CN1708895A - Sensor system and method for vector control - Google Patents
Sensor system and method for vector control Download PDFInfo
- Publication number
- CN1708895A CN1708895A CNA2003801019880A CN200380101988A CN1708895A CN 1708895 A CN1708895 A CN 1708895A CN A2003801019880 A CNA2003801019880 A CN A2003801019880A CN 200380101988 A CN200380101988 A CN 200380101988A CN 1708895 A CN1708895 A CN 1708895A
- Authority
- CN
- China
- Prior art keywords
- sector
- permanent magnet
- hall element
- rotor
- microprocessor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- 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
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a sensor system for the vector control of an electric synchronous motor using a microprocessor (MP), especially a permanent magnet motor (PM) of a thread feeding appliance (F). According to the invention, sector permanent magnets (11) which can be rotatably driven by the rotor (R) and have the same polarities are homogeneously distributed about 360 DEG , at least two fixed Hall sensors (H1, H2) are aligned on the orbit of the sector permanent magnets, said Hall sensors being interspaced in the direction of rotation in such a way that each sector permanent magnet (11) at least temporarily activates at least two of the Hall sensors at the same time, and a zero permanent magnet (14) with reversed polarity is provided for bypassing at least one of the Hall sensors.
Description
Technical field
The present invention relates to a kind of sensing system as claimed in claim 1 and method as claimed in claim 10.
Background technology
Big and need to shut down under the situation of (stoppage) in some rotation speed change, magneto is proved to be drive source preferably, and this is because magneto provides point-device Torque Control and high operating efficiency, and moderate power consumption and low thermal radiation are promptly arranged.Vector control for so-called magneto, perhaps need a transducer that is used for measured angular speed that is used in combination with three position transducers that are used to measure rotor angle location, perhaps required information is to be in operation to be determined roughly by calculating under the help of the parameter that measures.
As EP1,052, position sensorless device when the disclosed magneto of 766A is operated.Be used to carry out vector control, determine that by estimation this electric current is measured by shunt resistance about the information of angular speed and position, angle at each phase current.The zero crossing of electronic reaction force is as the reference time.
In order to carry out permanent vector control, invention PCT/EP 02/10700 proposes a kind of uses according to magneto sinusoidal procedure activation, that work under the state of position-sensor-free, by position detected, calculate corresponding rotor rotation by the form of the electronic reaction force of rotor induction generation in stator winding.
By US4,814, in a kind of magneto that 677A is disclosed, do not have position transducer,, the voltage and current in the winding is monitored for by three-phase/two phase converter control voltage signal and current signal.
Magneto can not be worked best under special operating conditions, and for example in situation as mentioned above, it must handle significantly different velocity of rotation and convalescence (resting phase) or withholding periods (stopping phase).Under the situation of velocity of rotation marked change, for each velocity of rotation, it is difficult that realization has the best vector control ratio of optimum efficiency and best torque.Under situation about frequently stopping, before regaining actual rotor rotation angle, for restarting each time, a time delay must being taken into account, so that vector control can be carried out in the mode of the best again.Trend towards the external force of rotary rotor, for example at stop phase, on the rotation direction formerly forward or even backward the time, can produce a kind of special problem.The rotational angle that this special problem is an actual rotor no longer is known.Winding drive motors for the yarn input equipment, these defectives are undesirable especially, wherein convalescence the yarn input equipment frequently be subjected to the external force of elastomeric element in the yarn input equipment and/or yarn, if perhaps winding element is by hand rotation wittingly or occasionally.
Summary of the invention
An object of the present invention is to provide the vector control that a kind of sensing system and method are used for avoiding these defectives.Be to realize the best vector control of non-time delay, these sensing systems must provide information accurately, particularly under the situation of the stop phase or the low speed that restarts.An important aspect provides a kind of sensing system and method that is used for vector control, be used in particular for magneto as the winding driving of yarn input equipment, and make even under the complexity of yarn input process requires, this magneto can be worked in a kind of mode of the best with its intrinsic, positive operating characteristic.
This purpose can be according to the feature of the method for the feature of claim 1 of the present invention and claim 10 and is realized.
When the sector permanent magnet motor shut down and restart and or even very under the situation of low speed during the excitation Hall element; microprocessor is in hold mode at any time under the help of the zero signal of information, this sector that is positioned at rotor periphery 360 degree scopes is located by Hall element.This information also can obtain in the process of shutting down.In addition, or even exist when shutting down under the situation of external force of rotary rotor, microprocessor can obtain the information of correct direction of rotation from the stack between the interim at least actual angle signal, thereby microprocessor can be adjusted the stator vector best.That is to say that microprocessor can be followed the tracks of the rotation of the rotor that is produced by external force.In addition, in the process that restarts and under the situation of low motor speed, the correct rotational angle information that is used for best vector control can directly obtain.This sensing system is convenient especially for the vector control of magneto, and wherein this magneto drives as the winding of yarn input equipment, and frequent in the case unexpected external force in the process of shutting down, may work especially.
