 (i.e. the profile of the teeth) satisfies the following conditions:θ i ∈[0,2π]i=1, 2,3, … …; wherein θ i Represents the central angle ρ between the ith point and the 1 st point on the outer contour line of the cross section of the rotor 2 i Represents the distance between the ith point on the section outline of the rotor and the section center O of the rotor (corresponding to the radius at the ith point on the section outline of the rotor), R represents the rotor radius threshold, E represents the length factor of the rotor, F represents the shape factor of the rotor, a 1 Characteristic coefficient representing refiner, a 2 Characteristic coefficient of coarse machine, R, E, F, a 1 、a 2 Are all determined (i.e. the values are known), and 1.5<a 1 +a 2 <F, R is less than the inner diameter of the scalloped teeth 112.
The sensing winding is composed of 32 coils wound on 32 sector teeth, and the winding directions of two adjacent coils are opposite (for example, one coil is clockwise wound and the other coil is anticlockwise wound). The coil is arranged on the flexible PCB, a through hole is formed in the flexible PCB corresponding to the center of the coil, the flexible PCB is embedded in the sector groove 111, and the sector teeth 112 are positioned in the through hole, so that the coil is wound on the sector teeth. One of the sector teeth 112 is referred to as a number 1 stator tooth, and the remaining sector teeth are sequentially referred to as a number 2 stator tooth to a number 32 stator tooth in the circumferential direction (clockwise).
The 32 coils are combined to form a fine machine winding, and the coarse machine winding is formed by the 32 coils through the coarse and fine switching circuit by changing the connection relation of the coils.
The coarse and fine switching circuit includes 11 alternative analog switches (not shown). The control end of the 11 two-in-one analog switches is connected with a microprocessor, and the microprocessor realizes the gating of each two-in-one analog switch in a mode of outputting high and low levels. Wherein, 9 alternative analog switch set up respectively in 9 switching nodes department, and the stator tooth that 9 switching nodes correspond is respectively: no. 5 stator teeth, no. 7 stator teeth, no. 21 stator teeth, no. 23 stator teeth, no. 14 stator teeth, no. 32 stator teeth, no. 29 stator teeth, no. 30 stator teeth, no. 31 stator teeth. The method comprises the following steps: the stationary contact interface of the 1 st alternative analog switch is connected with a coil wound on the No. 5 stator tooth, the first movable contact interface is connected with a coil wound on the No. 9 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 3 stator tooth. The stationary contact interface of the 2 nd alternative analog switch is connected with a coil wound on the No. 7 stator tooth, the first movable contact interface is connected with a coil wound on the No. 11 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 25 stator tooth. The stationary contact interface of the 3 rd alternative analog switch is connected with a coil wound on the 21 st stator tooth, the first movable contact interface is connected with a coil wound on the 25 th stator tooth, and the second movable contact interface is connected with a coil wound on the 11 th stator tooth. The fixed contact interface of the 4 th alternative analog switch is connected with a coil wound on the No. 23 stator tooth, the first movable contact interface is connected with a coil wound on the No. 27 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 2 stator tooth. The stationary contact interface of the 5 th alternative analog switch is connected with a coil wound on the No. 14 stator tooth, the first movable contact interface is connected with a coil wound on the No. 18 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 4 stator tooth. The static contact interface of the 6 th alternative analog switch is connected with a coil wound on the No. 32 stator teeth, the first movable contact interface is connected with the other connecting terminal cos-of the input end of the bridge, and the second movable contact interface is connected with a coil wound on the No. 18 stator teeth. The stationary contact interface of the 7 th alternative analog switch is connected with a coil wound on the No. 29 stator tooth, the first movable contact interface is connected with a coil wound on the No. 3 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 27 stator tooth. The 8 th alternative analog switch has its stationary contact interface connected to the coil wound around the No. 30 stator tooth, the first movable contact interface connected to the coil wound around the No. 4 stator tooth, and the second movable contact interface connected to the other connection terminal cos-of the bridge input end. The fixed contact interface of the 9 th alternative analog switch is connected with a coil wound on the No. 31 stator tooth, the first movable contact interface is connected with a coil wound on the No. 2 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 9 stator tooth. One or two bonding pads are reserved on the flexible PCB corresponding to the position where the coil needs to be connected with the alternative analog switch and are used for connection.
The precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4.
One end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the No. 1 stator tooth. One end of the resistor R4 serves as the other terminal cos-of the bridge input. The other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 . Second connection terminal S of bridge output end 1 The fixed contact interface of the 10 th alternative analog switch is connected, the first movable contact interface of the 10 th alternative analog switch is connected with the coil wound on the 29 th stator tooth, and the second movable contact interface of the 10 th alternative analog switch is connected with the coil wound on the 31 st stator tooth. The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator tooth, a coil wound on the No. 31 stator tooth or a coil wound on the No. 23 stator tooth. The other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 . Fourth connecting terminal S of bridge output end 2 The fixed contact interface of the 11 th alternative analog switch is connected, the first movable contact interface of the 11 th alternative analog switch is connected with the coil wound on the No. 30 stator teeth, and the second movable contact interface of the 11 th alternative analog switch is connected with the coil wound on the No. 16 stator teeth. Pads are also left on the bridge where the alternative analog switch needs to be connected for connection.
