CN201503275U - Position detection device and signal processing device thereof - Google Patents
Position detection device and signal processing device thereof Download PDFInfo
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- CN201503275U CN201503275U CN2009201500339U CN200920150033U CN201503275U CN 201503275 U CN201503275 U CN 201503275U CN 2009201500339 U CN2009201500339 U CN 2009201500339U CN 200920150033 U CN200920150033 U CN 200920150033U CN 201503275 U CN201503275 U CN 201503275U
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Abstract
The utility model discloses a position detection device and a signal processing device thereof. The position detection device comprises a rotor and a stator, wherein the stator is sheathed in the rotor. The rotor comprises a first magnetic steel ring and a second magnetic steel ring, wherein the first magnetic steel ring and the second magnetic steel ring are respectively fixed on a rotating shaft. Totally n evenly distributed magnetic induction parts are arranged on the stator, corresponding to the second magnetic steel ring and m magnetic induction parts distributed at certain angles are arranged on the rotor, corresponding to the first magnetic steel ring. When the stator rotates relative to the stator, the magnetic induction parts convert the sensed magnetic signals into voltage signals and output the voltage signals to the signal processing device. The utility model uses the magnetic induction parts fixed on the circumference of the stator to induce magnetic field intensity variation caused by the rotation of a steel magnet fixed on a shaft to output voltage signals which are used to judge the rotation angle of the shaft, so that the position is detected. The utility model has the advantages of rapid response, high processing accuracy, low cost, simple manufacturing technology and the like.
Description
Technical field
The utility model relates to a kind of sensor, relates to a kind of position detecting device and signal processing apparatus thereof that is used for Accurate Position Control particularly.
Background technology
In Industry Control, in order to reach accurate motor position, utilize position transducer that physical quantitys such as the anglec of rotation of motor, angular velocity are converted to electric signal, this position transducer is commonly referred to scrambler.Along with the development of industrial automation, direct current generator is controlled to numerically controlled transformation to the transformation and the simulation of alternating current generator, all be unable to do without the development of scrambler, and the manufacturing technology of scrambler and Signal Processing level directly have influence on automatization level.
At present, the scrambler of using in the field of engineering technology mainly is an optical-electricity encoder, and optical-electricity encoder has two kinds of increment type and absolute types.In incremental encoder, drive the grating disc spins during axle rotation, the light that light-emitting component sends is cut into interrupted light by the slit of grating dish, is accepted by receiving element and exports corresponding pulse signal, and sense of rotation and number of pulses need realize by the direction judgment circuit sum counter.The counting starting point can be set arbitrarily, and the output pulse was remembered the position by the internal storage unit of counting equipment when the increment of rotation scrambler rotated.Do not disturb and then pulse-losing yet do not allow in this scrambler course of work, otherwise will be offset and be unable to find out the zero point of numeration equipment memory.
For head it off, absolute type encoder has appearred.Absolute type encoder output and position be code one to one, can determine the current location of sense of rotation and rotor from the size variation of code.Anti-interference like this, the reliability of data has improved greatly, and absolute type encoder more and more has been applied to angle, linear measure longimetry and the position control of various industrial systems.
Yet there are some shortcomings that are difficult to overcome in photoelectric encoder: photoelectric encoder is formed by groove by glass substance, and its anti-vibration and impact capacity are not strong, are not suitable for dust, rugged surroundings such as dewfall, and structure and location assembling complexity; Ruling span has the limit, improve resolution and must increase code-disc, is difficult to accomplish miniaturization; Must guarantee very high assembly precision aborning, directly have influence on production efficiency, finally influence cost of products.
In order to solve these deficiencies, the magneto-electric scrambler has appearred, and the development of magnetic encoder in recent years launches just gradually.The stator and the rotor of tradition magnetoelectric transducer are made up of pure iron, and fixed permanent magnet on the stator forms magnetic circuit system.Design tooth and groove uniformly on the stator annular end face relative with rotor, number equates that rotor and axle tighten up, axle is connected with measured rotating shaft, axle drive rotor rotation, when rotor tooth relative with stator tooth, air gap minimum, magnetic flux maximum, otherwise minimum.It detects principle, utilizes the magneto sensor impression that is fixed on the stator circumference to be fixed on a change of magnetic field strength that the upper magnetic steel rotation causes and comes output voltage signal, judges a rotational angle with magnitude of voltage, thereby realizes the detection of position.
