CN201018440Y - Angular position and rotary speed testing apparatus of switch reluctance motor rotor - Google Patents
Angular position and rotary speed testing apparatus of switch reluctance motor rotor Download PDFInfo
- Publication number
- CN201018440Y CN201018440Y CNU2007201405458U CN200720140545U CN201018440Y CN 201018440 Y CN201018440 Y CN 201018440Y CN U2007201405458 U CNU2007201405458 U CN U2007201405458U CN 200720140545 U CN200720140545 U CN 200720140545U CN 201018440 Y CN201018440 Y CN 201018440Y
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- rotary encoder
- processing circuit
- signal processing
- angle
- switch reluctance
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Abstract
The utility model relates to an angular position and rotary speed detecting device for a switch reluctance motor rotor, which comprises a rotary encoder and a signal processing circuit; wherein the rotary encoder and the signal processing circuit are arranged in the interior of the motor and fixed on a supporting disk, the rotary encoder is connected with a motor main shaft, the rotary encoder is connected with the signal processing circuit, the signal processing circuit is connected with an external component, and the signal processing circuit outputs the angular position and the rotary speed signal. The utility model has the advantages of the simple connecting wire between the device and the exterior, the strong anti-interference capability, the long-distance transmission, the high resolution, dispensing with the manual zero setting, the simple operation and the small error.
Description
Technical field
The utility model relates to a kind of position, angle of sense switch magnetic resistance motor rotor and rotating speed (comprising size and Orientation) device, is specifically related to a kind of position, angle and speed detector of the switch reluctance machine rotor based on absolute rotary encoder and serial bus communication.
Background technology
Switched reluctance variable speed machine generally is made up of controller and motor two parts, and the former is equipped with parts such as power circuit, control circuit, and the latter comprises stator, rotor, angular position pick up etc.
Switched reluctance machines is stator, rotor biconvex electrode structure, and its stator and rotor all are to be formed by silicon steel plate stacking, and concentrated winding is housed on the stator poles, do not have winding on the rotor.Switched reluctance machines can be designed to the different winding numbers of phases and different rotor numbers of poles, as three-phase 6/4 utmost point, three-phase 12/8 utmost point, four phases, 8/6 utmost point.Fig. 1 is the structure chart of three-phase 12/8 pole switching reluctance motor, and the winding of per four stator poles is connected, and constitutes A, B, C three phase windings.
The magnetic resistance of each phase magnetic circuit of switched reluctance machines becomes with the position, angle of rotor, for making its operate as normal, must when forwarding the appropriate location to, open rotor or turn-off the electric current of corresponding phase winding, the electric current that guarantees each phase is synchronous with corresponding rotor-position, and correctly switches each phase winding in the rotor rotation process all the time.Therefore the angle position probing of rotor is an important link.Checkout gear should also provide rotary speed information, makes controller adopt suitable control mode to carry out rotational speed regulation according to the rotating speed that measures, and realizes speed closed loop control.
Position, existing angle and speed detector mainly are made up of plurality of sensors element and a dish that rotates with electric machine main shaft, sensor element can adopt elements such as photoelectric type, electromagnetic type, Hall-type, condenser type, and the material of dish, shape, light transmission are different and different according to the sensor element characteristic.
Fig. 2 adopts optoelectronic switch sensor element 1 and light tight fluted disc 2 to carry out the structural representation of the switched reluctance variable speed machine of position, angle and rotating speed detection.Fig. 3 then is position, angle and the speed probe structural representation that is used for three-phase 12/8 pole switching reluctance motor, form by three optoelectronic switch elements and a fluted disc, the spacing of the spacing of optoelectronic switch A and B and B and C is 7.5 °, fluted disc has along the circumferential direction equally distributed 8 teeth, tooth pitch is 45 °, and each tooth and groove are 22.5 °.Optoelectronic switch produces three road high-low level signals as shown in Figure 4, and 6 intervals are divided in the position of rotor on each 1/8 circumference, and each interval corresponding mechanical angle is 7.5 °.If as angle reference by location zero point, and this reference zero is corresponding with the relative position of rotor with the trailing edge of A phase sensor signal, then controller 4 can be judged between lane place, rotor angle of living in according to the three-way sensor signal.Controller also can utilize the cycle of signal or the size of frequency computation part rotating speed, judges the direction of rotating speed according to the phase relation of signal.
