CN201473728U

CN201473728U - Electric sewing machine

Info

Publication number: CN201473728U
Application number: CN2009201500343U
Authority: CN
Inventors: 郝双晖; 郝明晖
Original assignee: Zhejiang Guanxi Electric & Motor Co Ltd
Current assignee: Zhejiang Zhongke Derun Technology Co.,Ltd.
Priority date: 2009-04-30
Filing date: 2009-04-30
Publication date: 2010-05-19
Anticipated expiration: 2019-04-30

Abstract

The utility model discloses an electric sewing machine, which mainly comprises a machine head, a framework and a motor. The sewing machine utilizes dual-motor driving, a spindle and a bottom shaft are driven by one motor, the two motors can keep synchronous operation under control of a controller, and then the spindle and the bottom shaft rotate synchronously. The spindle and the bottom shaft of the electric sewing machine can not be interfered by each other, thereby reducing coupling construction of the sewing machine, reducing vibration and noise and then decreasing failure rate.

Description

Electric sewer

Technical field

The utility model relates to a kind of Sewing machines, especially a kind of electric sewer that improves drives structure.

Background technology

Industrial sewing machines generally adopt Motor Drive, and used motor has asynchronous machine, dc brushless motor and AC servo motor etc.

Present electric sewer adopts single motor-driven substantially, and motor is connected driving main shaft by belt or shaft coupling with main shaft, and main shaft is connected with lower shaft by be with synchronously or gearing shaft etc., drives lower shaft and rotates.

Be illustrated in figure 1 as a kind of typical Sewing machines structural representation.Main drives structure comprises that main shaft 2, motor drive main shaft 2 rotations by shaft coupling, and main shaft 2 drives other mechanism kinematic by main shaft 2 and lower shaft 3, thereby finishes the sewing function by being with 4 to drive lower shaft 3 rotations synchronously.

Because main shaft 2 needs by being with 4 to drive lower shafts 3 rotations synchronously, synchronously with 4 stressed big, distortion is big, wearing and tearing easily.Main shaft 2, lower shaft 3 and be connected main shaft 2 and lower shaft 3 on mechanism be linked to be an integral body, make the vibration of Sewing machines big, noise is big, vibration also can influence the sewing quality of Sewing machines.Along with Sewing machines high speed, high-quality requirement improve constantly, and the needs of environmental protection, vibration and noise problem are badly in need of solving.

Patent 200810006028.0,200810005210.4 and 95108467.4 vibration and noises at Sewing machines improve Sewing machines, and certain effect is arranged.Yet because the restriction of this body structure of Sewing machines, main shaft 2 must drive lower shaft 3 rotations by transmission mechanism, make whole Sewing machines coupling as a whole, just because of mechanism's coupling, pass the United Nations General Assembly, make that Sewing machines vibration and noise are big, this is the root of Sewing machines vibration and noise.

Defective based on electric sewing machine in the above-mentioned prior art exists is necessary to provide a kind of wearing and tearing littler, and the higher Sewing machines of sewing quality is to satisfy the needs of industrial production and life.

The utility model content

The technical problems to be solved in the utility model is, at the deficiencies in the prior art, provides a kind of electric sewer, vibrate little, noise is little, sewing quality is higher.

For solving above-mentioned technical problem, the utility model provides a kind of motor Sewing machines, comprises head, comprises main shaft and lower shaft on described head, the motor and the controller that also comprise two difference driving main shaft and lower shaft are by two motor synchronous workings of controller control.

Preferably, in above-mentioned electric sewer, described controller also can be two, be respectively applied for two motor work of control, and described two controllers carries out synchronous communication by data wire.

Preferably, described motor can be with the controller that is used to control its work and is wholely set.

In addition, concentrate, on the axle of each motor, also comprise position detecting device, be used to detect the position of motor shaft, and send this positional information to corresponding controller, be used for the accurate control of motor position in above-mentioned electronic sewing.

Preferably, described position detecting device comprises magnet steel ring, magnetic guiding loop and magnetic induction part, it is characterized in that, described magnetic guiding loop is made of the segmental arc of two sections or the same radius of multistage, concentric, adjacent two segmental arcs leave the slit, and described magnetic induction part places in this slit, when magnet steel ring and magnetic guiding loop generation relative rotary motion, described magnetic induction part is converted to voltage signal with the magnetic signal that senses, and this voltage signal is transferred to the corresponding signal process device.

Preferably, described magnetic guiding loop is made of the segmental arc of two sections same radiuses, concentric, is respectively 1/4 segmental arc and 3/4 segmental arc, and corresponding magnetic induction part is 2; Perhaps, described magnetic guiding loop is made of three sections segmental arcs with radius, is respectively 1/3 segmental arc, and corresponding magnetic induction part is 3; Perhaps, described magnetic guiding loop is made of four sections segmental arcs with radius, is respectively 1/4 segmental arc, and corresponding magnetic induction part is 4; Perhaps, described magnetic guiding loop is made of six sections segmental arcs with radius, is respectively 1/6 segmental arc, and corresponding magnetic induction part is 6.

Preferably, described position detecting device comprises rotor and rotor is enclosed within inner stator that described rotor comprises the first magnet steel ring, the second magnet steel ring;

Wherein, the described first magnet steel ring and the second magnet steel ring can be separately fixed on the motor shaft;

On described stator, corresponding to the second magnet steel ring, with the center of the second magnet steel ring is that the same circumference in the center of circle is provided with n (n=0,1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of the described second magnet steel ring makes n magnetic induction part output be the Gray code form in proper order, and adjacent two outputs have only a variation.

In addition, on described stator, corresponding to the first magnet steel ring, with the center of the first magnet steel ring is that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple), the total logarithm of the magnetic pole of the described first magnet steel ring equates with the magnetic pole sum of the second magnet steel ring, and the polarity of two neighboring pole is opposite;

When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.

Preferably, on the stator corresponding to the angle between adjacent two magnetic induction parts of the first magnet steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of the second magnet steel ring.

Preferably, described position detecting device also comprises rotor and rotor is enclosed within inner stator that described rotor comprises the first magnet steel ring, the second magnet steel ring;

Wherein, the described first magnet steel ring and the second magnet steel ring are separately fixed on the motor shaft, and the described first magnet steel ring is evenly geomagnetic into N to magnetic pole, N＜=2 ⁿ(n=0,1,2 ... n) to magnetic pole, and the polarity of two neighboring pole is opposite; The magnetic pole of the described second magnet steel ring adds up to N, and its magnetic order is determined according to the magnetic order algorithm;

Preferably, on described stator,, be that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple) with the center of the first magnet steel ring corresponding to the first magnet steel ring; Corresponding to the second magnet steel ring, be that the same circumference in the center of circle is provided with n (n=0,1,2 with the center of the second magnet steel ring ... n) the individual magnetic induction part that distributes at an angle;

When described rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.

Further, be 360 °/N corresponding to the angle between adjacent two magnetic induction parts of the second magnet steel ring on the stator.