The microprocessor outputs low level and controls the static contact interface of the 11 alternative analog switches to be communicated with the first movable contact interface. As indicated by the solid line in fig. 3, the coil wound around the stator tooth No. 5 is connected with the coil wound around the stator tooth No. 9, the coil wound around the stator tooth No. 7 is connected with the coil wound around the stator tooth No. 11, the coil wound around the stator tooth No. 21 is connected with the coil wound around the stator tooth No. 25, and the coil wound around the stator tooth No. 23 is connected with the coil wound around the stator tooth No. 27. The coil wound on the No. 14 stator tooth is connected with the coil wound on the No. 18 stator tooth, the coil wound on the No. 32 stator tooth is connected with the other connecting terminal cos of the bridge input end,the coil wound on the No. 29 stator tooth is connected with the coil wound on the No. 3 stator tooth, the coil wound on the No. 30 stator tooth is connected with the coil wound on the No. 4 stator tooth, the coil wound on the No. 31 stator tooth is connected with the coil wound on the No. 2 stator tooth, and the second connecting terminal S of the bridge output end is connected with the second connecting terminal S of the bridge 1 A fourth connection terminal S connected with the coil wound on the number 29 stator teeth and at the output end of the bridge 2 Is connected with the coil wound on the No. 30 stator teeth. The coil which is not connected with the alternative analog switch is directly connected according to the rule. Thereby realizing the connection of coils wound on the stator teeth of the numbers 1, 5, 9, 13, 17, 21, 25 and 29 to be used as a winding section I; the coils wound on the stator teeth of the numbers 2, 6, 10, 14, 18, 22, 26 and 30 are connected to form a winding section II. The coils wound on the stator teeth of the numbers 3, 7, 11, 15, 19, 23, 27 and 31 are connected to form a winding section III. The coils wound on the stator teeth of the numbers 4, 8, 12, 16, 20, 24, 28 and 32 are connected to form a winding section IV. The winding direction of the winding section I is consistent with that of the winding section III, and the winding direction of the winding section II is consistent with that of the winding section IV. Since the coil wound on the stator tooth No. 29 is connected to the coil wound on the stator tooth No. 3, the winding segment i is connected to the winding segment iii. Since the coil wound around the stator tooth No. 31 is connected to the coil wound around the stator tooth No. 2, the winding section iii is connected to the winding section ii. Because the coil wound on the stator tooth No. 30 is connected with the coil wound on the stator tooth No. 4, the winding section II is connected with the winding section IV, so that the fine machine winding in the bridge is formed.
The microprocessor outputs high level to control the static contact interface of 11 alternative analog switches to be communicated with the second movable contact interface. As indicated by the broken line in fig. 3, the coil wound around the stator tooth No. 5 is connected with the coil wound around the stator tooth No. 3, the coil wound around the stator tooth No. 7 is connected with the coil wound around the stator tooth No. 25, the coil wound around the stator tooth No. 21 is connected with the coil wound around the stator tooth No. 11, and the coil wound around the stator tooth No. 23 is connected with the coil wound around the stator tooth No. 2. The coil wound on the No. 14 stator tooth is connected with the coil wound on the No. 4 stator tooth, and the wire wound on the No. 32 stator toothThe coil is connected with the coil wound on the 18 # stator tooth, the coil wound on the 29 # stator tooth is connected with the coil wound on the 27 # stator tooth, the coil wound on the 30 # stator tooth is connected with the other connecting terminal cos of the bridge input end, the coil wound on the 31 # stator tooth is connected with the coil wound on the 9 # stator tooth, and the second connecting terminal S of the bridge output end 1 A fourth connection terminal S connected with the coil wound on the 31 # stator tooth and at the output end of the bridge 2 Is connected with the coil wound on the number 16 stator teeth. The coil which is not connected with the alternative analog switch is directly connected according to the rule. Thereby realizing the connection of coils wound on the stator teeth of the numbers 1, 5, 3, 7, 25, 29, 27 and 31 to be used as a winding section A; the coils wound on the stator teeth of the numbers 2, 6, 10, 14, 4, 8, 12 and 16 are connected to form a winding section B. The coils wound on the stator teeth of the numbers 9, 13, 17, 21, 11, 15, 19 and 23 are connected as a winding section C. The coils wound on the stator teeth of the numbers 20, 24, 28, 32, 18, 22, 26 and 30 are connected as a winding segment D. The winding directions of the winding section A and the winding section C are consistent, and the winding directions of the winding section B and the winding section D are consistent. Since the coil wound around the stator tooth No. 31 is connected with the coil wound around the stator tooth No. 9, the winding segment a is connected with the winding segment C. Since the coil wound on the stator tooth No. 23 is connected with the coil wound on the stator tooth No. 2, the winding segment C is connected with the winding segment B. Since the coil wound on the stator tooth No. 16 is in contact with the coil wound on the stator tooth No. 20, the winding segment B is connected to the winding segment D, thereby forming the roughing winding in the bridge.