This detection method angle position resolution is low, rotating speed response is slow, though can access higher angle position resolution by rotating speed reckoning or hardware frequency multiplication, becomes big at the rotation speed change time error, and precision is difficult to guarantee.When low speed, because the signal hop period is long, cause low-response, influence low-speed performance.Set because angular position pick up needs operating personnel to carry out zero point, this requires operating personnel that certain experience is arranged, and error is bigger, troublesome poeration.The transducer degree of protection is lower, is subject to the influence of dust, rainwater, and transducer is easily aging, damage, and sensor signal is not suitable for long Distance Transmission distance.
The utility model content
Technical problem to be solved in the utility model provides a kind of resolution height, need not to set at artificial zero point, and is simple to operate, error is little based on the position, angle and the speed detector of the switch reluctance machine rotor of absolute rotary encoder and serial bus communication.
The position, angle and the speed detector of switch reluctance machine rotor of the present utility model comprise rotary encoder and signal processing circuit, place motor internal, are fixed on the supporting disk.Rotary encoder links to each other with electric machine main shaft, and rotary encoder connects signal processing circuit, and signal processing circuit connects outer member.
Rotary encoder described in the utility model and signal processing circuit place in the seal closure of motor.
Rotary encoder described in the utility model is an absolute rotary encoder, can select general absolute rotary encoder.
The connected mode of absolute rotary encoder and motor depends on the structure of rotary encoder, and axle type rotary encoder adopts elastomeric connector to be connected with electric machine main shaft, and through hole type or blind hole type rotary encoder directly are enclosed within on the electric machine main shaft.
The output form of rotary encoder can be Gray code, natural binary code etc., and output logic can be positive logic, also can be negative logic.
Signal processing circuit described in the utility model comprises rotary encoder through signals pretreatment unit, microprocessor unit, communication unit.Rotary encoder connects the code device signal pretreatment unit, the code device signal pretreatment unit connects microprocessor unit, microprocessor unit connects communication unit, and communication unit connects outer member by serial communication bus, with the mode output angle position and the tach signal of serial communication.Described microprocessor can be selected single-chip microcomputer or digital signal processor (DSP) for use.
The code device signal pretreatment unit of signal processing circuit becomes the methods such as output signal employing level conversion of rotary encoder into the absolute angular position signal that microprocessor can receive.
Microprocessor unit is handled the angle position signal of rotary encoder, calculate rotating speed of motor, communication unit sends signals such as position, angle and rotating speed by serial communication bus, and can judge whether rotary encoder has fault according to the signal variation of rotary encoder.
The processing of described angle position signal comprises the expansion of zero point correction and figure place, and it is that the absolute angular position signal is become relative angle position with respect to zero point that zero point correction is handled, and the absolute angular position at zero point is kept in the non-volatile type memorizer.Also can directly send the absolute angular position signal, carry out the processing that needs at the electric machine controller end.
Figure place expansion is to be individual pen multi-turn by software extensions, carries out high position expansion, is convenient to position closed loop and controls.As adopt 10 absolute rotary encoder, and the output of rotary encoder can be expanded to 16, high 6 is integer part, low 10 is fractional part.
The computational methods of rotating speed size are the rotary encoder pulses of record N number and measure the time that produces these pulses, obtain the cycle and the frequency of rotary encoder output signal, are calculated rotating speed.High more N is big more for rotating speed, and low more N is more little of 1 for rotating speed, improves low speed response and high speed precision like this, thereby makes that response and precision are preferably all arranged in the whole range of speeds.Judge the direction of rotating speed according to the direction of angle position signal variation.
The microprocessor unit of described signal processing circuit can be judged the rotary encoder fault according to the feature of the continuous saltus step of signal of rotary encoder.Whether the difference that detects current angle position signal and last angle position signal is that 1, twice value differs and is not at 1 o'clock, and then rotary encoder breaks down.