This type of scrambler is many, but measuring accuracy is lower, can only realize increment output.
For example, the patent No. is that 200410024190.7,200410024191.1,200410024192.6 patent has proposed a kind of magnetism encoder respectively, the patent No. is that 200410024195.X, 200410024194.5,200410024193.0 patent have also proposed a kind of scrambler respectively, and the patent No. is that the storer that 200410024198.3,200410024197.9 and 200410024196.4 patent has proposed a kind of scrambler respectively writes device.
The above-mentioned absolute type position probing that realized, its principle is identical, with 200410024190.7 is example, as shown in Figure 1, in the structure of this magnetism encoder, the mode that magnetic induction part adopts the surface to paste is promptly arranged magnetic induction part at annular stator madial wall, be rotated the induction in magnetic field, obtain rotation angle value according to the sensor voltage value then.
Described magnetism encoder has following shortcoming on physical arrangement:
The stator inboard generally is circular arc and smooth, and sensor is difficult for installing and fixing, and causes positioning error easily, and then causes the phase deviation of signal, makes that higher harmonic components is big in the signal; The process for machining and manufacturing complexity is unfavorable for industrialization;
Reliability is low, and sensor is distributed in madial wall, and the support matrices of sensor is necessary for flexible body such as FPC etc., and it is not high with its tensile strength of processing body contact position, breaks easily, has increased difficulty of processing, influences the life-span of product;
The magnetic field of sensor sensing is revealed big, and magnetic field can not fully be used, and makes that noise is big in the signal, influences measuring accuracy;
The requirement sensor bulk is little, makes cost of products than higher.
Described magnetism encoder has following shortcoming on signal Processing:
The A phase simulating signal v that obtains from magnetic induction part
aWith B simulating signal v mutually
b, generally all contain higher hamonic wave and noise, utilize the method for the above-mentioned tangent value of negating will be subjected to the influence of higher hamonic wave, if can not reduce or eliminate the influence of higher hamonic wave, then be difficult for drawing accurate position signalling θ;
Analog device causes temperature drift and zero point drift, has reduced the reliability and stability of circuit; The cost of products of mimic channel is higher.
The utility model content
The technical problems to be solved in the utility model is, impact resistance at prior art is not strong, the processing cost height, the low deficiency that waits of the limited and precision of the scope of application, a kind of position detecting device and signal processing circuit thereof are provided, make that position detecting device response is fast, processing accuracy is high, and cost is low, manufacturing process is simple.
For solving the problems of the technologies described above, the utility model provides a kind of position detecting device, comprises rotor and rotor is enclosed within inner stator, and described rotor comprises first magnetic steel ring, second magnetic steel ring; Wherein, described first magnetic steel ring and second magnetic steel ring can be separately fixed in the rotating shaft; On stator, corresponding to second magnetic steel ring, with the center of second magnetic steel ring is that the same circumference in the center of circle is provided with n equally distributed magnetic induction part, wherein, n=1,2 ... n, the magnetization of the magnetic pole of described second magnetic steel ring makes n magnetic induction part be output as the Gray code form in proper order, adjacent two outputs have only a variation; On stator, corresponding to first magnetic steel ring, with the center of first magnetic steel ring is that the same circumference in the center of circle is provided with m magnetic induction part that distributes at an angle, wherein, m is 2 or 3 integral multiple, the total logarithm of the magnetic pole of described first magnetic steel ring equates with the magnetic pole sum of second magnetic 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.
Further, on the stator corresponding to the angle between adjacent two magnetic induction parts of first magnetic 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 second magnetic steel ring.
In an embodiment of the present utility model, the direct Surface Mount of described magnetic induction part is in inner surface of stator.
Further, also comprise two be built in stator inner surface, respectively with first magnetic steel ring, the corresponding magnetic guiding loop of first magnetic 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 magnetic steel ring.
Preferably, 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.