Further, on the stator corresponding to the first magnet steel ring angle between adjacent two magnetic induction parts, when m was 2 or 4, the angle between every adjacent two magnetic induction parts was 90 °/N, when m was 3, the angle between every adjacent two magnetic induction parts was 120 °/N; When m was 6, the angle between every adjacent two magnetic induction parts was 60 °/N.

In addition, described position detecting device also comprise two be built in stator inner surface, respectively with the first magnet steel ring, the corresponding magnetic guiding loop of the first magnet steel ring, each described magnetic guiding loop is by a plurality of concentrics, constitutes with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnet steel rings.

In the utility model, in described electric sewer, the segmental arc end of described magnetic guiding loop is provided with chamfering.

Preferably, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.

In addition, in described electric sewer, described controller comprises a control module, and this control module comprises first and second Electric Machine Control submodule and Synchronization Control submodule;

Preferably, described first and second Electric Machine Control submodule is respectively applied for two motor work of control, described synchronizing signal control submodule is used for the angle instruction according to the user who receives, calculate make two motor synchronous workings be used to send to first or/and the angle instruction of two Electric Machine Control submodules.

Preferably, described first and second Electric Machine Control submodule comprises data processing unit, electric-motor drive unit and current sensor respectively, described data processing unit receives the command signal of user's input or the command information that synchronizing signal control submodule sends, the motor input current signal of current sensor collection and the motor position signal of position detecting module output, handle through data, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

Preferably, described data processing unit comprises machinery ring control subelement, current loop control subelement, pwm control signal produces subelement and signal is handled subelement;

Preferably, described sensor signal is handled subelement and is received the current signal that described current sensor senses arrives, through exporting to described current loop control subelement after the A/D sampling;

Preferably, described mechanical ring control subelement is according to the command information of command signal that receives user's input or the transmission of synchronizing signal calculating sub module and the rotational angle of the motor shaft that position detecting module sends, obtain current-order through computing, and export to described current loop control subelement;

Described current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of current-order that receives and current sensor output through computing, and exports to described pwm control signal generation subelement;

Described pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with certain output order, acts on electric-motor drive unit respectively.

Preferably, in above-mentioned electric sewer, described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

Preferably, in above-mentioned signal processing unit, described signal is handled the signal processing circuit that subelement comprises position detecting module, be used for obtaining the rotational angle of motor shaft according to the voltage signal of described position detecting module, specifically comprise: the A/D change-over circuit, the voltage signal that magnetic induction part in the position detecting module is sent carries out the A/D conversion, is data signal with analog signal conversion; Combiner circuit is accepted or rejected a plurality of voltage signals through the A/D conversion that position detecting module is sent, and obtains a reference signal D; The angle acquisition cuicuit according to this reference signal D, selects an angle relative with it as deviation angle θ in an angle storage list; And memory circuit, be used for the data and the angle storage list of stores processor process.

Preferably, between A/D change-over circuit and combiner circuit, also comprise temperature-compensation circuit, be used to eliminate the influence of the voltage signal that temperature sends position detecting device.Described temperature-compensation circuit comprises a plurality of multipliers, each described multiplier will through A/D conversion, position detecting device sends a voltage signal and output signal K multiply each other, the result after will multiplying each other exports to combiner circuit.If the voltage signal that position detecting device sends is 2 or 3 multiple, then before described temperature compensation module, also comprise a differential amplifier circuit.

Preferably, also comprise a coefficient circuit for rectifying in above-mentioned signal processing unit, computing is carried out in its output according to synthesis module, obtains an output signal K.

In addition, in above-mentioned signal processing unit, described signal is handled the signal processing circuit that subelement also comprises position detecting module, be used for obtaining the rotational angle of motor shaft according to the voltage signal of described position detecting module, specifically comprise: the A/D change-over circuit, the voltage signal that position detecting device is sent carries out the A/D conversion, is data signal with analog signal conversion; Relativity shift angle θ ₁Counting circuit is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location checkout gear sends corresponding to the magnetic induction part of the first magnet steel ring ₁Absolute offset values θ ₂Counting circuit according to second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating ₂Synthetic and the output circuit of angle is used for above-mentioned relative displacement θ ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative; Memory circuit is used for the data of stores processor process.

Preferably, in signal processing module, also comprise the signal amplification module, be used for before the A/D modular converter carries out the A/D conversion, the voltage signal that comes from position detecting device being amplified.

Preferably, described absolute offset values θ ₂Counting circuit comprises that second synthesis unit and second angle obtain subelement, and described second synthesis unit is used for second voltage signal that the position detecting device corresponding to the second magnet steel ring sends is deciphered, and obtains a signal E; Described second angle is obtained the absolute offset values θ that subelement selects an angle relative with it to put as the residing signal period first place of first voltage signal according to this signal E in the second angle storage list ₂

The application's advantage

1. vibrate little, noise is little.Sewing machines adopts Dual-motors Driving, main shaft and lower shaft are used a motor-driven respectively, and two motors remain synchronous operation, reduced mechanism's coupling of Sewing machines like this, Sewing machines is divided into up and down two parts, and the transmission that main shaft and lower shaft end the dependence upon synchronous band etc. keeps rotation synchronously, but passes through controller, control two motors and keep synchronous operation, thereby main shaft and lower shaft are rotated synchronously.Like this, the mechanism that connects on main shaft and the main shaft is an independent parts, and the mechanism that connects on lower shaft and the lower shaft is an independent parts, does not have power transmission between two parts, and the vibration of main shaft and lower shaft can not influence each other, and has reduced vibration and noise.

2. connect the drive disk assemblies such as synchronous band of main shaft and lower shaft stressed little, distortion is little, not easy to wear.The band effect of transmission of power between main shaft and lower shaft that do not recur synchronously, therefore stressed little, distortion is little, not easy to wear.Keeping synchronously, the reason of band is: in sewing, sometimes need the hand rotation main shaft to make Sewing machines work, therefore need to keep band synchronously, but only just can play the effect of transmission power manually the time.

3. sewing quality height.There are distortion in existing machine spindle and lower shaft power-transmitting part, and vibration simultaneously is bigger, influences sewing quality.This patent main shaft and lower shaft remain synchronous operation respectively by two driven by motor, vibrate simultaneously little, the sewing quality height.

4. fault rate is low.Because vibration is little, it is not easy to wear that band waits drive disk assembly synchronously, so fault rate is low.