Signal processing circuit adopts serial communication mode that the state of position, angle, rotating speed, checkout gear is sent.Can adopt 485, serial communication mode such as CAN bus.Send mode can be the formula of replying or initiatively send.The meaning of replying formula is that controller sends and to read rotating speed etc. and instruct checkout gear, and checkout gear is replied.Initiatively the meaning that sends is that checkout gear adopts fixing or the on-fixed cycle initiatively sends signals such as position, angle, rotating speed, initiatively sends and can effectively utilize bus, provides position, angle and rotary speed information to controller, and then can improve the response speed of system.
Rotary encoder, signal processing circuit can be two parts, also can carry out integrated design to the two, and signal processing circuit is integrated in the rotary encoder, are made into parts.
Compare with conventional detection, position, angle and tach signal that the position, angle of switch reluctance machine rotor of the present utility model and speed detector are measured are more accurate, and system's control response is faster.
The position, angle of switch reluctance machine rotor of the present utility model and speed detector and extraneous line are simple, and antijamming capability is strong, is fit to long-distance transmissions, and the resolution height need not to set artificial zero point, and be simple to operate, error is little.
The figure place of absolute rotary encoder, output logic, output encoder form can be selected, and can develop accordingly according to different application scenarios, and flexibility is good.
Because the degree of protection of rotary encoder can reach IP66, whole detection device degree of protection height.
Description of drawings
Fig. 1 is three-phase 12/8 pole switching reluctance electric machine structure figure in the prior art.
Fig. 2 is the structural representation of a kind of switched reluctance variable speed machine in the prior art.
Fig. 3 is a kind of three-phase 12/8 pole switching reluctance motor angular position pick up structural representation that is used in the prior art.
Fig. 4 shows the sensor signal of Fig. 3.
Fig. 5 is the structural representation of switched reluctance variable speed machine of the present utility model.
Fig. 6 is the functional structure chart of the utility model device.
Fig. 7 is an example structure figure of the present utility model.
Reference numeral
1 sensor element, 2 fluted discs, 3 transducing signal lines, 4 controllers, 5 power lines, 6 connection box for motor, 7 motors, 8 supporting disks, 9 jiaos of positions and speed detector, 10 serial communication bus, 11 rotary encoders, 12 signal processing circuits, 13 electric machine main shafts, 14 elastomeric connectors, 15 seal closures.
Embodiment
Describe the utility model in detail below in conjunction with the drawings and specific embodiments.
The position, angle and the speed detector of switch reluctance machine rotor of the present utility model comprise rotary encoder 11 and signal processing circuit 12, place in the seal closure 15 of motor 7, are fixed on the supporting disk 8.What rotary encoder 11 adopted is 10 absolute rotary encoders, and axle type connected mode is connected with electric machine main shaft 13 by elastomeric connector 14, open collector output, and Gray code, negative logic output adopt the 15V power supply to give rotary encoder 11 power supplies.
Described absolute rotary encoder 11 connects signal processing circuits 12, and signal processing circuit 12 connects outer members, as controller 4 etc.Described signal processing circuit 12 comprises code device signal pretreatment unit, microprocessor unit, communication unit.What microprocessor was selected for use is single-chip microcomputer.The code device signal pretreatment unit connects single machine unit, and single machine unit adopts serial communication bus to connect outer member by communication unit, as controller 4 etc.
The code device signal pretreatment unit at first carries out level conversion with above-mentioned 10 absolute rotary encoder output signals, converts the output logic of 10 absolute rotary encoders to positive logic, carries out the conversion between Gray code and the natural binary code then.
The single machine unit of signal processing circuit is a core with the Atmaga8515 in the AVR family chip, and this chip is based on 8 CMOS microcontrollers of low-power consumption of the AVRRISC structure of enhancing.