The rotor 2 rotates relative to the stator 1. When the power-on work is performed, the microprocessor outputs high level first, so that the coarse machine winding is used as one side bridge arm of the bridge, one sine excitation signal Uc is input through one wiring terminal cos+ at the input end of the bridge, the other wiring terminal cos-is input, and the first wiring terminal V at the output end of the bridge 1 Output induction signal U 1 Second connecting terminal S 1 Output induction signal U 2 Third connecting terminal V 2 Output induction signal U 3 Fourth connecting terminal S 2 Output induction signal U 4 . Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by an addition circuit, a traveling wave signal U is obtained; sending the traveling wave signal U and the sine excitation signal Uc into a phase discrimination circuit for phase discrimination, wherein the phase difference is represented by the number of the interpolated high-frequency clock pulses, and obtaining a rough measurement angle theta after the operation of a microprocessor 0 Storing the rough measurement angle theta 0 Rough measurement of angle θ 0 The device is used for positioning the counter electrode during power-up. Then, the microprocessor outputs low level rapidly (such as within 0.1 s) to make the fine machine winding as one side arm of the bridge, and the first connection terminal V of the bridge output end 1 Output induction signal U 1 Second connecting terminal S 1 Output induction signal U 2 Third connecting terminal V 2 Output induction signal U 3 Fourth connecting terminal S 2 Output induction signal U 4 . Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by an addition circuit, a traveling wave signal U is obtained; the traveling wave signal U and the sine excitation signal are sent to a phase discrimination circuit for phase discrimination treatment, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the precise measurement angle theta' is obtained after the microprocessor operation. Finally, the microprocessor uses the formula:calculating an absolute angle value beta of the rotor; wherein (1)>Representing down +.>Integer of [ theta ] 0 The value range of [0,360 °) and θ' is +.>At absolute zero θ 0 θ' =0. When the rotor 2 starts to rotate one revolution relative to the stator 1 from the absolute zero, the precision angle measurement θ' is at +.>Internal change 1 time, rough measurement of angle θ 0 And 1 time within [0,360 deg.). One power-on test only needs to use one coarse machine winding, and the follow-up measurement uses a fine machine winding (namely, works in a fine machine state).
If the incremental angle value is to be measured, only a fine machine winding is needed, and the obtained fine measurement angle theta' is the incremental angle value of the rotor 2 rotating relative to the stator 1.
Example 2: as shown in fig. 5 to 9, the partial structure and measurement principle of the single-winding-based electromagnetic induction type angle sensor in the present embodiment are the same as those of embodiment 1, except that:
n=9 in this embodiment. The electromagnetic induction type angle sensor comprises a stator 1, a rotor 2, a coarse-fine switching circuit and a signal processing circuit. 36 grooves with axially-penetrated cross sections in a fan shape are uniformly formed on the inner cylindrical surface of the stator base body 11 at intervals along the circumferential direction, so that a space structure in which 36 fan-shaped teeth 112 and 36 fan-shaped grooves 111 are distributed in a staggered manner is formed, the central angle of one fan-shaped tooth 112 is 5 degrees, and the central angle of one fan-shaped groove 111 is 5 degrees.
The rotor 2 is a magnetic-conductive cylindrical ring, the rotor 2 is positioned in the stator base body 11, is coaxial with the stator base body 11 and can rotate relative to the stator 1, and a gap (the gap range is 0.2 mm-0.8 mm) is reserved between the rotor 2 and the stator base body 11. The outer wall of the rotor 2 has 63 teeth (i.e., p=7, n=9 in this embodiment) arranged in the circumferential direction and penetrating in the axial direction, and the central angle subtended by each tooth is 5.71 °. The profile of the rotor 2 (i.e. the teeth Contour line) satisfies:θ i ∈[0,2π]i=1, 2,3, … …; wherein θ i Represents the central angle ρ between the ith point and the 1 st point on the outer contour line of the cross section of the rotor 2 i Represents the distance between the ith point on the section outline of the rotor and the section center O of the rotor (corresponding to the radius at the ith point on the section outline of the rotor), R represents the rotor radius threshold, E represents the length factor of the rotor, F represents the shape factor of the rotor, a 1 Characteristic coefficient representing refiner, a 2 Characteristic coefficient of coarse machine, R, E, F, a 1 、a 2 Are all determined (i.e. the values are known), and 1.5<a 1 +a 2 <F, R is less than the inner diameter of the scalloped teeth 112.