Control is easily to this method for best vector, particularly for the magneto that drives as the winding of yarn input equipment, this is because this method is determined the information on the sector at any time at least, before this sector is in Hall element, the information of the rotor rotation motion that causes by external force of accurate tracking and the information of identification rotation direction, the stator vector can preferably and for restarting without delay of motor be conditioned like this.
Be that the Hall element of a numeral and a simulation is set easily.The corresponding sector of two sensors permanent magnet.This, permanent magnet encouraged analogue hall sensor through a passage time at zero point, and the signal of this analogue hall sensor is represented the reference rotational angle, when the actual angle signal that arrives Hall element like this in each sector produces, and the notice microprocessor.
In another embodiment, for the sector permanent magnet is provided with two digital hall sensor, simultaneously for zero point permanent magnet one the 3rd analog sensor or one be set use digital hall sensor.This has simplified the assessment of correct signal.
By having defined 24 sector magnetoes of 15 degree sectors, can access high resolution.The quantity of sector permanent magnet can be more or less, and this quantity relies on the quantity of motor pole indirectly.
For convenience of the signal evaluation of microprocessor, Hall element should be connected to the port of separation.
Be especially easily, in microprocessor, be provided with an additional program part,,, determine the angle of rotor rotation by the method that the motor that relies on electrodynamic variation moves by this program part.This program part with depend on the program part that switches between the evaluation process of speed at two and combine.Only in the process of shutting down and restarting,, ignore electrodynamic variation simultaneously to the signal evaluation of Hall element.On the contrary,, ignore the signal of Hall element, have only electrodynamic variation to be scanned simultaneously when being higher than the predetermined motor speed of service.By this method, best vector control can realize in the wide range of speeds with in the process from stopping to restarting.
Although permanent magnet and Hall element can be installed in the motor, in order not change the literal sense of motor, can more easily permanent magnet be installed on the carrier, this carrier is bonded on the rotor.
Under the situation of magneto as the winding drive motors of yarn input equipment, rotor engages by axle and winding unit; This twines unit or winding disc or winding cylinder.Permanent magnet is installed in and twines on the unit, and Hall element is installed in the position of the track of near permanent magnet in the yarn input equipment simultaneously.No matter when magneto stops, and the information that obtains for the permanent vector control of magneto can be used for twining the unit at least one predetermined turned position by the microprocessor adjustment in addition.This turned position is easily for the secondary function in the yarn input equipment, for example penetrating automatically for new yarn.Further, the permanent information that obtains again can be used to stop in some cases the reversing of the rotor that the external force that produced by yarn causes, the mode that stops is to produce the holding torque with a certain size, and this holding torque suppresses to twine rotating and reverse of unit.
Microprocessor is contained in the control appliance of control magneto of yarn input equipment easily; The control appliance of this yarn input equipment also is connected to yarn supply transducer; This yarn supply transducer is used for according to yarn delivery dimension control winding drive motors.Whether the signal deciding of yarn supply transducer is twined drive motors and must correspondingly be driven, stop, quickening or slow down.Shut down and the process of operation in, the information that permanent magnet and Hall element provide is used to the secondary function controlling motor and/or be used for the yarn input equipment by microprocessor.
For in the wideest range of speeds and simultaneously in order to optimize vector control from restarting of static beginning, according to this method, when the speed of motor surpassed predetermined motor speed value, the vector of stator was adjusted, when the signal of Hall element is left in the basket simultaneously.The adjustment of stator vector and the execution of rotation depend on the variation of electrodynamic variation, particularly reaction force; This reaction force is caused by the rotor in the stator (for example PCT/EP02/10700) and/or (for example US 4,814,677A) cause by the voltage and current in the winding of measuring stator.On the contrary, in the process of shutting down and restarting, the vector of stator is to adjust by the signal that calculates Hall element.
In each sector, produce the combination of several distinguishing signals; The combination of these signals is read as coding by microprocessor; In conjunction with zero signal, direction and corresponding sector that these codings rotate to the microprocessor notice.Further, from different signal combination, microprocessor can access in addition further information, or even the rotor rotation angle position in corresponding sector.Use this method, in the testing process of position, can obtain higher resolution, and this resolution is relevant with the quantity of permanent magnet by coding.On the other hand, the high-resolution size that makes the quantity that reduces the sector permanent magnet or correspondingly increase the sector becomes possibility.
Description of drawings
One embodiment of the present of invention have been explained according to accompanying drawing.Among the figure:
Fig. 1 is as the longitudinal sectional view of the magneto of the winding drive motors of yarn input equipment;
Fig. 2 is the cutaway view of the yarn input equipment among Fig. 1;
The schematic diagram of a kind of position probing of Fig. 3;
The schematic diagram of the another kind of position probing of Fig. 4;
Signal evaluation table in Fig. 5 microprocessor; With
Fig. 6 illustrates the result of the signal evaluation among Fig. 3.