Description of drawings

Fig. 1 is a kind of structural representation of typical head of sewing machine;

Fig. 2 is the general structure schematic diagram of the electric sewer head of first embodiment in the utility model;

Fig. 3 is the SERVO CONTROL block diagram of the electric sewer of first embodiment in the utility model;

Fig. 4 is the general structure schematic diagram of the electric sewer head of second embodiment in the utility model;

Fig. 5 is the head general structure schematic diagram of the electric sewer of the 3rd embodiment in the utility model;

Fig. 6 is the SERVO CONTROL block diagram of the electric sewer of the 3rd embodiment in the utility model;

Fig. 7 be a kind of position detecting device of the utility model three-dimensional exploded view;

Fig. 8 is the stereogram on the axle of being installed on of a kind of position detecting device of the utility model;

Fig. 9 A-Fig. 9 D is the chamfer design figure of the magnetic guiding loop of a kind of position detecting device of the utility model;

Figure 10 is the structural representation of the utility model position detecting device embodiment 1;

Figure 11 is the block diagram of the signal processing apparatus of the utility model position detecting device embodiment 1;

Figure 12 is the structural representation of the position detecting device of the utility model position detecting device embodiment 2;

Figure 13 is the block diagram of the signal processing apparatus of the utility model position detecting device embodiment 2;

Figure 14 is the structural representation of the utility model position detecting device embodiment 3;

Figure 15 is the block diagram of the signal processing apparatus of the utility model position detecting device embodiment 3;

Figure 16 is the stereochemical structure exploded view of the utility model position detecting device embodiment 4 and embodiment 5;

The coding that Figure 17 obtains when being equipped with 3 magnetic induction parts for the utility model position detecting device embodiment 4 corresponding to second magnet steel;

The order that magnetizes of second magnet steel ring when Figure 18 is equipped with 3 magnetic induction parts for the utility model position detecting device embodiment 4 corresponding to second magnet steel;

The layout drawing of corresponding 2 magnetic induction parts when Figure 19 is 6 pairs of utmost points for the first magnet steel ring uniform magnetization of the utility model position detecting device embodiment 4;

Figure 20 is the circuit block diagram of the signal processing apparatus of the utility model position detecting device embodiment 4;

Figure 21 is the three-dimensional exploded view of the another kind of structure of the utility model position detecting device embodiment 4;

Figure 22 for the first magnet steel ring of the utility model position detecting device embodiment 5 magnetize magnetic order and with the location diagram of magnetic induction part;

Figure 23 is the algorithm flow chart of the magnetic order that magnetizes of the second magnet steel ring among the utility model position detecting device embodiment 5;

Figure 24 for the second magnet steel ring of the utility model position detecting device embodiment 5 magnetize magnetic order and with the location diagram of magnetic induction part;

Figure 25 is the utility model position detecting device embodiment 5 corresponding to the distribution map of the magnetic induction part of the second magnet steel ring and magnetic guiding loop, stator.

The specific embodiment:

Describe embodiment of the present utility model with reference to the accompanying drawings in detail.

Embodiment one:

With reference to Fig. 2 is the general structure schematic diagram of the electric sewer of first embodiment in the utility model, described electric sewer is the same with existing Sewing machines, main shaft 2, lower shaft 3 are arranged, by being with 4 drive disk assemblies such as grade to be connected synchronously, servomotor 9a links to each other with main shaft 2 by shaft coupling 6a between main shaft 2 and the lower shaft 3.Be that with the different place of existing motor lower shaft 3 is driven by a servomotor 9b, servomotor 9b links to each other with lower shaft 3 by shaft coupling 6b, has constituted the bi-motor Sewing machines like this.Can cross cable 12a between servomotor 9a and the servo controller 11a and be connected, this cable comprises the holding wire of three-phase power line and position detecting module, is controlled the operation of servomotor 9a by servo controller 11a.Be connected by cable 12b between servomotor 9b and the servo controller 11b, this cable comprises three-phase power line and code device signal line, by the operation of servo controller 11b control servomotor 9b.Connect by data wire 13 between servo controller 11a and the servo controller 11b, be used for communication, keep between the two synchronously, make servomotor 9a and servomotor 9b remain synchronous operation.In the utility model, synchronously with 4 effects that do not recur from main shaft 2 to lower shaft 3 transmission of power, just rotate along with the rotation of main shaft 2 and lower shaft 3, keeping the reason of being with synchronously is in sewing, sometimes needs hand rotation main shaft 2 to make Sewing machines work.

Be illustrated in figure 3 as the SERVO CONTROL block diagram of present embodiment one.The bi-motor Sewing machines comprises two AC servo, connects by data wire between the servo controller of two AC servo, is used for data communication.AC servo is made up of servo controller, AC servo motor and position detecting device.Servo controller 11a receives setting command, obtain angle instruction 1 according to setting command, input as servo controller 11a machinery ring, servo controller 11a is according to angle instruction 1 simultaneously, calculate angle instruction 2, and this angle instruction 2 passed to servo controller 11b by data wire, as the input of servo controller 11b machinery ring.

Wherein, angle instruction 1 and angle instruction 2 all are to be provided by servo controller 11a, two AC servo controller angle instructions have been guaranteed synchronously, servo controller 11a need by angle instruct 1 and synchronously the gearratio of band calculate, rotate the angles instruction 2 that needs to calculate main shaft 2 synchronously with lower shaft 3.

AC servo controller 11a then, 11b carries out Position Control to two AC servo motor respectively, the control accuracy height, response is fast, thereby realizes bi-motor Sewing machines Synchronization Control.

In the specific implementation, control module in each servo controller is embodied as a MCU, wherein, there are CPU, A/D modular converter, synchronous communication mouth and pwm signal generation module etc. in the inside of this MCU, the A/D modular converter is a data signal with the analog signal conversion that current sensor is input to MCU, thereby obtains current feedback.In first system, position detecting module passes to MCU with the AC servo motor angular position information by synchronous mouthful of communication.Servo controller receives the angle instruction of input, with its input as the machinery ring.CPU among the MCU is according to current feedback and angle back-to-back running control program.Control program mainly comprises machinery ring and electric current loop, and the machinery ring calculates current-order according to angle instruction and angle feedback, and electric current loop calculates the three-phase voltage dutycycle according to current-order and current feedback.The pwm signal generation module produces pwm signal according to the three-phase voltage dutycycle, passes to IPM.IPM produces three-phase voltage and gives AC servo motor according to pwm signal.CPU calculates the instruction of second angle according to the gearratio between the first angle instruction and main shaft and the lower shaft, and sends it to second servo controller in the system according to current feedback and angle back-to-back running control program the time.

In second system, servo controller receives second angle instruction that the servo controller in first system sends, by the CPU among the MCU according to current feedback and angle back-to-back running control program.Because the internal structure of servo controller is identical with servo controller in first system in second system, no longer retells bright at this.

Embodiment two:

Referring to Fig. 4 is the general structure schematic diagram of the electric sewer of the utility model second embodiment, and in the present embodiment, most of structure is identical with embodiment one, and identical structure does not repeat them here.Different is that servomotor and the servo controller integrated setting that is used to control its work by integrated setting, have shortened the transmission path of position detecting device signal, have reduced the signal interference, therefore, have improved the reliability of control.Signal processing method based on the position detecting device of present embodiment is identical with the method for embodiment one.

Embodiment three:

Referring to Fig. 5 is the general structure schematic diagram of the electric sewer of the utility model the 3rd embodiment, and in the present embodiment, most of structure is identical with embodiment one, and identical structure does not repeat them here.Different is to use single controller to control two servomotors in the present embodiment.

Referring to Fig. 6 is the SERVO CONTROL block diagram of the electric sewer of the 3rd embodiment in the utility model.In this controller, comprise MCU and two IPM (SPM), two motor operation control modules are arranged in the inside of MCU, be respectively mechanical ring, electric current loop and pwm signal generation module.MCU is according to the electric current and the angle signal of feedback, and the operation control program produces two groups of pwm signals, controls two IPM respectively.Two IPM will add to three-phase voltage two AC servo motor respectively, thereby realize the Synchronization Control to two AC servo motor.

Wherein, the method according to angle instruction 1 calculating angle instruction 2 is identical with embodiment one.

In above-mentioned three embodiment, the angle signal of the direct output motor of position detecting device, therefore, servo controller gets final product by this angle signal of mouth reception synchronously, in the utility model, position detecting device also can an output voltage signal, and the processing of this voltage signal can be finished by the MCU in the servo controller, according to three kinds of embodiment more than the utility model, by following detailed description position detecting device of the present utility model and signal processing apparatus and method.

Fig. 7 is the stereochemical structure exploded view of expression a kind of position detecting device of the present utility model.As shown in Figure 7, position detecting device of the present utility model is made up of magnetic induction part plate 102, magnet steel ring 103, magnetic guiding loop 104, skeleton 105; Magnetic induction part plate 102 is made up of pcb board and magnetic induction part 106,, connector 108 also is housed on the magnetic induction part plate 102.

Magnet steel ring 103 is contained on the axle 107, and magnetic guiding loop 104 is fixed on the skeleton 105, and skeleton 105 is fixed on the correct position of motor.When axle 107 rotated, magnet steel ring 103 rotated, and produces sinusoidal magnetic field, and 104 magnet accumulating caps of magnetic guiding loop, the magnetic flux that magnet steel ring 103 produces is by magnetic guiding loop 104.Magnetic induction part 106 fixing on the pcb board converts the magnetic field by magnetic guiding loop 104 to voltage signal and output, and this voltage signal directly enters the master control borad chip.By the master control chip on board voltage signal is handled, obtained the parallactic angle displacement at last.

Wherein, when making described position detecting device, magnetic guiding loop 104 is arranged on the skeleton forming mould, when described skeleton is one-body molded and skeleton 105 be fixed together.

Fig. 8 is that position detecting device of the present utility model is installed on the overall stereogram on the axle.Magnetic guiding loop 104 is installed on the skeleton 105, and on magnet steel ring 103 installation shaft 107, magnetic guiding loop 104 can relatively rotate with magnet steel ring 103.The utility model can reduce the size of position detecting device by rationally arranging the layout of each parts.

Fig. 9 A is example to Fig. 9 D with the magnetic guiding loop that is made of 1/4 segmental arc and 3/4 segmental arc, illustrates the chamfer design of magnetic guiding loop of the present utility model.As Fig. 9 A to shown in Fig. 9 D, magnetic guiding loop is made of the segmental arc of two sections or the same radius of multistage, concentric, magnetic guiding loop shown in Fig. 9 A does not design chamfering, Fig. 9 B is provided with chamfering to the segmental arc end shown in Fig. 9 D, described chamfering be vertically (Fig. 9 B) or radially (Fig. 9 C) or vertically simultaneously, the chamfering that forms of (Fig. 9 D) cutting radially, 151,154 expression axial slices, 152,153 expression radial sections.Leave the slit between adjacent two segmental arcs, magnetic induction part places in this slit, and when magnet steel ring and magnetic guiding loop generation relative rotary motion, described magnetic induction part is converted to voltage signal with the magnetic signal that senses, and this voltage signal is transferred to corresponding controller.

According to magnetic Migong formula

Can know, when φ is certain, can increase B by reducing S.

Because the magnetic flux that permanent magnet produces is certain, S is bigger in magnetic guiding loop, so B is smaller, therefore can reduce the heating that causes because of the magnetic field alternation.And can increase the magnetic field intensity of end by reducing magnetic guiding loop end area, make the output signal of magnetic induction part strengthen.Such picking up signal structure manufacturing technique is simple, and the signal noise of picking up is little, and production cost is low, the reliability height, and also size is little.

Describe position detecting device of the present utility model and signal processing apparatus thereof and method by the following examples in detail.

The embodiment 1 of position detecting device:

First embodiment according to this position detecting device provides the position detecting device that is provided with two magnetic induction parts.

Figure 10 is the structural representation of the utility model position detecting device the 1st embodiment.As shown in figure 10, magnetic guiding loop is made of two sections segmental arcs with radius, is respectively 1/4 segmental arc 111 and 3/4 segmental arc 112, and position A and B are 90 ° at a distance of angle, and have slit, respectively with 109 and 110 two magnetic induction part H that represent _1a, H _2aBe positioned in the slit at A and B place, adopt this structure to help reducing magnetic field and reveal, improve the magnetic flux of magnetic induction part induction, and because the magnetic flux of magnetic surface induction is the integration in magnetic field, therefore have utilize reduce signal noise with signal in higher hamonic wave.On motor shaft, by two sections magnetic guiding loops and the 113 concentric installations of magnet steel ring that constitute with the segmental arc 111,112 of radius.

Figure 11 is the block diagram of the signal processing apparatus of the utility model first embodiment, magnetic induction part H _1aAnd H _2aOutput signal connect the built-in A/D converter analog input mouth of MCU, after analog-to-digital conversion, obtain output signal and meet

multiplier

20a, 21a, the output signal K of coefficient rectifier 5a connects the input of

multiplier

20a, 21a, the output signal of

multiplier

20a, 21a engages the input of the 3a that grows up to be a useful person, synthesizer 3a output signal D and R, coefficient rectifier 5a receives the signal D and the R of synthesizer 3a output, obtains signal K by computing, by making magnetic induction part H _1aAnd H _2aSignal and this signal K multiply each other, carry out temperature-compensating with this, eliminate the influence of temperature to signal.Store an angle storage list among the memory 40a, MCU selects the angle relative with it as deviation angle θ in the angle storage list according to signal D.

The embodiment 2 of position detecting device

Embodiment 2 according to the utility model position detecting device provides the position detecting device that is provided with four magnetic induction parts.

Figure 12 is the structural representation of the embodiment 2 of the utility model position detecting device.As shown in figure 12, magnetic guiding loop is made of four sections 1/4 segmental arcs 118,119,120 and 121 with radius, A, and B, C, four position angles of D are divided into 90 ° successively mutually, and a slit is all arranged.Respectively with 114,115,116 and 117 4 magnetic induction part H that represent _1b, H _2b, H _3b, H _4bBe positioned over slit A, B, C and D place respectively, adopting this structure to help reducing magnetic field reveals, improve the magnetic flux of magnetic induction part induction, and because the magnetic flux of magnetic surface induction is the integration in magnetic field, therefore have utilize reduce signal noise with signal in higher hamonic wave.Four sections 1/4 segmental arc 118,119,120 and 121 magnetic guiding loop and magnet steel rings 122 that constitute with radius are installed with one heart.

Figure 13 is the block diagram of the signal processing apparatus of the utility model second embodiment.