The sensing winding is composed of 36 coils wound on 36 sector teeth, and the winding directions of two adjacent coils are opposite (for example, one coil is clockwise wound and the other coil is anticlockwise wound). The coil is arranged on the flexible PCB, a through hole is formed in the flexible PCB corresponding to the center of the coil, the flexible PCB is embedded in the sector groove 111, and the sector teeth 112 are positioned in the through hole, so that the coil is wound on the sector teeth. One of the sector teeth 112 is referred to as a number 1 stator tooth, and the remaining sector teeth are sequentially referred to as a number 2 stator tooth to a number 36 stator tooth in the circumferential direction (clockwise).
The 36 coils are combined to form a fine machine winding, and the connection relation of the coils can be changed through a coarse-fine switching circuit, so that the 36 coils are combined to form a coarse machine winding.
The coarse and fine switching circuit includes 15 alternative analog switches (not shown) connected to the coil. The control end of the 15 two-in-one analog switches is connected with a microprocessor, and the microprocessor realizes the gating of each two-in-one analog switch in a mode of outputting high and low levels. Wherein, 12 alternative analog switches set up respectively in 12 switching nodes department, and the stator tooth that 12 switching nodes correspond is respectively: no. 5 stator teeth, no. 13 stator teeth, no. 7 stator teeth, no. 23 stator teeth, no. 31 stator teeth, no. 25 stator teeth, no. 14 stator teeth, no. 22 stator teeth, no. 32 stator teeth, no. 33 stator teeth, no. 34 stator teeth, no. 35 stator teeth. The method comprises the following steps: the stationary contact interface of the 1 st alternative analog switch is connected with a coil wound on the No. 5 stator tooth, the first movable contact interface is connected with a coil wound on the No. 9 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 3 stator tooth. The stationary contact interface of the 2 nd alternative analog switch is connected with a coil wound on the No. 13 stator tooth, the first movable contact interface is connected with a coil wound on the No. 9 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 35 stator tooth. The stationary contact interface of the 3 rd alternative analog switch is connected with a coil wound on the No. 7 stator tooth, the first movable contact interface is connected with a coil wound on the No. 11 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 29 stator tooth. The fixed contact interface of the 4 th alternative analog switch is connected with a coil wound on the No. 23 stator tooth, the first movable contact interface is connected with a coil wound on the No. 27 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 2 stator tooth. The fixed contact interface of the 5 th alternative analog switch is connected with a coil wound on the No. 31 stator tooth, the first movable contact interface is connected with a coil wound on the No. 27 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 33 stator tooth. The fixed contact interface of the 6 th alternative analog switch is connected with the coil wound on the No. 25 stator tooth, the first movable contact interface is connected with the coil wound on the No. 29 stator tooth, and the second movable contact interface is connected with the coil wound on the No. 11 stator tooth. The stationary contact interface of the 7 th alternative analog switch is connected with a coil wound on the No. 14 stator tooth, the first movable contact interface is connected with a coil wound on the No. 18 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 4 stator tooth. The 8 th alternative analog switch has its stationary contact interface connected to the coil wound around the No. 22 stator tooth, its first movable contact interface connected to the coil wound around the No. 18 stator tooth, and its second movable contact interface connected to the coil wound around the No. 32 stator tooth. The fixed contact interface of the 9 th alternative analog switch is connected with a coil wound on the No. 32 stator teeth, the first movable contact interface is connected with a coil wound on the No. 36 stator teeth, and the second movable contact interface is connected with a coil wound on the No. 22 stator teeth. The stationary contact interface of the 10 th alternative analog switch is connected with a coil wound on the No. 33 stator tooth, the first movable contact interface is connected with a coil wound on the No. 3 stator tooth, and the second movable contact interface is connected with a coil wound on the No. 31 stator tooth. The static contact interface of the 11 th alternative analog switch is connected with the coil wound on the 34 # stator tooth, the first movable contact interface is connected with the coil wound on the 4 # stator tooth, and the second movable contact interface is suspended. The 12 th alternative analog switch has its stationary contact interface connected to the coil wound around the 35 th stator tooth, its first movable contact interface connected to the coil wound around the 2 nd stator tooth, and its second movable contact interface connected to the coil wound around the 13 th stator tooth. One or two bonding pads are reserved on the flexible PCB at positions corresponding to the coils and needing to be connected with the alternative analog switch for connection.
The precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4.