Embodiment
Yarn input equipment F as illustrated in fig. 1 and 2 is the weft yarn input equipment as loom.Yet the present invention also can be applied to the yarn input equipment in the knitting machine (not shown), and this knitting machine for example comprises as the rotating yarn storage cylinder that twines the unit.Further, this invention even be applied to other yarn treatment machine.
Yarn input equipment among Fig. 1 and 2 comprises a housing 1 that has shell holder 2, holds optional feature in the shell holder 2.In axle 3 bearings 4 that are installed in rotation in the housing 1 of a hollow.A yarn storage cylinder D is fixed on the free end that is positioned at shell holder 2 belows still.D rotates with axle for fear of yarn storage cylinder, and this permanent magnet 12 is installed in the housing still, is used for cooperating with the magnetic of the unshowned permanent magnet that is installed in yarn storage cylinder D by twining unit W.
A synchronous machine, particularly magneto PM are as twining drive motors.This motor comprises the rotor R and the stator component ST that are installed on the axle 3.This stator component ST for example is fixed on a predetermined counterrotating position that is arranged in housing 1 by positioning element 13 (Fig. 2).
In an illustrated embodiment, an electric machinery control device CU and a microprocessor MP are installed in shell holder 2.This electric machinery control device CU has one the signal transmission and connection device that yarn is supplied transducer 8 is installed, in order to go up the yarn supply that exists with yarn winding form according to for example being formed on yarn storage cylinder D, rotary speed, moment and the convalescence of control magneto PM.Further, the track 9 of entrying is arranged in the shell holder 2, in order to import new yarn into, this shell holder 2 and a unshowned airborne pneumatic entry device cooperating.A withdrawal switch (withdrawal opening) 7 that is used for yarn also is set at shell holder 2.
This magneto PM carries out vector control by the mode of sensing system SS by microprocessor MP, promptly produce an electromagnetic vector in stator component ST, this electromagnetic vector is adjusted to the corresponding best angle lead of vector that produces with rotor on direction of rotation.In addition, based on the electrodynamic variation that is scanned, the particularly variation of the reaction force that produces based on rotor and/or based on measurement corresponding to voltage in stator winding or electric current, provide a program element that is used for vector control on the microprocessor MP, and also provide one to be used in a kind of vector control (surpassing the predetermined speed of service for speed) and to use the program element of changing between the vector control (on the cycle of recovery and be used to the phase of restarting) of sensing system SS.
This winding unit W is installed on the axle 2 and has an outlet 6.The rotary angle position of this outlet 6 is structurally fixed corresponding to rotor R.In this embodiment, this winding unit W is infundibulate (funnel-shaped) dish 10 and comprises that one is not shown specifically and at the winding pipe of outlet 6 terminations.This unshowned yarn passes axle 3 and twines by exporting the 6 contiguous yarns that are wrapped in yarn storage cylinder D.
This sensing system SS comprises sector permanent magnet 11, and these permanent magnets 11 are installed in rotor R and in 360 degree rotor R are divided into equal sector.Sector permanent magnet 11 is arranged on, and as shown in the Examples, for example is positioned at the periphery of infundibulate dish and has the uniform circumference distance.Also can than shown in more, for example 24, or sector permanent magnet 11 still less.All sector permanent magnets all have identical magnetic, and outside for example the arctic was pointed to, the South Pole was towards axle 3 simultaneously.At least two Hall element H1, H2 at the track of permanent magnet 11, install in static mode.This Hall element is on the position of relativity shift of the direction that rotatablely moves.
This Hall element H1, H2 can be numeral and/or analogue hall sensor.Under the situation that two Hall element H1, H2 are arranged, one of them is with digital form work, and another is with analog form work.(not shown) under the situation that three Hall elements are arranged, wherein two with digital form work, and the 3rd with digital form or analog form work.
Fig. 2 shows the geometric distributions of permanent magnet P, and this permanent magnet P defines the magnetic pole in the rotor R.The stator component that illustrates only is used for schematic diagram (not comprising stator winding wherein).In addition, permanent magnet 14 for example was set at the 1st sector and twined among the unit W at zero point at least one, was arranged on easily between two sector permanent magnets 11.Permanent magnet 14 magnetic at zero point that should be additional opposite with the magnetic of sector permanent magnet 11 (zero point, permanent magnet South Pole of 14 was outside, and the arctic is towards axle 3) with same magnetic.By speed control apparatus CU and microprocessor MP and the mode by sensing system SS, can implement the permanent vector control of magneto PM.In this case, the turned position of rotor R is for good and all decided, and realizes the rotation of stator vector can obtaining satisfied speed and best moment output like this by the winding that corresponding electric current is supplied to stator.For vector control required, be respectively with respect to the corresponding angular position information of the rotor R of stator winding or stator component ST and housing 1 at least; can from the cooperation between sector permanent magnet 11 (and zero point permanent magnet 14) and Hall element H1, the H2, the mode with sensing system SS extract, or even in convalescence or when shutting down.This information even can be used for Position Control and/or position monitoring with respect to the winding element W of housing 1, for example for when magneto PM shuts down, outlet 6 can be parked in and track 9 positions aligning of entrying on.