The processing of angle position signal comprises zero point correction and figure place expansion.Be the inductance maximum position of benchmark winding phase zero point, zero point correction be with absolute angular position become relatively should zero point the relative angle position signalling, the absolute angular position at zero point is kept among the EEPROM of Atmaga8515, power down does not disappear.The figure place expansion is angle position signal to be carried out figure place expand to 16 figure places.The integer part of high 6 reflection number of turns, the fractional part of low 10 reflection number of turns, the state after powering on is initialized as the 0th circle.
Utilize the capturing unit of single-chip microcomputer to catch the signal saltus step of rotary encoder, when capture interrupt takes place, read the signal of rotary encoder.The calculating of rotating speed is by the time T (unit is second) of N pulse of measurement pulse in a period of time section, the computing formula of rotating speed (represent unit with ω: rev/min): ω=60*N/T/1024, result of calculation is 24 figure places, high 16 is integer part, and the 8th is fractional part.
According to the signal of rotary encoder is the characteristics of continuous saltus step, signal processing circuit 12 can detect rotary encoder 11 faults, whether the difference that detects current angle position signal and last angle position signal is that 1, twice value differs and is not then to be rotary encoder 11 faults at 1 o'clock.
Described serial communication bus adopts the CAN bus, connects controller by the CAN bus.CAN controller SJA1000 and CAN bus driver 82C250 form the CAN bus interface, based on the CAN2.0B standard, adopt the standard data frame.
In order to guarantee the response speed of position, angle and tach signal feedback, CAN bus baud rate is chosen as 1Mbps, and total line length can reach 30m under this baud rate.
After mistake appears in CAN bus one frame data, can resend automatically, but the number of times that breaks down can close closed bus after surpassing a fixed number, monitoring device detects the CAN bus state in real time, after bus occurring and closing, can restart the CAN bus.
Claims (6)
1. the position, angle and the speed detector of switch reluctance machine rotor, it is characterized in that comprising rotary encoder (11) and signal processing circuit (12), place motor (7) inside, be fixed on the supporting disk (8), rotary encoder (11) links to each other with electric machine main shaft (13), rotary encoder (11) connects signal processing circuit (12), and signal processing circuit (12) connects outer member.
2. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1 is characterized in that described rotary encoder (11) and signal processing circuit (12), place in the seal closure (15) of motor (7).
3. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1 is characterized in that described rotary encoder (11) is an absolute rotary encoder.
4. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1, it is characterized in that described signal processing circuit (12) comprises code device signal pretreatment unit, microprocessor unit, communication unit, rotary encoder (11) connects the code device signal pretreatment unit, the code device signal pretreatment unit connects microprocessor unit, microprocessor unit connects communication unit, and communication unit connects outer member by serial communication bus.
5. the position, angle and the speed detector of switch reluctance machine rotor according to claim 3 is characterized in that described microprocessor selects single-chip microcomputer or digital signal processor for use.
6. the position, angle and the speed detector of switch reluctance machine rotor according to claim 1, it is characterized in that described signal processing circuit (12) and rotary encoder (11) are two parts, or signal processing circuit (12) is integrated into and makes parts in the rotary encoder (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201405458U CN201018440Y (en) | 2007-03-16 | 2007-03-16 | Angular position and rotary speed testing apparatus of switch reluctance motor rotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201405458U CN201018440Y (en) | 2007-03-16 | 2007-03-16 | Angular position and rotary speed testing apparatus of switch reluctance motor rotor |