Preferably, described magnetic induction part is the hall sensing element.
The utility model also provides a kind of signal processing apparatus based on above-mentioned all places pick-up unit, comprising: A/D modular converter, relativity shift angle θ
1Computing module, absolute offset values θ
2Computing module, synthetic output module and the memory module of reaching of angle.Described A/D modular converter, the voltage signal that position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion; Described relativity shift angle θ
1Computing module is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of first magnetic steel ring
1Described absolute offset values θ
2Computing module according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic 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 module of described 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; Described memory module is used to store data.
Further, also comprise: 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 carried out the amplifying signal amplification module.
Further, described relativity shift angle θ
1Computing module comprises first synthesis unit and the first angle acquiring unit, and described first synthesis unit is handled a plurality of voltage signals through the A/D conversion that position detecting device 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
1
Further, described relativity shift angle θ
1Computing module also comprises the temperature compensation unit of the influence that is used to eliminate the voltage signal that temperature sends position detecting device.
Further, the output of described first synthesis unit also comprises signal R, on this basis, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectification module is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to first synthesis unit.
In addition, described absolute offset values θ
2Computing module comprises second synthesis unit and the second angle acquiring unit, and described second synthesis unit is used for second voltage signal that the position detecting device corresponding to second magnetic steel ring sends is synthesized, 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
Second synthesis unit will be corresponding with second magnet ring the sign bit of output signal of magnetic sensing element integrate and obtain signal E.
Position detecting device and signal processing circuit thereof that the utility model provides have the following advantages:
A) by increasing magnetic guiding loop, make the magnetic guiding loop internal magnetic field be evenly distributed, reveals for a short time that and the signal of magnetic induction part induction is integral form, signal noise is little, and contained higher harmonic components composition is little, helps improving the original signal quality, the raising Signal-to-Noise.
B) adopt magnetic guiding loop, and dwindle useful area, help improving the magnetic field intensity of magnetic induction part surface induction, can reduce to a certain extent can reduce the mechanical dimension of whole encoder the magnet size requirement by increasing chamfering.
C) adopt this improved structure, the mechanical dimension of magnetic induction part is not had harsh requirement, can select the model wide ranges for use, or even need not adopt follow-up amplifying circuit, help reducing cost of products, improve cost performance.
D) adopt this version, magnetic induction part can directly be fixed on the circuit board, need not adaptor, helps improving reliability of products.
E) manufacturing process is simple, magnetic guiding loop can be used the stator retainer, as a skeleton, fix forming an arrangement, one-shot forming together, signal inductor, be that magnetic induction part directly is put in slit (locating slot) and locates, can maximumly guarantee phase differential between the signal, the stator retainer directly is fixed on the motor, mounting process is convenient, helps enhancing productivity.
F) adopt two tool magnetic steel ring and magnetic guiding loops, increased accuracy of detection, make the processing accuracy of position detecting device higher, and have that cost is low, the simple advantage of manufacturing process.
G) adopt magnetic modes of emplacement of the present utility model, the signal amplitude of magnetic induction part output is big, need not to adopt analog amplify circuit, the output signal of magnetic induction part is directly inputted to A/D converter and carries out analog to digital conversion, carrying out digital differential as required again handles, make entire circuit very simple like this, and reduced to a great extent because temperature and the zero point drift that analog device causes, and magnetic induction part can directly be fixed on the circuit board, need not adaptor, improve the reliability and stability of circuit, and significantly reduced the cost of product.The advantage of carrying out the digital differential processing is: can eliminate the deviation of signal that heart is not caused by installing, handle with analog differential and compare, adopt digital signal to handle, better effects if is not influenced by extraneous factors such as temperature, zero point drift; Can enlarge the amplitude of signal input quantity, the precision that is equivalent to A/D converter on effect has increased by one, can improve the precision that scrambler is measured.
Below in conjunction with accompanying drawing and specific embodiment the utility model is described in detail.