As Fig. 2, for example under the situation that detects the yarn disconnection, winding element W must be parked in respect to the predetermined position of rotation X1 in the position of entrying of housing 1.When magneto M must stop, twining unit W even can be adjusted to one second position of rotation X2 (Fig. 2), for example will turn 90 degrees partially in this second position of rotation outlet 6 with respect to shell holder 2.Under the situation of the pull-back forces that yarn is arranged, the information of the angle position that rotor R is rotated also can be used to stop twines unit W rotation near the stop position of this adjustment for example X1, X2; This information can for good and all obtain from sensing system SS, in some cases, even and rotation information combination.This move is to realize under the help of speed control apparatus CU; Static in order to keep winding unit W, this speed control apparatus CU sets up one by magneto PM and keeps moment on corresponding suitable rotation direction.Even when magneto PM shuts down, cooperate from sector permanent magnet 11 and Hall element H1, H2, can obtain the turned position of rotor R, to allow carrying out best vector control immediately in the process that restarts at magneto PM.
This permanent magnet 11,14 also can be installed on another supporting body, and this supporting body connects rotor R and rotates with rotor R, and in some cases apart from rotation axis very near (higher resolution).Have the sensing system SS of microprocessor MP and correspondingly substantially also can be used for being different from the motor vector control of the application of yarn input unit with the permanent magnet 11 or 11 and 14 of Hall element H1, H2 cooperating.
By sensing system SS and by microprocessor MP, the method for the vector control of magneto PM can obtain explaining by Fig. 2 to 6.In order to explain, not only suppose 12 (as shown in Figure 2) but also even suppose 24 sector permanent magnets 11, they have defined the 1st to the 24th sector, zero point, permanent magnet was installed in the 1st sector.The input port that is connected with the microprocessor MP of Hall element H1, H2 is represented as H1 ', H2 ', H2 ".Arrow T represents clockwise rotation, the rotation that arrow T ' expression is counterclockwise.Microprocessor is at its input port H1 ', H2 ', H2 " with the signal of Hall element H1, H2 as represent the sector and at present the information of rotation direction read; for example as encoding, corresponding to for example high or low signal level by numeral 1 and 0 binary system of forming or duplex system.Based on this information, the required stator vector of the desirable rotation direction and the moment of requirement is regulated in the mode of the best.
Microprocessor MP has been shown among Fig. 3 how has read signal at its input port H1 ', H2 ', this signal in Hall element H1, H2 by sector permanent magnet 11 and zero point permanent magnet 14 produce.Line vertical among the figure is separated from each other corresponding sector.Digital hall sensor H1 produces the signal of rectangle, and this signal is separated in the centre by vertical separator bar each other.Analogue hall sensor H2 produces the signal of chevron, and each sector signals is all short than the sector, starts from the position of vertical divider, ends at the centre of sector.Further, by zero point permanent magnet 14 by the place, analogue hall sensor H2 produces down chevron signal in addition at the 1st sector (S1).This signal with by the signal of sector permanent magnet 11 mutually continuously and be positioned near the central authorities of the 1st sector (S1).Rectangular signal and positive chevron signal correspondingly begin and stack each other in corresponding to the scope of half length of each rectangular signal at separator bar.
Microprocessor MP has been shown among Fig. 4 how has read in three digital hall sensor H1, the H2 that this embodiment provides, the signal of H3 at input port H1 ', the H2 ', the H3 ' that separate.The signal of this Hall element is a rectangular signal, and wherein zero point, permanent magnet 14 signal (lower burst (signal train)) was a negative rectangular signal (because opposite magnetic).The rectangular signal of Hall element H1, H2 is corresponding to big mutual superposition in half the scope longitudinally of each rectangular signal, and this stack scope originates in the vertical divider in the middle of the corresponding sector.The rectangular signal of Hall element H3 is positioned at the mid portion of the 1st sector (S1).
Microprocessor MP promptly from the combination of the sector signals that differs from one another, reads binary system or duplex system coding from the burst of Fig. 3 and 4; In conjunction with permanent magnet 14 signal at zero point, can be placed the corresponding sector and even the rotation direction information of Hall element front at least from this coding.Because the combination of the several signals that differ from one another is arranged in each sector, microprocessor can not only obtain corresponding sector, and even in order in position probing, to increase resolution, the rotor angular position that in each sector, can also obtain dispersing.This point will at length be explained.Higher resolution even permission reduce the number (saving) of sector permanent magnet.