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| CN201018440Y true CN201018440Y (en) | 2008-02-06 |
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| CNU2007201405458U Expired - Lifetime CN201018440Y (en) | 2007-03-16 | 2007-03-16 | Angular position and rotary speed testing apparatus of switch reluctance motor rotor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045016A (en) * | 2009-10-22 | 2011-05-04 | 株式会社东海理化电机制作所 | Rotational angle detector and detection method |
| CN102148599A (en) * | 2010-12-22 | 2011-08-10 | 大连理工大学 | Angle position detector of switched reluctance motor and detection method |
| CN102506910A (en) * | 2011-11-10 | 2012-06-20 | 李惠远 | Pulse angle sensor |
| CN102725954A (en) * | 2010-02-01 | 2012-10-10 | 罗伯特·博世有限公司 | Sensor unit to be fastened to an electrical machine and motor system |
| CN102842991A (en) * | 2012-09-07 | 2012-12-26 | 徐勤新 | Multi- magnitude time lead and delay phase exchange absolute value position sensor |
| CN101834555B (en) * | 2009-01-30 | 2014-12-24 | 罗姆股份有限公司 | Rotation speed detection circuit and motor driver apparatus having the same |
| CN104889001A (en) * | 2014-10-09 | 2015-09-09 | 苏州富强科技有限公司 | An equidistance detection device |
| CN107040110A (en) * | 2017-05-17 | 2017-08-11 | 安徽弘浩节能科技有限公司 | The structure switch magnetic resistance motor of four phase 32/24 and its rotor position detecting method |
| CN107102162A (en) * | 2017-04-21 | 2017-08-29 | 中国神华能源股份有限公司 | Rotary shaft rotating speed measuring method and device |
| CN107817007A (en) * | 2017-12-05 | 2018-03-20 | 长春盛昊电子有限公司 | Cannon pinion multi-turn magnetoelectricity absolute type encoder |
-
2007
- 2007-03-16 CN CNU2007201405458U patent/CN201018440Y/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101834555B (en) * | 2009-01-30 | 2014-12-24 | 罗姆股份有限公司 | Rotation speed detection circuit and motor driver apparatus having the same |
| CN102045016A (en) * | 2009-10-22 | 2011-05-04 | 株式会社东海理化电机制作所 | Rotational angle detector and detection method |
| US8390277B2 (en) | 2009-10-22 | 2013-03-05 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Rotational angle detector |
| CN102725954A (en) * | 2010-02-01 | 2012-10-10 | 罗伯特·博世有限公司 | Sensor unit to be fastened to an electrical machine and motor system |
| CN102148599A (en) * | 2010-12-22 | 2011-08-10 | 大连理工大学 | Angle position detector of switched reluctance motor and detection method |
| CN102506910A (en) * | 2011-11-10 | 2012-06-20 | 李惠远 | Pulse angle sensor |
| CN102842991B (en) * | 2012-09-07 | 2014-07-09 | 徐勤新 | Multi- magnitude time lead and delay phase exchange absolute value 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 |
| CN104889001A (en) * | 2014-10-09 | 2015-09-09 | 苏州富强科技有限公司 | An equidistance detection device |
| CN107102162A (en) * | 2017-04-21 | 2017-08-29 | 中国神华能源股份有限公司 | Rotary shaft rotating speed measuring method and device |
| CN107040110A (en) * | 2017-05-17 | 2017-08-11 | 安徽弘浩节能科技有限公司 | The structure switch magnetic resistance motor of four phase 32/24 and its rotor position detecting method |
| CN107040110B (en) * | 2017-05-17 | 2019-07-16 | 安徽弘浩节能科技有限公司 | Four phases, 32/24 structure switch magnetic resistance motor and its rotor position detecting method |
| CN107817007A (en) * | 2017-12-05 | 2018-03-20 | 长春盛昊电子有限公司 | Cannon pinion multi-turn magnetoelectricity absolute type encoder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: NIDEC (BEIJING) DRIVE SYSTEM TECHNIQUE CO., LTD. Free format text: FORMER OWNER: BEIJING CHINA TEX MECHANICAL + ELECTRICAL ENGINEERING LTD. Effective date: 20150716 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150716 Address after: 101102 Beijing, Tongzhou District Sheng King South Street, No. 13, No. 101, 201-1, 301, 15, Patentee after: Nideke (Beijing) Transmission Technology Co. Ltd Address before: 100176 room A4-7, 14 Zhonghe street, Beijing economic and Technological Development Zone Patentee before: Beijing China Tex Mechanical & Electrical Engineering Ltd. |
|
| DD01 | Delivery of document by public notice |
Addressee: Nideke (Beijing) Transmission Technology Co. Ltd Document name: Notification of Passing Examination on Formalities |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080206 |