Description of drawings
Fig. 1 is the three-dimensional exploded view of the position detecting device of the utility model embodiment one;
Fig. 2 is the installation diagram of position detecting device shown in Figure 1;
Fig. 3 is another installation diagram of position detecting device shown in Figure 1;
Fig. 4 is the structural drawing of magnetic guiding loop;
Fig. 5 is another structural drawing of magnetic guiding loop;
Fig. 6 is the another structural drawing of magnetic guiding loop;
Fig. 7 is another structural drawing of magnetic guiding loop;
One of process flow diagram of the signal processing method of Fig. 8 position detecting device described in the utility model;
Two of the process flow diagram of the signal processing method of Fig. 9 position detecting device described in the utility model;
Three of the process flow diagram of the signal processing method of Figure 10 position detecting device described in the utility model;
Four of the process flow diagram of the signal processing method of Figure 11 position detecting device described in the utility model;
Figure 12 is the coding that the utility model embodiment one obtains when being provided with 3 magnetic induction parts corresponding to second magnetic steel ring;
Figure 13 is the order that magnetizes of the utility model embodiment one second magnetic steel ring when being provided with 3 magnetic induction parts corresponding to second magnetic steel ring;
Figure 14 is the structural drawing of second magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment one;
Figure 15 is the arrangenent diagram of the first magnetic steel ring uniform magnetization of the utility model embodiment one corresponding 2 magnetic induction parts when being 6 pairs of utmost points;
Figure 16 is the structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment one;
Figure 17 is the circuit block diagram of the signal processing apparatus of the utility model embodiment one;
Figure 18 is the structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment two;
Figure 19 is the circuit block diagram of the signal processing apparatus of the utility model embodiment two;
Figure 20 is the structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment three;
Figure 21 is the circuit block diagram of the signal processing apparatus of the utility model embodiment three;
Figure 22 is the structural drawing of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment four;
The circuit block diagram of the signal processing apparatus of Figure 23 the utility model embodiment three;
Figure 24 is the three-dimensional exploded view of another kind of structure of the position detecting device of embodiment one to embodiment four of the present utility model.
Embodiment
With reference to accompanying drawing, Fig. 1 is the three-dimensional exploded view of the position detecting device of the utility model embodiment one.As Fig. 1～shown in Figure 3, this position detecting device comprises rotor and rotor is enclosed within inner stator, rotor comprises the first magnetic steel ring 201a and the second magnetic steel ring 201b and the first magnetic guiding loop 205a and the second magnetic guiding loop 205b, the first magnetic steel ring 201a and the second magnetic steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is a support 203.
As shown in figures 1 and 3, 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 magnetic steel ring.As shown in Figure 4 to 7, the segmental arc end of two magnetic guiding loops is provided with chamfering, and described chamfering is vertically 251 or radially 252 or the chamfering that forms of 251, radially 252 cuttings vertically simultaneously.
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 process is simple, and the signal noise of picking up is little, and production cost is low, the reliability height, and also size is little.
Corresponding to the second magnetic steel ring 201b, with the center of the second magnetic 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 second magnetic 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 magnetic steel ring 201a is magnetized to g (value of g equals the magnetic pole sum in second magnetic 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 second magnetic steel ring add up to 6, the number of pole-pairs of the first magnetic steel ring 201a was 6 pairs.Center with the first magnetic steel ring 201a is on the same circumference in the center of circle, is provided with m magnetic induction part, as 2, as shown in figure 15, two magnetic induction part H
1, H
2Between angle be 90 °/6.The layout of magnetic induction part as shown in figure 15 when first magnetic steel ring was magnetized to 6 pairs of utmost points equably.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 first magnetic 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 first magnetic 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, use sensor H
3, H
4... H
nThe magnetic field of reaction magnetic ring 2 determines 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 as shown in Figure 8, the voltage signal that first magnetic steel ring in the position detecting device and second magnetic steel ring are sent carries out the A/D conversion, is digital signal with analog signal conversion; By relative displacement θ
1Computing module carries out angle θ to first voltage signal corresponding to first magnetic 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 first magnetic steel ring
1By absolute offset values θ
2Computing module carries out angle θ to first voltage signal corresponding to second magnetic 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 totalizer by angle
1With absolute offset values θ
2Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative.For Fig. 9, be the signal amplification module that on the basis of Fig. 8, increases, 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.Figure 10 is the signal processing flow figure that comprises temperature compensation, is carrying out angle θ
1Before finding the solution, also comprise the process of temperature compensation; Figure 11 is the detailed process based on the temperature compensation of Figure 10, when promptly carrying out temperature compensation, advanced row coefficient to correct, and the output of again signal and the coefficient of A/D converter output being corrected is then carried out temperature compensation by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature compensation 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 pick-up unit 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 compensation by temperature compensation unit, the signal after the temperature compensation is handled obtaining signal D again.Processing described here will describe in detail in the back.Absolute offset values θ 2 computing modules comprise second compositor and the described second angle acquiring unit, being used for second voltage signal that the position detecting device corresponding to second magnetic steel ring sends synthesizes, obtain the signal period number that axle turns over, 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 compositor synthesizes second voltage signal that the position detecting device corresponding to second magnetic 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
Embodiment one
In embodiment one, be provided with 3 magnetic induction parts corresponding to second magnetic steel ring, be provided with 2 magnetic induction parts corresponding to first magnetic steel ring.