One end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the No. 1 stator tooth. One end of the resistor R4 is used as another connecting terminal cos-connected with a static contact interface of the 13 th alternative analog switch, a first movable contact interface of the 13 th alternative analog switch is connected with a coil wound on the 36 # stator teeth, and a second movable contact interface of the 13 th alternative analog switch is connected with a coil wound on the 34 # stator teeth. The other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 . Second connection terminal S of bridge output end 1 The fixed contact interface of the 14 th alternative analog switch is connected, the first movable contact interface of the 14 th alternative analog switch is connected with the coil wound on the 33 # stator teeth, and the second movable contact interface of the 14 th alternative analog switch is connected with the coil wound on the 35 # stator teeth. The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator tooth, a coil wound on the No. 35 stator tooth or a coil wound on the No. 23 stator tooth. The other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 . Fourth connecting terminal S of bridge output end 2 The static contact of the 15 th two-in-one analog switch is connected, and the first movable contact of the 15 th two-in-one analog switchThe second movable contact of the 15 th alternative analog switch is connected with the coil wound on the No. 16 stator teeth. Pads are also left on the bridge where the alternative analog switch needs to be connected for connection.
The microprocessor outputs low level and controls the static contact interface of 15 alternative analog switches to be communicated with the first movable contact interface. As indicated by the solid line in fig. 7, the coil wound around the stator tooth No. 5 is connected with the coil wound around the stator tooth No. 9, the coil wound around the stator tooth No. 13 is connected with the coil wound around the stator tooth No. 9, the coil wound around the stator tooth No. 7 is connected with the coil wound around the stator tooth No. 11, and the coil wound around the stator tooth No. 23 is connected with the coil wound around the stator tooth No. 27. The coil wound on the number 31 stator tooth is connected with the coil wound on the number 27 stator tooth, the coil wound on the number 25 stator tooth is connected with the coil wound on the number 29 stator tooth, the coil wound on the number 14 stator tooth is connected with the coil wound on the number 18 stator tooth, the coil wound on the number 22 stator tooth is connected with the coil wound on the number 18 stator tooth, the coil wound on the number 32 stator tooth is connected with the coil wound on the number 36 stator tooth, the coil wound on the number 33 stator tooth is connected with the coil wound on the number 3 stator tooth, the coil wound on the number 34 stator tooth is connected with the coil wound on the number 4 stator tooth, the coil wound on the number 35 stator tooth is connected with the coil wound on the number 2 stator tooth, the other connection terminal cos of the bridge input end is connected with the coil wound on the number 36 stator tooth, the second connection terminal S of the bridge output end 1 A fourth connection terminal S connected with the coil wound on the 33 # stator teeth and at the output end of the bridge 2 Is connected with the coil wound on the 34 # stator teeth. The coil which is not connected with the alternative analog switch is directly connected according to the rule. Thereby realizing the connection of coils wound on the stator teeth of the numbers 1, 5, 9, 13, 17, 21, 25, 29 and 33 to be used as a winding section I; the coils wound on the stator teeth of the numbers 2, 6, 10, 14, 18, 22, 26, 30 and 34 are connected to form a winding section II. The coils wound on the stator teeth of the numbers 3, 7, 11, 15, 19, 23, 27, 31 and 35 are connected to form a winding section III. Wound around the No. 4 No. 8, no. 12The coils on the stator teeth of the numbers 16, 20, 24, 28, 32 and 36 are connected to form a winding section IV. The winding direction of the winding section I is consistent with that of the winding section III, and the winding direction of the winding section II is consistent with that of the winding section IV. Since the coil wound around the stator tooth No. 33 is connected to the coil wound around the stator tooth No. 3, the winding segment i is connected to the winding segment iii. Since the coil wound on the stator tooth No. 35 is connected to the coil wound on the stator tooth No. 2, the winding section iii is connected to the winding section ii. Because the coil wound on the 34 # stator teeth is connected with the coil wound on the 4 # stator teeth, the winding section II is connected with the winding section IV, so that the fine machine winding in the bridge is formed.