Signal processing apparatus and processing method and embodiment 1 are similar, difference is, because 4 magnetic induction parts that are mutually 90 degree are arranged in the present embodiment 2, therefore, on signal processing apparatus, increased subtracter, i.e. the digital differential module, suppress temperature and null offset by this subtracter block, improve data precision with this, the signal of finally exporting to synthesizer still is 2, and processing procedure and method are identical with embodiment 1.Therefore, do not repeat them here.

The embodiment 3 of position detecting device

Embodiment 3 according to this position detecting device provides the position detecting device that is provided with three magnetic induction parts.

Figure 14 is the structural representation of the position detecting device of the utility model the 3rd embodiment.As shown in figure 14, magnetic guiding loop is made of three sections 1/3 segmental arcs 126,127 and 128 with radius, A, and B, three positions of C are successively at a distance of 120 °, and have a slit, respectively with 3 sensor H of 123,124 and 125 expressions _1c, H _2c, H _3cPlace the slit place respectively, adopt this structure to help reducing magnetic field and reveal, improve the magnetic flux of sensor sensing, and because the magnetic flux of sensor surface induction is the integration in magnetic field, therefore have utilize reduce signal noise with signal in higher hamonic wave.Three sections 1/3 segmental arc 126,127 and 128 magnetic guiding loop and magnet steel rings 129 that constitute with radius are installed with one heart.

Figure 15 is the block diagram of the signal processing apparatus of the utility model the 3rd embodiment.

As different from Example 1, magnetic induction part has three, and the signal of exporting to synthesizer is three, and synthesizer is different with embodiment 1 when processing signals, and all the other are identical with embodiment 1.How processing signals of synthesizer only is described here.

In the present embodiment, to Signal Processing, it is that synthesizer 3c is to the Signal Processing principle: the position that meets of judging three signals earlier, and relatively meet the size of the numerical value of the identical signal in position, the signal D that is used to export that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, the 3rd signal meet the position, than the value bit of the signal of fractional value }.With the present embodiment is example:

Agreement:

When data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.

X_D represents the value bit (absolute values of data) of data X, promptly removes sign bit data left position.

If { A_0; B_0; C_0}=010 and A_D＞=C_D

D＝{A_0；B_0；C_0；C_D}

If { A_0; B_0; C_0}=010 and A_D＜C_D

D＝{A_0；B_0；C_0；A_D}

If { A_0; B_0; C_0}=101 and A_D＞=C_D

D＝{A_0；B_0；C_0；C_D}

If { A_0; B_0; C_0}=101 and A_D＜C_D

D＝{A_0；B_0；C_0；A_D}

If { A_0; B_0; C_0}=011 and B_D＞=C_D

D＝{A_0；B_0；C_0；C_D}

If { A_0; B_0; C_0}=011 and B_D＜C_D

D＝{A_0；B_0；C_0；B_D}

If { A_0; B_0; C_0}=100 and B_D＞=C_D

D＝{A_0；B_0；C_0；C_D}

If { A_0; B_0; C_0}=100 and B_D＜C_D

D＝{A_0；B_0；C_0；B_D}

If { A_0; B_0; C_0}=001 and B_D＞=A_D

D＝{A_0；B_0；C_0；A_D}

If { A_0; B_0; C_0}=001 and B_D＜A_D

D＝{A_0；B_0；C_0；B_D}

If { A_0; B_0; C_0}=110 and B_D＞=A_D

D＝{A_0；B_0；C_0；A_D}

If { A_0; B_0; C_0}=110 and B_D＜A_D

D＝{A_0；B_0；C_0；B_D}

α = A - B \times \cos (\frac{π}{3}) - C \times \cos (\frac{π}{3})

β = B \times \sin (\frac{π}{3}) - C \times \sin (\frac{π}{3})

R = \sqrt{α^{2} + β^{2}}

Position detecting device embodiment 4

With reference to accompanying drawing, Figure 16 is the stereochemical structure exploded view of position detecting device embodiment 4 of the present utility model.This position detecting device comprises rotor and rotor is enclosed within inner stator, rotor comprises the first magnet steel ring 201a and the second magnet steel ring 201b and the first magnetic guiding loop 205a and the second magnetic guiding loop 205b, the first magnet steel ring 201a and the second magnet steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is a support 203.

As Figure 16, the first magnetic guiding loop 205a and the second magnetic guiding loop 205b leave the space respectively by a plurality of concentrics, constitute with the segmental arc of radius between adjacent two segmental arcs, are located at respectively in this space corresponding to the magnetic induction part 204 of two magnet steel rings.

Corresponding to the second magnet steel ring 201b, with the center of the second magnet steel ring 201b is that the same circumference in the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of the second magnet steel ring make n magnetic induction original paper output be the Gray code form in proper order.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.

The first magnet steel ring 201a is magnetized to g (value of g equals the magnetic pole sum in the second magnet steel ring) uniformly to the utmost point (the N utmost point and the S utmost point are alternately arranged), and when the magnetic pole in the second magnet steel ring add up to 6, the number of pole-pairs of the first magnet steel ring 201a was 6 pairs.Center with the first magnet steel ring 201a is on the same circumference in the center of circle, be provided with m magnetic induction part, as 2, when rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.

Define that adjacent a pair of " N-S " is a signal period in the first magnet steel ring, therefore, the mechanical angle that arbitrary " N-S " is corresponding is 360 °/g (g be " N-S " number), supposes that rotor is positioned at n at t moment anglec of rotation θ ^ThIn signal period, then this constantly angular displacement can think and constitute by two parts: 1. at n ^ThRelative displacement in signal period, magnetic induction part H ₁And H ₂Respond to the magnetic field of the first magnet steel ring and determine " N-S " side-play amount θ in the signal period at this ₁(value greater than 0 less than 360 °/g); 2. n ^ThThe absolute offset values θ that put the signal period first place ₂, determine with the magnetic field of the sensor sensing second magnet steel ring this moment, rotor was to be in which " N-S " to obtain θ actually ₂

Signal processing apparatus based on this position detecting device and principle comprises: A/D modular converter, relative displacement θ ₁Computing module, absolute offset values θ ₂Computing module and memory module.Its signal processing flow is shown in Fig. 8-11, and the voltage signal that the first magnet steel ring in the position detecting device and the second magnet steel environment-development are sent here carries out the A/D conversion, is data signal with analog signal conversion; By relative displacement θ ₁Computing module carries out angle θ to first voltage signal corresponding to the first magnet steel ring that position detecting device sends ₁Find the solution, calculate the relative displacement θ of signal in the signal period of living in corresponding to the first magnet steel ring ₁By absolute offset values θ ₂Computing module carries out angle θ to first voltage signal corresponding to the second magnet steel ring that position detecting device sends ₂Find the solution, determine the absolute offset values θ that put the residing signal period first place of first voltage signal ₂Synthetic and output module is used for above-mentioned relative displacement θ as adder by angle ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative.Such scheme is the scheme under the extraordinary situation of voltage signal, but, if poor signal, the signal amplification module that can on the basis of aforementioned schemes, increase then, concrete as amplifier, be used for before the A/D modular converter carries out the A/D conversion, the voltage signal that comes from position detecting device being amplified.Have again, carrying out angle θ ₁Before finding the solution, also comprise the process of temperature-compensating, the detailed process of temperature-compensating is that advanced row coefficient is corrected, and then again the signal of A/D converter output and the output of coefficient rectification is carried out temperature-compensating by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature-compensating is a variety of in addition, does not just introduce one by one at this.

Relative displacement θ ₁Computing module comprises signal synthesis unit, first angle acquiring unit and the temperature compensation unit, and signal synthesis unit is handled the voltage signal through the A/D conversion that the diverse location checkout gear sends, and obtains a reference signal D; The described first angle acquiring unit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard angle kilsyth basalt ₁Wherein, before obtaining reference signal D, earlier the signal that inputs to signal synthesis unit is carried out temperature-compensating by temperature compensation unit, the signal after the temperature-compensating is handled obtaining signal D again.Processing described here will describe in detail in the back.Absolute offset values θ ₂Computing module comprises second synthesizer and the described second angle acquiring unit, be used for second voltage signal that the position detecting device corresponding to the second magnet steel ring sends is synthesized, obtain axle and turn over the signal period number, thereby determine the absolute offset values θ that put the residing signal period first place of first voltage signal ₂, specific implementation is that described second synthesizer synthesizes second voltage signal that the position detecting device corresponding to the second magnet steel ring sends, and obtains a signal E; The absolute offset values θ that the described second angle acquiring unit selects an angle relative with it to put as the residing signal period first place of first voltage signal in the second standard angle kilsyth basalt according to this signal E ₂

In embodiment 4, be equipped with 3 magnetic induction parts corresponding to second magnet steel, be equipped with 2 magnetic induction parts corresponding to first magnet steel.

Because the magnetic pole magnetization of the second magnet steel ring makes n magnetic induction original paper output be the Gray code form in proper order.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.Therefore, in the present embodiment,, obtain coding as shown in figure 17 at 3 o'clock, obtain 6 sign indicating numbers, promptly obtain 6 utmost points, magnetize order as shown in figure 18, carry out reading around each magnetic induction part is uniform because n is.

Because the magnetic pole of the second magnet steel ring adds up to 6, therefore, the first magnet steel ring is magnetized to 6 pairs of utmost points uniformly, and the layout drawing of itself and 2 magnetic induction parts and magnetic order are as shown in figure 19.

Figure 20 show in the present embodiment corresponding to first magnet steel be equipped with 2 magnetic induction parts, the circuit block diagram of signal processing apparatus when second magnet steel is equipped with 3 magnetic induction parts.The output signal of sensor 1_1a and 1_2a meets amplifier 2_1a, 2_2a amplifies, meet A/D converter 3_1a then, 3_2a, after analog-to-digital conversion, obtain output signal and meet multiplier 4_1a, 5_1a, coefficient rectifier 10_1a output signal meets multiplier 4_1a, the input of 5_1a, multiplier 4_1a, the output signal A of 5_1a, B connects the input of the first synthesizer 6_1a, the first synthesizer 6_1a is to signal A, B handles, obtain signal D, R selects an angle relative with it as deviation angle θ in the standard angle kilsyth basalt of storing from memory 8_1a according to signal D ₁Wherein, the output signal R of the first synthesizer 6_1a flows to coefficient rectifier 10_1a, and coefficient rectifier 10_1a tables look-up according to signal R with from memory 9_1a and obtains signal R ₀Obtain signal K, this signal K is as another input of multiplier 4_1a, 5_1a, obtains signal A, the B input as the first synthesizer 6_1a though divide to multiply each other with signal C1, C2 from amplifier 2_1a, 2_2a output.

Sensor 1_3a, 1_4a ... the output signal of 1_na connect respectively amplifier 2_3a, 2_4a ... 2_na amplifies, connect then A/D converter 3_3a, 3_4a ... 3_na carries out synthesizing by the second synthesizer 7_1a after the analog-to-digital conversion, obtains a signal E; According to the absolute offset values θ that selects an angle relative to put in the second standard angle kilsyth basalt of this signal E in memory 11_1a as the residing signal period first place of first voltage signal with it ₂, θ ₁And θ ₂Export θ by the absolute angle displacement that adder 12_1a obtains measuring.

Wherein, the function of the second synthesizer 7_1a is, by to sensor 1_3a, 1_4a ... the signal of 1_na synthesizes, obtain this constantly rotor be in which " N-S " in the signal period.

The processing of the second synthesizer 7_1a is: when data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.Also, be output as X_0=0, otherwise be X_0=1 promptly when the magnetic field of induction when being N.

Then for present embodiment, E={C3_0; C4_0; Cn_0}.

Wherein, the first synthesizer 6_1a to Signal Processing is: the size of the numerical value of two signals relatively, the signal D that is used to export that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, than the value bit of the signal of fractional value }.Specific as follows:

Here agreement (hereinafter each synthesizer all uses this agreement), when data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.X_D represents the value bit (absolute values of data) of data X, promptly removes the remaining data bit of sign bit.

If A_D＞=B_D

D＝{A_0；B_0；B_D}

R = \sqrt{A^{2} + B^{2}};

Otherwise:

D＝{A_0；B_0；A_D}

R = \sqrt{A^{2} + B^{2}};

Signal K generally is by with signal R ₀Carrying out division arithmetic with R obtains.

For first and second standard angle kilsyth basalt, in memory, stored two tables, each table is corresponding to a series of sign indicating number, and each sign indicating number is corresponding to an angle.This table obtains by demarcation, scaling method is, utilize a checkout gear and a high precision position detection module of originally executing example, carry out correspondence one by one with originally executing the signal of the magnetic induction part output in the example and the angle of this high precision position detection module output, set up out the signal of magnetic induction part output and the relation table between the angle with this.Just, stored one first standard angle kilsyth basalt corresponding to signal D, each signal D represents a relative displacement θ ₁Corresponding to signal E, stored one second standard angle kilsyth basalt, each signal E represents an absolute offset values θ ₂

Figure 21 is the three-dimensional exploded view of another kind of structure of position detecting device of the embodiment 4 of the utility model position detecting device.This position detecting device comprises rotor and rotor is enclosed within inner stator, and rotor comprises the first magnet steel ring 201a and the second magnet steel ring 201b, and the first magnet steel ring 201a and the second magnet steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is a support 203.Magnetic induction part 204 direct Surface Mounts are at the inner surface of support 203.

The foregoing description 4 is under the situation of n=2, the embodiment that the m value changes, this position detecting device is not limited thereto, magnetic induction part n on the second magnet steel ring can be arbitrary integer (n=0,1,2 ... n), when n=4, its magnetization order and algorithm flow are identical with the embodiment 2 of above-mentioned position detecting device; When n=3, its magnetization order and algorithm flow are identical with the embodiment 3 of above-mentioned position detecting device.

The embodiment 5 of position detecting device

In the present embodiment, structure is substantially the same manner as Example 4, and something in common repeats no more, and difference is that the described first magnet steel ring is evenly geomagnetic into N to magnetic pole, wherein, and N＜=2 ⁿ(n=0,1,2 ... n), and the polarity of two neighboring pole opposite; The magnetic pole of the described second magnet steel ring adds up to N, and its magnetic order is determined according to magnetic order algorithm as shown in figure 23; Corresponding to the first magnet steel ring, be that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple) with the center of the first magnet steel ring; Corresponding to the second magnet steel ring, be that the same circumference in the center of circle is provided with n (n=0,1,2 with the center of the second magnet steel ring ... n) the individual magnetic induction part that distributes at an angle.As Figure 22,24 is example, Figure 22 for the first magnet steel ring of the embodiment 5 of the utility model position detecting device magnetize magnetic order and with the location diagram of magnetic induction part, Figure 24 for the second magnet steel ring of the embodiment 5 of checkout gear magnetize magnetic order and with the location diagram of magnetic induction part.According to the number of the magnetic induction part of the corresponding second magnet steel ring, in the present embodiment, n=3 can determine the number of pole-pairs of the first magnet steel ring to be 2 to the maximum ⁿ=8, can certainly be less than 8, be that total number of poles of 8, the first magnet steel rings is 8 at present embodiment, its magnetic order is determined by algorithm shown in Figure 23.

Shown in Figure 22,24, be 2 corresponding to the first row magnetic induction part 204 of the first magnet steel ring 201a, promptly m=2 uses H ₁And H ₂Expression, these two magnetic induction part H ₁And H ₂Be positioned over respectively in two cracks of corresponding magnetic guiding loop 205a.Secondary series magnetic induction part 204 corresponding to the second magnet steel ring 201b is 3, and promptly n=3 uses H ₃, H ₄And H ₅Expression.Getting number of magnetic poles N=8, like this, is 360 °/8 corresponding to the angle between adjacent two magnetic induction parts 204 of the second magnet steel ring 201b.Corresponding to the angle between adjacent two magnetic induction parts 308 of the first magnet steel ring 201a is 90 °/8.

Algorithm shown in Figure 23 is as follows:

At first carry out initialization a[0]=" 0 ... 0 "; Then present encoding is gone into coded set, " 0 ... 0 " is promptly arranged in the coded set; Then check the set element of coded set whether to reach 2 ⁿ, if EP (end of program) then, otherwise present encoding is moved to left one, the back mends 0; Check present encoding whether to go into coded set then, if do not go into coded set then present encoding is gone into coded set proceed above-mentioned steps, if gone into coded set then go 0 to mend 1 position, current sign indicating number end; Then check present encoding whether to go into coded set, if do not go into coded set then present encoding gone into coded set proceed above-mentioned steps, if gone into coded set then checked whether current sign indicating number is " 0 ... 0 ", be then to finish, otherwise with present encoding directly before go to position, sign indicating number end to go 0 to mend 1; Then check present encoding whether to go into coded set,,, proceed following procedure then if gone into coded set then check whether current sign indicating number is " 0 ... 0 " if do not go into coded set then present encoding is gone into coded set proceed above-mentioned steps.Wherein 0 be magnetized to " N/S ", 1 is magnetized to " S/N ".Magnet steel ring 201b shown in Figure 24 magnetize structure chart and H have been obtained like this ₃, H ₄And H ₅Distributing order.

The foregoing description 4 is under the situation of n=2, the embodiment that the m value changes, this position detecting device is not limited thereto, magnetic induction part n on the second magnet steel ring can be arbitrary integer (n=0,1,2 ... n), as shown in figure 25, be respectively when n=3,4, the distribution branch of the second magnet steel ring, magnetic guiding loop and magnetic induction part 5 time.Its separately magnetization order and algorithm flow respectively with Figure 23,24 similar, omit detailed description at this to them.

Above-mentioned position detecting device adopts magneto-electric, because element modes of emplacement and signal processing mode make Distribution of Magnetic Field even, reveal little, the primary signal quality is good, amplitude is big, signal noise is little, has improved accuracy of detection, on its signal is handled, reduced because temperature and the null offset that analog device causes, and magnetic induction part can directly be fixed on the circuit board, need not adaptor, has improved the reliability and stability of circuit.

The utility model makes the utility model can more accurately realize Synchronization Control, thereby has reduced the vibration and the noise of Sewing machines by using the higher position detecting device of above-mentioned accuracy of detection.

It should be noted that at last: above embodiment is only unrestricted in order to the explanation the technical solution of the utility model.Although the utility model is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that, still can make amendment and be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of the technical program, it all should be encompassed in the middle of the claim scope of the present utility model.

Claims

1. an electric sewer comprises head, comprises main shaft and lower shaft on described head, it is characterized in that, also comprises controller and two motor of driving main shaft and lower shaft respectively, by two motor synchronous workings of controller control.

2. electric sewer according to claim 1 is characterized in that described controller is two, be respectively applied for two motor work of control, and described two controllers carries out synchronous communication by data wire.

3. electric sewer according to claim 2 is characterized in that, described motor is wholely set with the controller that is used to control its work.

4. according to the arbitrary described electric sewer of claim 1-3, it is characterized in that, on the axle of each motor, also comprise position detecting device, be used to detect the position of motor shaft, and send this positional information to corresponding controller, be used for the accurate control of motor position.

5. electric sewer according to claim 4, it is characterized in that, described position detecting device comprises the magnet steel ring, magnetic guiding loop and magnetic induction part, it is characterized in that, described magnetic guiding loop is by two sections or the same radius of multistage, the segmental arc of concentric constitutes, adjacent two segmental arcs leave the slit, described magnetic induction part places in this slit, described magnet steel ring is fixed on the motor shaft, described magnetic guiding loop and magnetic induction part are fixed on the motor body, when magnet steel ring and magnetic guiding loop generation relative rotary motion, described magnetic induction part is converted to voltage signal with the magnetic signal that senses, and this voltage signal is transferred to the corresponding signal process device.

6. electric sewer as claimed in claim 5 is characterized in that, described magnetic guiding loop is made of the segmental arc of two sections same radiuses, concentric, is respectively 1/4 segmental arc and 3/4 segmental arc, and corresponding magnetic induction part is 2; Perhaps, described magnetic guiding loop is made of three sections segmental arcs with radius, is respectively 1/3 segmental arc, and corresponding magnetic induction part is 3; Perhaps, described magnetic guiding loop is made of four sections segmental arcs with radius, is respectively 1/4 segmental arc, and corresponding magnetic induction part is 4; Perhaps, described magnetic guiding loop is made of six sections segmental arcs with radius, is respectively 1/6 segmental arc, and corresponding magnetic induction part is 6.

7. electric sewer according to claim 4, it is characterized in that, described position detecting device comprises the rotor that is fixed on the motor reel and rotor is enclosed within inside, is fixed on the stator on the motor body that described rotor comprises the first magnet steel ring, the second magnet steel ring;

Wherein, the described first magnet steel ring and the second magnet steel ring are separately fixed on the same motor shaft;

On stator, corresponding to the second magnet steel ring, with the center of the second magnet steel ring is that the same circumference in the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of the described second magnet steel ring makes n magnetic induction part output be the Gray code form in proper order, and adjacent two outputs have only a variation;

On stator, corresponding to the first magnet steel ring, with the center of the first magnet steel ring is that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple), the total logarithm of the magnetic pole of the described first magnet steel ring equates with the magnetic pole sum of the second magnet steel ring, and the polarity of two neighboring pole is opposite;

8. electric sewer as claimed in claim 7 is characterized in that, on the stator corresponding to the angle between adjacent two magnetic induction parts of the first magnet steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of the second magnet steel ring.