Because the magnetic pole magnetization of second magnetic 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 12 at 3 o'clock, obtain 6 sign indicating numbers, promptly obtain 6 utmost points, magnetize order as shown in figure 13, carry out reading around magnetic induction part is uniform because n is.The position relation of second magnetic steel ring, magnetic guiding loop and magnetic induction part as shown in figure 14.
Because the magnetic pole of second magnetic steel ring adds up to 6, therefore, first magnetic steel ring is magnetized to 6 pairs of utmost points uniformly, the arrangenent diagram of itself and 2 magnetic induction parts and magnetic order as shown in figure 15, the position of first magnetic steel ring, magnetic guiding loop and magnetic induction part concerns as shown in figure 16.
Figure 17 show in the present embodiment corresponding to first magnetic steel ring be provided with 2 magnetic induction parts, the circuit block diagram of signal processing apparatus when second magnetic steel ring is provided 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 end of 5_1a, multiplier 4_1a, the output signal A of 5_1a, B connects the input end of the first compositor 6_1a, the first compositor 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 storer 8_1a according to signal D
1Wherein, the output signal R of the first compositor 6_1a flows to coefficient rectifier 10_1a, and coefficient rectifier 10_1a tables look-up according to signal Ra with from storer 9_1a and obtains signal R
0Obtain signal K, this signal K is as another input end of multiplier 4_1a, 5_1a, and multiplying each other respectively with signal C1, C2 from amplifier 2_1a, 2_2a output obtains signal A, the B input as the first compositor 6_1a.
The output signal of sensor 1_3a, 1_4a, 1_na meets amplifier 2_3a, 2_4a respectively, 2_na amplifies, and connects A/D converter then and carries out synthesizing by the second compositor 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 storer 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 totalizer 12_1a obtains measuring.
Wherein, the function of the second compositor 7_1a is, synthesizes by the signal to sensor 1_3a, 1_4a, 1_na, obtain this constantly rotor be in which " N-S " in the signal period.
The processing of the second compositor 7_1a is: when data X was signed number, the 0th of data X (a scale-of-two 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.
E={C3_0 then; C4_0; Cn_0}.
Wherein, the first compositor 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 compositor all uses this agreement), when data X was signed number, the 0th of data X (a scale-of-two 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}
Otherwise:
D＝{A_0；B_0；A_D}
Signal K generally is by with signal R
0Carrying out division arithmetic with R obtains.
Embodiment two
Different with embodiment one, in the present embodiment, be provided with 4 magnetic induction parts corresponding to first magnetic steel ring, the angle between four magnetic induction parts 204 be 90 °/6, the first magnetic steel ring, magnetic guiding loop and magnetic induction part structural relation as shown in figure 18.
The circuit block diagram of signal processing apparatus when Figure 19 shows and is provided with 4 magnetic induction parts corresponding to first magnetic steel ring.The output signal of sensor 1_1b and 1_2b meets amplifying circuit 2_1b and carries out differential amplification, the output signal of sensor 1_3b and 1_4b meets amplifying circuit 2_2b and carries out differential amplification, meet A/D converter 3_1b, 3_2b then, subsequent treatment is similar to the situation when being provided with 2 magnetic induction parts.