Table in the corresponding diagram 5 supposes that magneto PM must stop, must rotating lentamente then up to zero point permanent magnet 14 will encourage Hall element H2 and will produce a signal at input port H2 ', this signal has high signal level=numeral 1.Microprocessor reads the angle position of the 1st sector then.In the process of further slowing down on the direction T that rotates (entering the inlet of the 1st sector), at first Hall element H1, H2 are not energized (they produce the numeral 0 of low signal level=numeral 0/0 corresponding to duplex system).Then, the sector permanent magnet 11 excitation Hall element H1 of the 1st sector, in the time low signal level (=numeral 0) will occurring at input H2 ', high signal level (=numeral 1) will appear at input H1 ' like this.Thus, in duplex system, microprocessor is determined numeral 2 from 1/0.After this, sector permanent magnet 11 is with synchronization motivationtheory Hall element H1, H2, and high signal level so separately will appear at input port H1 ', H2 ' (corresponding to the digital 1/1=numeral 3 in the duplex system).Next step, when Hall element H produced high signal level (=numeral 1) continuously, sector permanent magnet 11 left the Hall element H1 that sends low signal level (=numeral 0).Thus, before Hall element H1, H2 will no longer be energized, microprocessor will be registered numeral 0 once more in duplex system like this, and microprocessor reads numeral 1 from 0/1 in duplex system.In this process, microprocessor is determined coding 02310, and from this coding, microprocessor is also confirmed the clockwise direction of the rotation that obtains.Further, microprocessor knows that rotor R will enter the 2nd sector now, will be at this sector internal rotor R with numeral 3 corresponding to binary coding 02310, with the form of the synchronization action of two Hall element H1, H2, stop with the sector permanent magnet 11 of the 2nd sector.
Now for the restarting of motor, the information that microprocessor MP obtains has rotor R to stop with the 2nd sector between Hall element H1, H2 and rotor arrives this position with the clockwise direction T that rotates.For initialization restarts, the stator vector is adjusted on the clockwise direction that rotates best prior to the rotor vector now.Consider separately the sector and the direction of rotation, microprocessor MP we can say the rotational motion of following rotor R and by this mode, also for good and all follows the rotational motion of twining unit W.This process can be performed, up to reaching maximum speed.In some cases, in any case, being higher than the operating rate value of predetermined rotor, rotor is switched to another kind of vector control; For this vector control, microprocessor has corresponding program process, in the time of like this on this velocity amplitude, under the electrodynamic variation of scanning helps, particularly, in the winding of stator or by voltage or electric current in the corresponding stator-device of measurement, under the help of the electrodynamic variation of the acting in opposition of scanning rotor vector, vector control is carried out.
For simplicity, next step hypothesis rotor R (direction T) in the process of clockwise rotating stops, before simultaneously zero point, permanent magnet 14 accurately stopped at Hall element H2, high like this signal level (corresponding to numeral 1) appears at the input port H2 of microprocessor ", and the information of gained is that rotor just in time stops between the 24th sector and the 1st sector.Present external force of supposition, the pull-back forces of yarn or people's manual force for example acts on the counter clockwise direction T ' of rotation, this power have a mind to or accidental trend towards rotating twine unit W.The result that this external force produces is that the rotor quilt for example enters the 23rd sector by the 24th sector rotating in contrast to clockwise direction.In the process of counter-rotating, microprocessor reads numeral 0/1/1/0/0 and numeral 0/0/1/1/0 at input port H2 ', H1 ', obtains binary coding 01320 like this.Along with the generation of the sequence of digital 01...... in binary coding, microprocessor is notified, and rotation direction is T ' counterclockwise now.Further, adjust the stator vector once more best in order to restart on the clockwise direction T of correct rotation, microprocessor reads the sector number that corresponding angular position of rotation or corresponding rotor are stopped from 0 and 1 combination.
Perhaps, microprocessor can dispose a program process, when the generation of the counter motion (is clockwise direction T at this) of above-mentioned and normal direction of rotation, this program process is adjusted rotor immediately, thereby produce a low moment, should low moment rotor be gone back to former stop position (between the 24th sector and the 1st sector), maybe should low moment be enough to offset this counter-rotating, so the actual stop position of registering the first time that remains on of rotor according to the trend of detected counter-rotating.
As long as rotor is rotated along the counter clockwise direction T ' that rotates, microprocessor reads the binary coding 01320 that has sector number, and in that to read in the binary coding 02310 that has sector number under the situation of the normal direction T that rotates opposite.