9. electric sewer as claimed in claim 4, it is characterized in that, described position detecting device comprises the rotor that is fixed on the motor reel and rotor is enclosed within inside, is fixed on the stator on the motor body that described rotor comprises the first magnet steel ring, the second magnet steel ring;

Wherein, the described first magnet steel ring and the second magnet steel ring are separately fixed on the same motor shaft, and the described first magnet steel ring is evenly geomagnetic into N to magnetic pole, here, and N＜=2 ⁿ, (n=0,1,2 ... n), and the polarity of two neighboring pole opposite; The magnetic pole of the described second magnet steel ring adds up to N, and its magnetic order is determined according to the specific magnetic sequence algorithm;

On stator, corresponding to the first magnet steel ring, be that the same circumference in the center of circle is provided with m magnetic induction part that distributes at an angle with the center of the first magnet steel ring, here, m is 2 or 3 integral multiple; Corresponding to the second magnet steel ring, be that the same circumference in the center of circle is provided with n magnetic induction part that distributes at an angle with the center of the second magnet steel ring;

10. electric sewer as claimed in claim 9 is characterized in that, is being 360 °/N corresponding to the angle between adjacent two magnetic induction parts of the second magnet steel ring on the stator.

11. electric sewer as claimed in claim 9, it is characterized in that, on the stator corresponding to the first magnet steel ring angle between adjacent two magnetic induction parts, when m is 2 or 4, angle between every adjacent two magnetic induction parts is 90 °/N, when m was 3, the angle between every adjacent two magnetic induction parts was 120 °/N; When m was 6, the angle between every adjacent two magnetic induction parts was 60 °/N.

12. as claim 7 or 9 described electric sewers, it is characterized in that, described position detecting device also comprise two be built in stator inner surface, respectively with the first magnet steel ring, the corresponding magnetic guiding loop of the first magnet steel ring, each described magnetic guiding loop is by a plurality of concentrics, constitutes with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnet steel rings.

13., it is characterized in that the segmental arc end of described magnetic guiding loop is provided with chamfering as claim 5 or 6 or 12 described electric sewers.

14. electric sewer as claimed in claim 13 is characterized in that, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.

15. electric sewer as claimed in claim 4 is characterized in that, described controller comprises a control module, and this control module comprises first and second Electric Machine Control submodule and Synchronization Control submodule;

Wherein, described first and second Electric Machine Control submodule is respectively applied for two motor work of control, described synchronizing signal control submodule is used for the angle instruction according to the user who receives, calculate make two motor synchronous workings be used to send to first or/and the angle instruction of two Electric Machine Control submodules.

16. electric sewer as claimed in claim 15, it is characterized in that, described first, two Electric Machine Control submodules comprise data processing unit respectively, electric-motor drive unit and current sensor, described data processing unit receives the command signal of user's input or the command information that synchronizing signal control submodule sends, the motor position signal of motor current signal that current sensor is gathered and position detecting module output, handle through data, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

17. electric sewer as claimed in claim 16 is characterized in that, described data processing unit comprises machinery ring control subelement, current loop control subelement, pwm control signal produces subelement and signal is handled subelement;

Described sensor signal is handled subelement and is received the current signal that described current sensor senses arrives, through exporting to described current loop control subelement after the A/D sampling;

Described mechanical ring control subelement is according to the positional information of the command information and the representative motor shaft that position detecting module sends of command signal that receives user's input or the transmission of synchronizing signal calculating sub module, obtain current-order through computing, and export to described current loop control subelement;

18. electric sewer as claimed in claim 16, it is characterized in that, described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

19. electric sewer as claimed in claim 17 is characterized in that, described signal is handled the signal processing circuit that subelement also comprises position detecting module, is used for obtaining according to the voltage signal of described position detecting module the rotational angle of motor shaft, specifically comprises:

The A/D change-over circuit, the voltage signal that magnetic induction part in the position detecting module is sent carries out the A/D conversion, is data signal with analog signal conversion;

Combiner circuit is accepted or rejected a plurality of voltage signals through the A/D conversion that position detecting module is sent, and obtains a reference signal D;

The angle acquisition cuicuit according to this reference signal D, selects an angle relative with it as deviation angle θ in an angle storage list; With

Memory circuit is used for the data and the angle storage list of stores processor process.

20. electric sewer as claimed in claim 19 is characterized in that, also comprises temperature-compensation circuit between A/D change-over circuit and combiner circuit, is used to eliminate the influence of the voltage signal that temperature sends position detecting device.

21. electric sewer as claimed in claim 20, it is characterized in that, described temperature-compensation circuit comprises coefficient circuit for rectifying and multiplier, each described multiplier will multiply each other through A/D voltage signal conversion, that position detecting device sends and the output signal K of described coefficient circuit for rectifying, and the result after will multiplying each other exports to combiner circuit.

22. electric sewer as claimed in claim 21 is characterized in that, the output of combiner circuit also comprises an output signal R, and described coefficient rectification module is to the signal R of the output of described synthesis module and the signal R that obtains through tabling look-up from memory ₀Carry out division arithmetic and obtain output signal K.

23. electric sewer as claimed in claim 20 is characterized in that, if the voltage signal that position detecting device sends is 2 or 3 multiple, then also comprises a differential amplifier circuit before described temperature compensation module.

24. electric sewer as claimed in claim 17 is characterized in that, described signal is handled the signal processing circuit that subelement comprises position detecting module, is used for obtaining according to the voltage signal of described position detecting module the rotational angle of motor shaft, specifically comprises:

The A/D change-over circuit, the voltage signal that position detecting device is sent carries out the A/D conversion, is data signal with analog signal conversion;

Relativity shift angle θ ₁Counting circuit is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location checkout gear sends corresponding to the magnetic induction part of the first magnet steel ring ₁

Absolute offset values θ ₂Counting circuit according to second voltage signal that sends corresponding to the magnetic induction part of the second magnet steel ring in the position detecting device, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating ₂

Synthetic and the output circuit of angle is used for above-mentioned relative displacement θ ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative;

Memory circuit is used for the data of stores processor process.

25. electric sewer according to claim 24 is characterized in that, also comprises:

The signal amplification module is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from position detecting device being amplified.

26. electric sewer according to claim 24 is characterized in that, described absolute offset values θ ₂Counting circuit comprises that second synthesis unit and second angle obtain subelement, and described second synthesis unit is used for second voltage signal corresponding to the second magnet steel ring that position detecting device sends is synthesized, and obtains a signal E; Described second angle is obtained the absolute offset values θ that subelement selects an angle relative with it to put as the residing signal period first place of first voltage signal according to this signal E in the second angle storage list ₂