Wherein, the function of the second compositor 7_1b is, synthesizes by the signal to sensor 1_5b, 1_6b, 1_nb, obtain this constantly rotor be in which " N-S " in the signal period.
Signal processing method based on the position detecting device of present embodiment is identical with the method for embodiment one.
Embodiment three
What present embodiment was different with embodiment one and two is to be provided with 3 magnetic induction parts corresponding to first magnetic steel ring, and the angle between three magnetic induction parts 204 is 120 °/6, as shown in figure 20.
The circuit block diagram of signal processing apparatus when Figure 21 shows and is provided with 3 magnetic induction parts corresponding to first magnetic steel ring.Processing procedure and preceding two embodiment are basic identical, and different is that because the input signal of the first compositor 7_1c is 3, therefore, the processing of signal D, R is slightly different with preceding two embodiment.In the present embodiment, the first compositor 7_1c to the Signal Processing principle is: 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 scale-of-two 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}；
Signal processing method based on the position detecting device of present embodiment is identical with the method for embodiment one.
Embodiment four
Present embodiment is different with embodiment three, is provided with 6 magnetic induction parts corresponding to first magnetic steel ring, the angle between six magnetic induction parts be 60 °/6, the first magnetic steel ring, magnetic guiding loop and magnetic induction part structural relation as shown in figure 22.
The circuit block diagram of signal processing apparatus when Figure 23 shows and is provided with 6 magnetic induction parts corresponding to first magnetic steel ring.Its detailed process illustrates at first three embodiment, in these different repeat specifications.
Signal processing method based on the position detecting device of present embodiment is identical with the method for implementing one.
Figure 24 is the three-dimensional exploded view of another kind of structure of the position detecting device of embodiment one to embodiment four of the present utility model.This position detecting device comprises rotor and rotor is enclosed within inner stator, and rotor comprises the first magnetic steel ring 201a and the second magnetic steel ring 201b, and the first magnetic steel ring 201a and the second magnetic 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 inside surface of support 203.
Similar with embodiment one to four, first magnetic steel ring in the position detecting device among Figure 22 can be provided with 2,4,3,6 magnetic induction parts.Method with embodiment one to four is identical respectively with signal processing method based on the signal processing apparatus of the position detecting device of the magnetic induction part of different numbers.
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 (14)
1. a position detecting device is characterized in that, comprises rotor and rotor is enclosed within inner stator, and described rotor comprises first magnetic steel ring, second magnetic steel ring;
Wherein, described first magnetic steel ring and second magnetic steel ring can be separately fixed on the same rotation axis;
On stator, corresponding to second magnetic steel ring, with the center of second magnetic steel ring is that the same circumference in the center of circle is provided with n equally distributed magnetic induction part, wherein, n=1,2 ... n, the magnetic pole magnetization of described second magnetic steel ring makes n magnetic induction part output be the Gray code form in proper order, adjacent two outputs have only a variation;
On stator, corresponding to first magnetic steel ring, with the center of first magnetic steel ring is that the same circumference in the center of circle is provided with m magnetic induction part that distributes at an angle, wherein, m is 2 or 3 integral multiple, the total logarithm of the magnetic pole of described first magnetic steel ring equates with the magnetic pole sum of second magnetic 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 signal processing apparatus.
2. position detecting device as claimed in claim 1 is characterized in that, on the stator corresponding to the angle between adjacent two magnetic induction parts of first magnetic 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 second magnetic steel ring.
3. position detecting device as claimed in claim 1 is characterized in that, the direct Surface Mount of described magnetic induction part is in inner surface of stator.
4. position detecting device as claimed in claim 1, it is characterized in that, also comprise two be built in stator inner surface, respectively with first magnetic steel ring, the corresponding magnetic guiding loop of second magnetic 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 magnetic steel ring.
5. position detecting device as claimed in claim 4 is characterized in that, the segmental arc end of described magnetic guiding loop is provided with chamfering.
6. position detecting device as claimed in claim 5 is characterized in that, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.