Show microprocessor once more as Fig. 4 and how from the signal that comes from Hall element H1, H2, to determine coding at input port H1 ', H2 ' continuously, this is coded in the duplex system is numeral 02310 under the clockwise situation of rotating, but is numeral 01320 in duplex system under the anticlockwise situation of rotating.Be that in order to obtain the information of rotational angle position and rotation direction, microprocessor is only considered Serial No. 231 or 123 easily.
Replacement has only two Hall element H1, H2's, even three Hall elements (Fig. 4) can be set, and each Hall element is connected with a port that separates of microprocessor.In these Hall elements, for permanent magnet 14 cooperatings at zero point, the 3rd Hall element or digital hall sensor (as shown) or analog sensor.
Corresponding to embodiment shown in Figure 2; shown in the position that stops of rotor; when Hall element H1, H2 work; the information that microprocessor obtains is to shut down numeral 3 places that occur in Serial No. 231; previous rotation direction is direction T, and the 3rd sector is between Hall element H1, H2.In stopping process; the further rotary rotor R of external force; in this case, microprocessor MP will know that rotor has further turned to an angle position between the 3rd and the 4th sector by numeral in the binary coding 1 and numeral 0 on normal rotation direction T.However, if numeral 2 is immediately following numeral 3 in binary coding, 0 will be subsequently if be in the halted state and the numeral of the 3rd sector, microprocessor MP will know that rotor R rotated go back to the position between the 3rd and the 2nd sector in the counter clockwise direction of the rotation of mistake like this.
The information that obtains from Hall element H1, H2 also can be used for accurately will twining unit W and correspondingly stop or being fixed on angle position X1 or X2, for example carries out some technology of entrying (entry automatically or manually entry) for no problem ground.
Under the help of the signal that Hall element H1, H2 produce, magneto PM even at the direction T ' that rotates, the vector control by the best is driven wittingly.This puts eaily, because in order to handle yarn best, according to the distortion of the yarn of handling, the yarn input equipment must be one or another direction operation.
In an illustrated embodiment, rotor R has four magnetic pole P.Totally 12 sector permanent magnets 11 more favourable (sector-size 30 degree) in the case.However, 24 sector permanent magnets 11 better (sector-size 15 degree).In other factors, the quantity of sector is determined according to the number of magnetic poles of rotor and/or the quantity of stator winding.In order to obtain high-resolution, the number of magnetic pole is big more, and the sector should be more little.
Because to can from the combination of the signal of the Hall element H1, the H2 that differ from one another, obtaining encoding 02310 or 01320 with each sector, so compare higher resolution in order in the position probing of rotor R, to arrive with the numeral of set sector permanent magnet 11, further by microprocessor MP, from the numeral that coding is comprised or from the combination of signal, obtain being positioned at the angle position of the rotor of every sector.In order to obtain the angle information of point-device rotor rotation, in order to correct adjustment stator vector, the sector of 15 degree for example can be divided into single less angle intervals.
Claims (12)
1. one kind is used for vector control sensing system (SS), be used for synchronous machine, particularly magneto (PM) being carried out vector control by microprocessor (MP), this synchronous machine comprises a stator (ST) and the many pole wheels (R) as the winding drive motors of yarn input equipment (F), it is characterized in that: be used for being driven rotationally by rotor (R), 360 degree are around some sector permanent magnets (11) that are provided with, have same magnetic equably; At least two static Hall elements (H1, H2) are along the track setting of sector permanent magnet (11); This Hall element (H1, H2) is provided with on the direction that rotatablely moves at interval, and each sector permanent magnet (11) activates at least two Hall elements (H1, H2) at least in advance simultaneously like this; With, tool is provided with the permanent magnet at zero point (14) with the corresponding opposite magnetic of the same magnetic of sector permanent magnet (11) in addition, is used for being driven when rotating through at least one Hall element (H1, H2) by rotor (R) when this permanent magnet at zero point (14).
2. sensing system as claimed in claim 1 is characterized in that: be provided with a numeral and an analogue hall sensor (H1, H2), and permanent magnet at zero point (14) is set to pass through at least analogue hall sensor (H1, H2).
3. sensing system as claimed in claim 1 is characterized in that: be provided with two digital hall sensor (H1, H2) and the 3rd an analog or digital Hall element for permanent magnet at zero point (14) setting.
4. sensing system as claimed in claim 1 is characterized in that: be provided with 24 sector permanent magnets (11).
5. sensing system as claimed in claim 1 is characterized in that: Hall element (H1, H2) is connected with the input port of the microprocessor that separates.
6. sensing system as claimed in claim 1, it is characterized in that: in microprocessor (MP), a program part is set in addition, is used for for example under the help of motor operation, changing and/or determining the angle of rotor rotation in the voltage and current measured change of stator winding according to corresponding electric power; Also be provided with another program part; be used for according to switching by Hall element signal evaluation process to the speed of higher assessment process; in order to correspondingly to assess electronic reaction force and/or measured voltage and current; this Hall element signal evaluation process is shut down with motor, restart and the low motor speeds of motor combine, and this higher assessment process combines with higher motor speed.