The microprocessor outputs high level and controls the static contact interface of 15 alternative analog switches to be communicated with the second movable contact interface. As indicated by the broken line in fig. 7, the coil wound around the stator tooth No. 5 is connected with the coil wound around the stator tooth No. 3, the coil wound around the stator tooth No. 13 is connected with the coil wound around the stator tooth No. 35, the coil wound around the stator tooth No. 7 is connected with the coil wound around the stator tooth No. 29, and the coil wound around the stator tooth No. 23 is connected with the coil wound around the stator tooth No. 2. The coil wound on the No. 31 stator tooth is connected with the coil wound on the No. 33 stator tooth, the coil wound on the No. 25 stator tooth is connected with the coil wound on the No. 11 stator tooth, the coil wound on the No. 14 stator tooth is connected with the coil wound on the No. 4 stator tooth, the coil wound on the No. 22 stator tooth is connected with the coil wound on the No. 32 stator tooth, the coil wound on the No. 34 stator tooth is suspended, the other connecting terminal cos of the bridge input end is connected with the coil wound on the No. 34 stator tooth, and the second connecting terminal S of the bridge output end 1 A fourth connection terminal S connected with the coil wound on the No. 35 stator tooth and at the output end of the bridge 2 Is connected with the coil wound on the number 16 stator teeth. The coil which is not connected with the alternative analog switch is directly connected according to the rule. Thereby realizing the connection of coils wound on the stator teeth of the numbers 1, 5, 3, 7, 29, 33, 31 and 35 to be used as a winding section A; the coils wound on the stator teeth of the numbers 2, 6, 10, 14, 4, 8, 12 and 16 are connected to form a winding section B. Wound around No. 13, no. 17 No. 21, no. 25, no. 11 The coils on the stator teeth of the numbers 15, 19 and 23 are connected to form a winding section C. The coils wound on the stator teeth of the numbers 20, 24, 28, 32, 22, 26, 30 and 34 are connected as a winding segment D. The winding directions of the winding section A and the winding section C are consistent, and the winding directions of the winding section B and the winding section D are consistent. The coils wound on the stator teeth of numbers 9, 18, 27 and 36 are not part of the roughing winding, thus ensuring orthogonality. Since the coil wound around the stator tooth No. 35 is connected with the coil wound around the stator tooth No. 13, the winding segment a is connected with the winding segment C. Since the coil wound on the stator tooth No. 23 is connected with the coil wound on the stator tooth No. 2, the winding segment C is connected with the winding segment B. Since the coil wound on the stator tooth No. 16 is in contact with the coil wound on the stator tooth No. 20, the winding segment B is connected to the winding segment D, thereby forming the roughing winding in the bridge.
The rotor 2 rotates relative to the stator 1. When the power-on work is performed, the microprocessor outputs high level first, so that the coarse machine winding is used as one side bridge arm of the bridge, one sine excitation signal is input through one wiring terminal cos+ at the input end of the bridge, the other wiring terminal cos-is input, and the first wiring terminal V at the output end of the bridge 1 Output induction signal U 1 Second connecting terminal S 1 Output induction signal U 2 Third connecting terminal V 2 Output induction signal U 3 Fourth connecting terminal S 2 Output induction signal U 4 . Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by an addition circuit, a traveling wave signal U is obtained; the traveling wave signal U and the sine excitation signal are sent into a phase discrimination circuit for phase discrimination treatment, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the rough measurement angle theta is obtained after the operation of a microprocessor 0 Storing the rough measurement angle theta 0 Rough measurement of angle θ 0 The device is used for positioning the counter electrode during power-up. Then, flashThe microprocessor outputting low level at a speed (for example, within 0.1 s) to make the precision machine winding as one side arm of the bridge, and a first connection terminal V at the output end of the bridge 1 Output induction signal U 1 Second connecting terminal S 1 Output induction signal U 2 Third connecting terminal V 2 Output induction signal U 3 Fourth connecting terminal S 2 Output induction signal U 4 . Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by an addition circuit, a traveling wave signal U is obtained; the traveling wave signal U and the sine excitation signal are sent to a phase discrimination circuit for phase discrimination treatment, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the precise measurement angle theta' is obtained after the microprocessor operation. Finally, the microprocessor uses the formula:calculating an absolute angle value beta of the rotor; wherein (1)>Representing down +.>Integer of [ theta ] 0 The value range of [0,360 °) and θ' is +.>At absolute zero θ 0 θ' =0. When the rotor 2 starts to rotate one revolution relative to the stator 1 from the absolute zero, the precision angle measurement θ' is at +.>Internal change 1 time, rough measurement of angle θ 0 And 1 time within [0,360 deg.). Once-throughThe power-on test only needs to use the coarse machine winding once, and the follow-up measurement uses the fine machine winding (namely works in a fine machine state).
If the incremental angle value is to be measured, only a fine machine winding is needed, and the obtained fine measurement angle theta' is the incremental angle value of the rotor 2 rotating relative to the stator 1.

Claims (9)

1. An electromagnetic induction type angle sensor based on a single winding comprises a stator (1), a rotor (2) and a signal processing circuit; the stator (1) comprises a stator matrix (11) and a sensing winding, wherein the stator matrix (11) is a magnetic conduction cylindrical ring, and 4N grooves with a fan-shaped cross section and axially penetrating are uniformly formed in the inner cylindrical surface of the stator matrix at intervals along the circumferential direction to form a space structure with 4N fan-shaped teeth (112) and 4N fan-shaped grooves (111) distributed in a staggered manner; the rotor (2) is a magnetic-conductive cylindrical ring, is positioned in the stator matrix (11) and is coaxial with the stator matrix (11), a gap is reserved between the rotor and the stator matrix (1), and the rotor (2) can rotate relative to the stator (1); the method is characterized in that: the sensor also comprises a coarse-fine switching circuit;
the outer wall of the rotor (2) is provided with P x N convex teeth (21) which are arranged along the circumferential direction and are penetrated along the axial direction, and the section outer contour line of the rotor (2) meets the following conditions:wherein θ i Represents the central angle ρ between the ith point and the 1 st point on the section outer contour line of the rotor (2) i Represents the distance between the ith point on the outer contour line of the section of the rotor (2) and the center O of the section of the rotor, R represents the radius threshold value of the rotor, E represents the length factor of the rotor, F represents the shape factor of the rotor, a 1 Characteristic coefficient representing refiner, a 2 Characteristic coefficient of coarse machine, R, E, F, a 1 、a 2 Are all determined amounts, N, P is a positive integer, P>4, and P is compatible with 4;
the sensing winding consists of 4N coils wound on 4N sector teeth (112), and the 4N coils are connected with a precision resistor to form an electric bridge; 4N coils are combined to form a fine machine winding, and the connection relation of the coils is changed through a coarse-fine switching circuit so that the 4N coils are combined to form a coarse machine winding;
the rotor (2) rotates relative to the stator (1), when in power-on work, the roughing machine winding is firstly used as one side bridge arm of the bridge, one path of excitation signal is introduced into the input end of the bridge, the output end of the bridge outputs an induction signal, and the induction signal is processed by the signal processing circuit to obtain the roughing angle theta 0 Storing the rough measurement angle theta 0 The method comprises the steps of carrying out a first treatment on the surface of the Then switching by a coarse-fine switching circuit to enable the fine machine winding to be used as one side bridge arm of the bridge, outputting an induction signal by the output end of the bridge, and processing by a signal processing circuit to obtain a fine measurement angle theta'; the precise angle theta' and the rough angle theta are measured 0 The absolute angle value beta of the rotor is obtained through combination.
2. The single-winding-based electromagnetic induction type angle sensor according to claim 1, wherein the 4N coils are combined to form the precision machine winding in the following manner:
one of the sector teeth (112) is called a No. 1 stator tooth, and the other sector teeth (112) are sequentially called No. 2 stator teeth to No. 4N stator teeth along the circumferential direction; the coils wound on the number 4n-3 stator teeth are connected and used as a winding section I; the coils wound on the number 4n-2 stator teeth are connected and used as a winding section II; the coils wound on the stator teeth of the number 4n-1 are connected and used as a winding section III; the coils wound on the number 4n stator teeth are connected and used as a winding section IV; the winding section I is connected with the winding section III, the winding section III is connected with the winding section II, and the winding section II is connected with the winding section IV to form the fine machine winding; wherein N is all integers from 1 to N in turn.
3. The single-winding based electromagnetic induction angle sensor of claim 2, wherein:
when N is even, the way in which 4N coils are combined to form the roughing winding is:
wound around 3N+2m 1 -stator tooth number 1 and 2m 1 The coils on the stator teeth No. 1 are connected as winding segments a; wherein m is 1 Sequentially taking 1 toIs a whole number of (a);
around 2m 2 Coils on the stator teeth are connected and used as a winding section B; around N+2m 2 The coils on the stator teeth No. 1 are connected as winding segments C; wound around 2N+2m 2 Coils on the stator teeth are connected and used as a winding section D; wherein m is 2 Sequentially taking all integers from 1 to N;
the winding section A is connected with the winding section C, the winding section C is connected with the winding section B, and the winding section B is connected with the winding section D to form the roughing machine winding.
4. A single-winding based electromagnetic induction angle sensor according to claim 3, characterized in that:
the coarse-fine switching circuit comprises 9 alternative analog switches connected with the coil; the 9 alternative analog switches are respectively arranged at 9 switching nodes, and stator teeth corresponding to the 9 switching nodes are respectively: n-3 stator teeth, N-1 stator teeth, 3N-3 stator teeth, 3N-1 stator teeth, 2N-2 stator teeth, 4N-3 stator teeth, 4N-2 stator teeth, and 4N-1 stator teeth.
5. The single-winding based electromagnetic induction angle sensor of claim 4, wherein:
the coarse-fine switching circuit further comprises 2 alternative analog switches;
the precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4;
one end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the stator tooth 1; one end of the resistor R4 is used as another connecting terminal cos-of the bridge input end and is connected with a coil wound on the No. 4N stator teeth or a coil wound on the No. 4N-2 stator teeth;
the other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 Output the sensing signal U 1 The method comprises the steps of carrying out a first treatment on the surface of the Second connection terminal S of bridge output end 1 The coil wound on the No. 4N-3 stator teeth and the coil wound on the No. 4N-1 stator teeth are connected through an alternative analog switch, and the induction signal is outputU 2 ；
The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator tooth, a coil wound on the No. 4N-1 stator tooth or a coil wound on the No. 3N-1 stator tooth;
the other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 Output the sensing signal U 3 The method comprises the steps of carrying out a first treatment on the surface of the Fourth connecting terminal S of bridge output end 2 The coil wound on the No. 4N-2 stator teeth and the coil wound on the No. 2N stator teeth are connected through an alternative analog switch, and an induction signal U is output 4 ；
Inductive signal U 1 Sensing signal U 2 Sensing signal U 3 Sensing signal U 4 Input to a signal processing circuit for processing.
6. The single-winding based electromagnetic induction angle sensor of claim 2, wherein:
when N is odd, the mode of combining 4N coils to form the roughing winding is as follows:
wound around 3N+2m 3 Stator teeth number 2m 3 The coils on the stator teeth No. 1 are connected as winding segments a; wherein m is 3 Sequentially taking 1 toIs a whole number of (a);
around 2m 4 Coils on the stator teeth are connected and used as a winding section B; around N+2m 4 Coils on the stator teeth are connected and used as a winding section C; wound around 2N+2m 4 Coils on the stator teeth are connected and used as a winding section D; wherein m is 4 Sequentially taking all integers from 1 to N-1;
the winding section A is connected with the winding section C, the winding section C is connected with the winding section B, and the winding section B is connected with the winding section D to form the roughing machine winding.
7. The single-winding based electromagnetic induction angle sensor of claim 6, wherein:
The coarse-fine switching circuit comprises 12 alternative analog switches connected with the coil; the 12 alternative analog switches are respectively arranged at 12 switching nodes, and stator teeth corresponding to the 12 switching nodes are respectively: n-4 stator teeth, N+4 stator teeth, N-2 stator teeth, 3N-4 stator teeth, 3N+4 stator teeth, 3N-2 stator teeth, 2N-4 stator teeth, 2N+4 stator teeth, 4N-4 stator teeth, 4N-3 stator teeth, 4N-2 stator teeth, 4N-1 stator teeth.
8. The single-winding based electromagnetic induction angle sensor of claim 7, wherein:
the coarse-fine switching circuit further comprises 3 alternative analog switches;
the precision resistor comprises a resistor R1, a resistor R2, a resistor R3 and a resistor R4;
one end of the resistor R1 is used as a connecting terminal cos+ of the input end of the bridge and is connected with a coil wound on the stator tooth 1; one end of the resistor R4 is used as another connecting terminal cos-of the bridge input end, and the coil wound on the No. 4N stator tooth and the coil wound on the No. 4N-2 stator tooth are connected through an alternative analog switch;
the other end of the resistor R1 is connected with one end of the resistor R2 and is used as a first wiring terminal V of the output end of the bridge 1 Output the sensing signal U 1 The method comprises the steps of carrying out a first treatment on the surface of the Second connection terminal S of bridge output end 1 The coil wound on the No. 4N-3 stator teeth and the coil wound on the No. 4N-1 stator teeth are connected through an alternative analog switch, and an induction signal U is output 2 ；
The other end of the resistor R2 is connected with one end of the resistor R3, a coil wound on the No. 2 stator teeth and a coil wound on the No. 4N-1 stator teeth or a coil wound on the No. 3N-4 stator teeth;
the other end of the resistor R3 is connected with the other end of the resistor R4, and is used as a third wiring terminal V of the bridge output end 2 Output the sensing signal U 3 The method comprises the steps of carrying out a first treatment on the surface of the Fourth connecting terminal S of bridge output end 2 The coil wound on the No. 4N-2 stator teeth and the wire wound on the No. 2N-2 stator teeth are connected through an alternative analog switchA ring for outputting the induction signal U 4 ；
Inductive signal U 1 Sensing signal U 2 Sensing signal U 3 Sensing signal U 4 Input to a signal processing circuit for processing.
9. The single-winding based electromagnetic induction type angle sensor according to claim 5 or 8, characterized in that:
the signal processing circuit comprises an operational amplifier A3, an operational amplifier A4, a filter LPF1, a filter LPF2, a phase shifting circuit, an adding circuit, a phase discrimination circuit and a microprocessor; the microprocessor generates the excitation signal and controls the action of the alternative analog switch;
Inductive signal U 1 Sensing signal U 2 Amplified by an operational amplifier A3, filtered by a filter LPF1 and phase-shifted by 90 DEG by a phase-shifting circuit to obtain a standing wave signal U 12 The method comprises the steps of carrying out a first treatment on the surface of the Inductive signal U 3 Sensing signal U 4 Amplified by an operational amplifier A4 and filtered by a filter LPF2 to obtain a standing wave signal U 34 The method comprises the steps of carrying out a first treatment on the surface of the Standing wave signal U 12 Standing wave signal U 34 After processing by an addition circuit, a traveling wave signal U is obtained; sending the traveling wave signal U and the excitation signal into a phase discrimination circuit for phase discrimination, wherein the phase difference is represented by the number of the interpolated high-frequency clock pulses, and obtaining a rough measurement angle theta after the operation of a microprocessor 0 Or precisely measuring the angle theta'; the microprocessor measures the angle theta' precisely and the angle theta roughly 0 The absolute angle value beta of the rotor is obtained through combination.
CN202311282235.XA 2023-09-28 2023-09-28 Electromagnetic induction type angle sensor based on single winding Pending CN117330111A (en)

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