7. position detecting device as claimed in claim 1 is characterized in that, described magnetic induction part is the hall sensing element.
8. the signal processing apparatus based on the arbitrary described position detecting device of aforesaid right requirement 1-7 is characterized in that, comprising:
The A/D modular converter, the voltage signal that position detecting device is sent carries out the A/D conversion, is digital signal with analog signal conversion;
Relativity shift angle θ
1Computing module is used for the relative displacement θ of first voltage signal in the signal period of living in that the calculating location pick-up unit sends corresponding to the magnetic induction part of first magnetic steel ring
1
Absolute offset values θ
2Computing module according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic 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 module 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 module is used to store data.
9. the signal processing apparatus of position detecting device according to claim 8 is characterized in that, also comprises:
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 carried out the amplifying signal amplification module.
10. according to Claim 8 or the signal processing apparatus of 9 described position detecting devices, it is characterized in that,
Described relativity shift angle θ
1Computing module comprises first synthesis unit and the first angle acquiring unit, and described first synthesis unit is handled a plurality of voltage signals through the A/D conversion that position detecting device sends, and obtains reference signal D; The described first angle acquiring unit selects the angle relative with it as deviation angle θ in the first standard standard angle kilsyth basalt according to this reference signal D
1
11. the signal processing apparatus of position detecting device as claimed in claim 10 is characterized in that, described relativity shift angle θ
1Computing module also comprises the temperature compensation unit of the influence that is used to eliminate the voltage signal that temperature sends position detecting device.
12. the signal processing apparatus of position detecting device as claimed in claim 11 is characterized in that, the output of described first synthesis unit also comprises signal R.
13. the signal processing apparatus of position detecting device as claimed in claim 12, it is characterized in that, described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectification module is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal
0Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from position detecting device, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to first synthesis unit.
14. according to Claim 8 or the signal processing apparatus of 9 described position detecting devices, it is characterized in that described absolute offset values θ
2Computing module comprises second synthesis unit and the second angle acquiring unit, and described second synthesis unit is used for second voltage signal that the position detecting device corresponding to second magnetic steel ring sends is synthesized, and obtains signal E; The absolute offset values θ that the described second angle acquiring unit selects the 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 standard angle kilsyth basalt
2
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201500339U CN201503275U (en) | 2009-04-30 | 2009-04-30 | Position detection device and signal processing device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201500339U CN201503275U (en) | 2009-04-30 | 2009-04-30 | Position detection device and signal processing device thereof |
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| CN201503275U true CN201503275U (en) | 2010-06-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010124627A1 (en) * | 2009-04-30 | 2010-11-04 | 浙江关西电机有限公司 | Position detection device and signal processing device thereof |
| CN108180822A (en) * | 2017-12-18 | 2018-06-19 | 西安航天动力测控技术研究所 | Angle detection device is fully sealed in one kind |
| CN109520529A (en) * | 2018-12-29 | 2019-03-26 | 苏州汇川技术有限公司 | Encoder head and encoder |
| CN110501516A (en) * | 2018-05-16 | 2019-11-26 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Combination velocity-measuring system and method for ultrahigh speed linear motor |
-
2009
- 2009-04-30 CN CN2009201500339U patent/CN201503275U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010124627A1 (en) * | 2009-04-30 | 2010-11-04 | 浙江关西电机有限公司 | Position detection device and signal processing device thereof |
| CN108180822A (en) * | 2017-12-18 | 2018-06-19 | 西安航天动力测控技术研究所 | Angle detection device is fully sealed in one kind |
| CN108180822B (en) * | 2017-12-18 | 2023-08-29 | 西安航天动力测控技术研究所 | Complete sealing angle detection device |
| CN110501516A (en) * | 2018-05-16 | 2019-11-26 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Combination velocity-measuring system and method for ultrahigh speed linear motor |
| CN110501516B (en) * | 2018-05-16 | 2022-02-08 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Combined speed measuring system and method for ultra-high-speed linear motor |
| CN109520529A (en) * | 2018-12-29 | 2019-03-26 | 苏州汇川技术有限公司 | Encoder head and encoder |
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