7. sensing system as claimed in claim 1 is characterized in that: the zone of sector permanent magnet (11) is arranged on the carrier, and this carrier engages with rotor (R).
8. sensing system as claimed in claim 7 is characterized in that: rotor (R) engages with the winding unit (W) of yarn input equipment (F) by one (3); This twines the winding cylinder on unit (W) or winding disc (10) or the axle (3), and this winding disc (10) has the winding cylinder of the integral body on the axle (3) that is positioned at hollow; And sector permanent magnet (11) and permanent magnet at zero point (14) are set on the winding unit (W) that has Hall element (H1, H2), and this Hall element (H1, H2) is set in the yarn input equipment, the contiguous unit (W) that twines.
9. sensing system as claimed in claim 1, it is characterized in that: microprocessor (MP) is set at the control appliance of the yarn input equipment that is used for magneto (PM), and the control appliance of this yarn input equipment (CU) connects at least one yarn supply transducer (8).
10. the method for a vector control, be used for synchronous machine, the vector control of magneto (PM) particularly, this synchronous machine comprises a stator (ST) and pole wheel more than (R), this synchronous machine is as the winding drive motors of yarn input equipment (F), use a microprocessor, be used for according to rotor rotation angle adjustment stator vector, it is characterized in that: by at least two Hall element (H1, H2) and some sector permanent magnets (11), by utilizing rotor rotation and/or relative rotor rotation position, produce the actual angle sector signals, this actual angle sector signals has the stack of the time (timewise) that combines with zero signal; With, for vector control, microprocessor obtains rotation direction and corresponding sector auxiliary information continuously from the actual angle sector signals, and this sector auxiliary information is the form with binary system or duplex system coding.
11. method as claimed in claim 10, it is characterized in that: actual angular sector signal is left in the basket when speed surpasses the predetermined motor speed of service, thereby the stator vector is according to electrodynamic variation adjustment, particularly according to by rotor in the stator and/or the reaction force adjustment responded in the mode of the voltage measured in the winding of stator respectively or electric current.
12. method as claimed in claim 10, it is characterized in that: the coding that is used for each sector is that the combination from several different Hall element signals obtains, and different rotor rotation angles is to obtain from the combination of Hall element signal in each sector in addition.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10249641A DE10249641A1 (en) | 2002-10-24 | 2002-10-24 | Sensor system and method for vector control |
| DE10249641.2 | 2002-10-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1708895A true CN1708895A (en) | 2005-12-14 |
| CN1316733C CN1316733C (en) | 2007-05-16 |
Family
ID=32087169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003801019880A Expired - Fee Related CN1316733C (en) | 2002-10-24 | 2003-10-09 | Sensor system and method for vector control |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1554797A1 (en) |
| CN (1) | CN1316733C (en) |
| AU (1) | AU2003283263A1 (en) |
| DE (1) | DE10249641A1 (en) |
| WO (1) | WO2004038907A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100999852B (en) * | 2006-01-11 | 2011-01-19 | 爱吉尔电子股份公司 | Negative yarn feeder with incorporated position detector |
| CN101041918B (en) * | 2006-03-24 | 2011-01-19 | 爱吉尔电子股份公司 | Positive yarn feeder for textile machines, with feedback-controlled synchronous motor |
| CN102842991A (en) * | 2012-09-07 | 2012-12-26 | 徐勤新 | Multi- magnitude time lead and delay phase exchange absolute value position sensor |
| CN101707879B (en) * | 2007-06-06 | 2013-06-05 | 海卓-艾尔公司 | Angular position sensor |
| CN107749724A (en) * | 2016-07-05 | 2018-03-02 | 舍弗勒技术股份两合公司 | For the method and apparatus for the position for determining and/or controlling motor |
| CN107750428A (en) * | 2015-06-23 | 2018-03-02 | 日本电产三协株式会社 | Motor |
| CN109450134A (en) * | 2018-11-15 | 2019-03-08 | 白贺冰 | Automotive single phase multipolar electric motor |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10107688A1 (en) * | 2001-02-19 | 2002-08-29 | Iro Patent Ag Baar | Yarn feeder |
| SE0103196D0 (en) * | 2001-09-24 | 2001-09-24 | Iropa Ag | Fadenliefergerät |
| ITTO20050256A1 (en) * | 2005-04-15 | 2006-10-16 | Lgl Electronics Spa | NEGATIVE YARN FEEDER FOR TEXTILE AND SIMILAR MACHINES |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4164691A (en) * | 1977-03-03 | 1979-08-14 | Victor Company Of Japan, Limited | Multiphase brushless DC motor using two Hall-effect generators |
| DE3504681A1 (en) * | 1985-02-12 | 1986-09-04 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | DRIVE AND POSITIONING SYSTEM |
| US4697125A (en) * | 1986-03-24 | 1987-09-29 | Performance Controls, Inc. | Method and apparatus for determining shaft position and for providing commutation signals |
| CN2195822Y (en) * | 1994-06-24 | 1995-04-26 | 资阳内燃机车厂技工学校 | Permanent-magnet direct current brushless electric machine |
| JPH11356088A (en) * | 1998-06-08 | 1999-12-24 | Matsushita Electric Ind Co Ltd | Driver of brushless motor |
| JP2001119914A (en) * | 1999-10-15 | 2001-04-27 | Yamaha Motor Co Ltd | Detector for rotor position of motor |
-
2002
- 2002-10-24 DE DE10249641A patent/DE10249641A1/en not_active Withdrawn
-
2003
- 2003-10-09 AU AU2003283263A patent/AU2003283263A1/en not_active Abandoned
- 2003-10-09 EP EP03775178A patent/EP1554797A1/en not_active Withdrawn
- 2003-10-09 CN CNB2003801019880A patent/CN1316733C/en not_active Expired - Fee Related
- 2003-10-09 WO PCT/EP2003/011217 patent/WO2004038907A1/en not_active Application Discontinuation
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100999852B (en) * | 2006-01-11 | 2011-01-19 | 爱吉尔电子股份公司 | Negative yarn feeder with incorporated position detector |
| CN101041918B (en) * | 2006-03-24 | 2011-01-19 | 爱吉尔电子股份公司 | Positive yarn feeder for textile machines, with feedback-controlled synchronous motor |
| CN101707879B (en) * | 2007-06-06 | 2013-06-05 | 海卓-艾尔公司 | Angular position sensor |
| CN102842991A (en) * | 2012-09-07 | 2012-12-26 | 徐勤新 | Multi- magnitude time lead and delay phase exchange absolute value position sensor |
| CN107750428A (en) * | 2015-06-23 | 2018-03-02 | 日本电产三协株式会社 | Motor |
| CN107749724A (en) * | 2016-07-05 | 2018-03-02 | 舍弗勒技术股份两合公司 | For the method and apparatus for the position for determining and/or controlling motor |
| CN107749724B (en) * | 2016-07-05 | 2023-09-12 | 舍弗勒技术股份两合公司 | Method and device for determining and/or controlling the position of an electric motor |
| CN109450134A (en) * | 2018-11-15 | 2019-03-08 | 白贺冰 | Automotive single phase multipolar electric motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1316733C (en) | 2007-05-16 |
| DE10249641A1 (en) | 2004-05-06 |
| WO2004038907A1 (en) | 2004-05-06 |
| EP1554797A1 (en) | 2005-07-20 |
| AU2003283263A1 (en) | 2004-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1053069C (en) | Angle controller for switched reluctance drive utilizing high frequency clock | |
| CN1036747C (en) | Device for detecting rotational position of brushless motor | |
| CN1054715C (en) | Method for starting permanent magnet synchronous motor with rotational position detector, and motor controller | |
| CN102148599B (en) | Angle position detector of switched reluctance motor and detection method | |
| US20090009114A1 (en) | Synchronous machine | |
| CN1064193C (en) | Method for controlling circuit of sensorless brushless DC motor | |
| CN103322896B (en) | A kind of brshless DC motor Hall element installation site detection method and system | |
| CN104885348B (en) | Motor driving apparatus | |
| CN1708895A (en) | Sensor system and method for vector control | |
| CN1945942B (en) | Resolver reference position adjustment method | |
| US20060237567A1 (en) | Positive yarn feeder for textile machines and the like | |
| US10122305B2 (en) | Motor control apparatus | |
| CN1487652A (en) | Single-machine motor | |
| CN207832208U (en) | Optomagnetic hybrid encoder | |
| CN1815860A (en) | Minitype electromotor with encoder | |
| US20070080654A1 (en) | Brushless DC motor control apparatus and control method thereof | |
| EP1760875A1 (en) | Method and apparatus detecting an operating state of a motor | |
| CN100341237C (en) | Circuit and method for controlling brushless DC motor | |
| CN105762991A (en) | Integrated position detection device and method for double-stator linear rotation permanent magnet motor | |
| CN1176520A (en) | Electromechanical transducer comprising two rotors having permanent magnets | |
| CN110022100A (en) | Single-phase DC brushless motor and its control equipment and control method | |
| CN1080021C (en) | Magnetic circuits in the rotating system for generation both the mechanical power and the electric power | |
| US20040174127A1 (en) | Downhole compressor system with a feedback sensor | |
| CN102447369B (en) | Switch reluctance motor capable of realizing self checking of rotor position | |
| CN1753823A (en) | Yarn feeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070516 Termination date: 20181009 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |