CN206743153U - A kind of high speed angular position sensing system - Google Patents
A kind of high speed angular position sensing system Download PDFInfo
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- CN206743153U CN206743153U CN201720437208.9U CN201720437208U CN206743153U CN 206743153 U CN206743153 U CN 206743153U CN 201720437208 U CN201720437208 U CN 201720437208U CN 206743153 U CN206743153 U CN 206743153U
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Abstract
The utility model belongs to angular position pick up technical field, and in particular to a kind of high speed angular position sensing system, including：Signal generating unit, signal processing unit, communication module and controller, signal processing unit includes A/D modular converters and computing module, the magnetic field signal of change is changed into after analog voltage signal and changes into data signal by A/D modular converters by signal generating unit, and data signal changes into corresponding angle value θ by computing modulekController is sent to by communication module afterwards, controller receives θkCommunicated after value by Timing Synchronization serial communication protocol with communication module, communication module triggering A/D modular converters sample again.The utility model effectively eliminates influence of the velocity variations to angle feedback frequency signal, solve thes problems, such as sampling lag between front and rear signal.
Description
Technical field
The utility model belongs to angular position pick up technical field, and in particular to a kind of high speed angular position sensing system.
Background technology
High-speed electric expreess locomotive or electro spindle have special application in the fields such as industry, military affairs.It is straight with high-speed electric expreess locomotive or electro spindle
Connecing driving, load can save mechanical driving device at a high speed, avoid loss, mechanical oscillation and noise caused by transmission device, from
And reduce equipment volume, improve operational efficiency and running precision.There is efficiency using the high-speed electric expreess locomotive or electro spindle of vector controlled
High, reliable, the advantages that power factor is high, energy index is good, control characteristic is good.
However, the reason for realizing the control to high-speed electric expreess locomotive or electro spindle using vector controlled hardly possible is, its high rotating speed pair
High frequency electric waveform is answered, this requires that control system has superior current control performance.On the one hand the control performance of electric current is taken
Certainly in current control frequency, the on the other hand precision depending on voltage vector.Vector controlled needs motor or electro spindle rotor magnetic
The accurate angle of field, accurate position control are also required to the high precision position feedback of rotor.Current position feedback device is not
Can normal outgoing position signal at high speeds, be difficult to realize the detection to rotor-position, or even can not normal work.Cause
This, is difficult to take real SERVO CONTROL to high-speed electric expreess locomotive or electro spindle, more using position sensorless control or VFC etc.
Mode, output control characteristic are bad.
In automatic field, high rotating speed generally refers to tens thousand of ranges of speeds for going to hundreds thousand of turns per minute per minute.Increase
The position signalling of amount formula angular position pick up output is square-wave signal, and under high rotating speed, signal frequency is of a relatively high, and signal transmission can
It can raise and reduce with frequency by property, under many high rotating speed applicable cases, it is (single to reduce increment type angular position pick up resolution ratio
Ring signal quantity) reduce signal frequency.Typically at more than 10,000 turns per minute, the increment type angular position pick up that can be applied
Resolution ratio typically only have thousands of lines often enclose.By taking the photoelectric encoder generally used at present as an example, the position of degree of precision is realized
Control is put, generally requires the resolution ratio of 16 (every turn of 65536 lines).Photoelectric encoder real-time output rotor in the form of pulse signal
Displacement signal, when motor speed is 10000r/min, the frequency for 65536 line coding device output signals is about 10.92MHz,
The response frequency of general light-sensitive device only has 250kHz, even if ensureing photoelectricity using special light-sensitive device and other electronic devices
Encoder can export the position feed back signal of such high frequency, and servo controller also is difficult to collect.From current high-speed electric expreess locomotive
From the point of view of development, rotating speed runs far deeper than 10000r/min.Therefore photoelectric encoder from the perspective of signal frequency not
It is adapted to High-speed Control occasion.For photoelectric encoder and synchronous inductor, sensor construction, sensing element response time etc.
Limitation also constrain utilization in high speed situation.
Absolute type angular position pick up is to export absolute position data with certain data protocol, its position data institute exported
It is some moment before communication starts at the time of corresponding, the time generally number microseconds between two moment, high rotating speed
In the case of, the angle value corresponding to this short several microsecond is possible to that control accuracy can be caused to reduce or even control failure.In general
, signal frequency similarly be present in the problems such as magnetism encoder is the impact resistance and resistance to dust that solve.And synchronously sense original
The position detection device of reason, its caused induced electromotive force can increase as speed increases, and change too greatly will impact position
Feedback accuracy, therefore be also not suitable for using in High-speed Control.
In summary, existing Angle Position detection method has following defect：1. rotor angle can not be accurately detected at high speeds
Position；2. angle feedback signal frequency can change with speed；3. complicated, installation requirement is high, lower at a high speed easily to produce
Abrasion；4. the problem of under high speed due to signals transmission and sampling lag and cause output angle resolution ratio and precision not high.
Utility model content
The purpose of this utility model is that the angle that angular position pick up detects when overcoming high speed existing for prior art is held
Deviation is tended to have, the problem of precision is low, and propose a kind of high speed angular position sensing system.
To solve technical problem, the technical solution adopted in the utility model is：
A kind of high speed angular position sensing system, it is characterised in that including：Signal generating unit, signal processing unit, communication
Module and controller, the signal processing unit include A/D modular converters and computing module, and the signal generating unit will change
Magnetic field signal change into after analog voltage signal data signal changed into by A/D modular converters, data signal passes through computing
Module converter is into corresponding angle value θkController is sent to by communication module afterwards, the controller receives θkPass through after value
Timing Synchronization serial communication protocol communicates with communication module, and the communication module triggering A/D modular converters sample again.
Further, the signal generating unit includes Hall magnetic induction part and rotor magnetic steel ring, at a high speed turn of rotation
Sub- synchronous drive rotor magnetic steel ring produces the magnetic field signal of change around, and Hall magnetic induction part magnetic field sensor signal simultaneously converts
Exported into analog voltage signal.
Further, the signal generating unit is arranged on high-speed electric main shaft, and the signal generating unit includes rotor
Magnet steel ring and stator assembly, the rotor magnetic steel ring set is on the high-speed electric main shaft, the stator assembly positioning peace
On the bearing block of the high-speed electric main shaft.
Further, the rotor magnetic steel ring and stator assembly are two separating components.
Further, the stator assembly includes stator support, shielding steel loop, Hall magnetic induction part and PCB circuits
Plate, the stator support inside, which has, to be used to install the positioning annular groove for shielding steel loop and for PCB described in location and installation
The alignment pin of circuit board, the Hall magnetic induction part are arranged in the square groove inside the stator support, the shielding steel
Ring, Hall magnetic induction part and PCB by into stator support embedding colloid seal.
Further, the radial center face of the rotor magnetic steel ring, Hall magnetic induction part and shielding steel loop is in same
In plane.
Further, there is gap between the centre bore of the rotor magnetic steel ring and stator support.
Further, the computing module uses the signal processing algorithm based on lookup table mode.
Relative to prior art, the utility model apparently has the advantages that：
1st, the angle of rotor can be normally detected at high speed, reduce the inspection brought due to signal transmission with sampling lag
Error is surveyed, there is higher resolution ratio and precision.
2nd, communicated using synchronous serial interface, feedback frequency signal is not with velocity variations.
3rd, stator and rotor are isolating construction, between it is completely contactless, the Fast Wearing at a high speed when rotating can be avoided.
4th, the utility model proposes angle of the angular position pick up under high speed conditions Processing Algorithm, can be accurate
Data communication start time corresponding to output or some specify the Angle Position absolute coding at moment, contained in this computational methods
Influence of the release rate change to angle feedback frequency signal is imitated, solve thes problems, such as sampling lag between front and rear signal.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structure chart of high speed angular position sensing system of the present utility model；
Fig. 2 is the work schedule of the utility model high speed Angle Position detection method；
Fig. 3 is that angular position pick up is connected explosive view with high-speed main spindle；
Fig. 4 is that angular position pick up is connected stereogram with high-speed main spindle；
Fig. 5 is angular position pick up explosive view；
Fig. 6 is angular position pick up right view；
Fig. 7 is the sectional view that the utility model high speed angular position pick up installs application on high-speed electric main shaft.
In figure：1st, signal generating unit, 11, rotor magnetic steel ring, 12, stator assembly, 121, stator support, 1211, ring
Shape groove, 1222, inner ring boss, 1223, outer shroud boss, 1224, square groove, 1225, alignment pin, 1226, centre bore, 122, shielding
Steel loop, 123, Hall magnetic induction part, 124, PCB, 125, tapping screw, 126, encapsulating body, 2, signal processing unit,
21st, A/D modular converters, 22, computing module, 3, communication module, 4, controller, 5, high-speed electric main shaft, 6, high-speed electric main shaft bearing
Seat, 7, locking nut.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " setting ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be joined directly together, can also be indirectly connected by intermediary.For the ordinary skill in the art,
Concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
High speed angular position sensing system as shown in Figure 1, including：Signal generating unit 1, signal processing unit 2, communicate mould
Block 3 and controller 4, signal processing unit 2 include A/D modular converters 21 and computing module 22, and signal generating unit 1 is by change
Magnetic field signal changes into after analog voltage signal and changes into data signal by A/D modular converters 21, and data signal passes through computing
Module 22 changes into corresponding angle value θkController 4 is sent to by communication module 3 afterwards, controller 4 receives θkPass through after value
Timing Synchronization serial communication protocol communicates with communication module 3, and communication module 3 triggers A/D modular converters 21 and sampled again.
Signal generating unit 1 can be angular position pick up, and this angular position pick up can be arranged on high-speed electric main shaft 5, this
It is referred to as high speed angular position pick up in utility model, as shown in Fig. 3, Fig. 4 and Fig. 7, high speed angular position pick up includes：Rotor magnetic
The geomery of steel loop 11 and stator assembly 12, rotor magnetic steel ring 11 and stator assembly 12 can be according to the electricity of installation to be coordinated
Machine flexible structure designs.Rotor magnetic steel ring 11 can be that single pair pole is magnetized or multipair pole；Can be parallel magnetization,
It can be radial magnetizing.As shown in figure 3, the sensor that the detection of the utility model high speed Angle Position uses, its rotor magnetic steel ring 11
It is two separating components with stator assembly 12, installing/dismounting can be realized independently.Fig. 4 show sensor and is arranged on height
Stereogram on fast electro spindle 5, it can be seen that the utility model high speed angular position pick up small volume, it is simple and compact for structure, turn
Sub- magnet steel ring 11 is sleeved on the mandrel of high-speed electric main shaft 5, and with magnetic steel special glue, so as to synchronous with high-speed electric main shaft 5
Rotate at a high speed；The location and installation of stator assembly 12 is on high-speed electric main shaft bearing block 6.Therefore, in the existing structure of high-speed electric main shaft 5
Under conditions of any processing adjustment that it goes without doing, easy installation and removal internally can be also realized in narrow space.
As shown in figure 5, the stator assembly 12 of the utility model high speed angular position pick up is by stator support 121, shielding
Steel loop 122, Hall magnetic induction part 123, PCB 124, tapping screw 125, encapsulating body 126 are formed.Stator support 121
For installing stator other assemblies, and it is fixed on high-speed electric main shaft 5；Shielding steel loop 122 is used to shield external interference magnetic field, protects
Protect magnetic field caused by rotor magnetic steel ring 11；Hall magnetic induction part 123 is used for magnetic field caused by inductiopn rotor magnet steel ring 11, and will
Magnetic signal is converted into analog voltage signal output, and the quantity of Hall magnetic induction part 123 is evenly distributed on circle in the case of being 4
Zhou Shang, export the road signal of A+, A-, B+, B- tetra- respectively, wherein two Hall magnetic induction parts 123 output vis-a-vis for A+ and
A- or B+ and B- signals；PCB 124 is used to filter the analog voltage signal that Hall magnetic induction part 123 exports
The processing such as ripple or difference amplifier, and effective A, B two-phase simulation voltage signal is exported by signaling interface；Tapping screw 125 is used
It is fixed in by PCB 124 on stator support 121；Encapsulating body 126 is used for the embedding of stator assembly 12, so as to improve
Reliability and service life.
As shown in fig. 6, stator support 121 is toroidal, can be fitted close with the inner space of high-speed electric main shaft 5.Annular
Groove 12111 is used for location and installation shielding steel loop 122, and inner ring boss 1222 collectively forms inner ring connected in star knot with outer shroud boss 1223
Structure is used for embedding colloid, and square groove 1224 is used for location and installation Hall magnetic induction part 123, and alignment pin 1225 is used for location and installation
PCB 124, outer shroud boss 1223 are used to install stator assembly 12, center with the Internal hole positioning of high-speed electric main shaft bearing block 6
Hole 1226 is used for the mandrel through high-speed electric main shaft 5.
It is illustrated in figure 7 the sectional view that the utility model high speed angular position pick up installs application on high-speed electric main shaft 5.
Rotor magnetic steel ring 11 is sleeved on the mandrel of high-speed electric main shaft 5, passes through bearing lock nut erecting bed terrace axially position, stator
Support 121 is by circular orientation boss and the Internal hole positioning of high-speed electric main shaft bearing block 6, collateral security rotor magnetic steel ring 11 and stator branch
The axiality of frame 121.As shown in FIG., rotor magnetic steel ring 11, Hall magnetic induction part 123, the radial center for shielding steel loop 122
Face is in the same plane, Hall magnetic induction part energy magnetic field fully caused by inductiopn rotor magnet steel ring 11, and shields steel loop 122
The outside interference to magnetic field then can be effectively shielded, so that it is guaranteed that the analog voltage signal quality that work is exported.PCB
Hall magnetic induction part 123 on 124 is handled with the embedding of encapsulating body 126, rotor magnetic steel ring 11 and the centre bore of stator support 121
There is gap between 1226, in contactless state, therefore rotated at a high speed in high-speed electric main shaft 5 or temperature change is big, has dust oily
Abrasion mechanically is there will not be under the adverse circumstances such as dirt, so as to improve reliability and service life.
With reference to Fig. 1 and Fig. 2, signal generation point is that rotor magnetic steel ring 11, which produces, to be reflected by magnetoelectric effect principle
The magnetic field rotated together with high speed rotor, it is defeated that Hall magnetic induction part 123 changes into analog voltage signal to magnetic field signal sensing
Go out；After signal processing receives the triggering sample command sent by communication module 3 by A/D modular converters 21, signal is sent out
The analog voltage signal of first portion output be sampled and transformed into data signal and is supplied to computing module 22, and computing module 22 is right
Data signal is analyzed, and according to ployphase voltages signal and the corresponding relation of magnetic field position, obtains high speed rotor (high speed rotary magnetic
) absolute position angle value output in a circumference；On the one hand communication module 3 receives the communication protocols that controller 4 is sent
After view, into signal processing, A/D modular converters 21 send triggering and sampled, computing in another aspect reception signal process part
The angle value that module 22 exports, and send angle value to controller 4.When being communicated with controller 4, using synchronous serial
Communicate reporting high speed rotor position angle angle value, while is entered by A/D modular converters 21 in the trigger signal process part of communication module 3
The row sampling to analog voltage signal caused by signal generation point next time.
Rotor magnetic steel ring 11 in above-mentioned signal generation point is single pair magnetic pole, therefore rotation is turned around, changes of magnetic field one
In the cycle, each Hall magnetic induction part 123 exports the voltage signal of a cycle, same using multiple Hall magnetic induction parts 123
When the magnetic field signal of inductiopn rotor magnet steel ring 11, then in a circumference (0~360 °), any high speed rotor position is simulated with multiphase
Voltage signal combination is unique corresponding.
It can be seen that as long as the response frequency of Hall magnetic induction part 123 can reach high speed rotor speed, this practicality is new
Type Angle Position detection sensor can effective Feedback rotor-position at high speeds.The sound of currently common Hall magnetic induction part 123
Answer frequency can be more than 10,000,000r/min up to more than 200kHz, corresponding rotating speed.In view of signal lag problem, to protect
Card accuracy of detection limits the rotating speed of its actual use, and Angle Position detection sensor of the present utility model can also be normal at high speeds
Detection angles.
Adopted to obtain faster processing speed and precision, the utility model Angle Position detection sensor in computing module 22
With the signal processing algorithm based on lookup table mode.First by calibration system, by high speed rotor mechanical angle (0 °~360 °),
One-to-one relation between the ployphase voltages signal exported with Hall magnetic induction part 123 is made tables of data and stored
Come.During work, signal processing only needs reception signal that the multiphase analog voltage signal that part exports occurs, just can be in data
Its corresponding high speed rotor absolute angle angle value is found in table.As can be seen that the utility model Angle Position detection sensor, to machinery
The linearity of precision, magnetic field and analog signal is not high, and angle is improved by improving signal quality and improving calibration system
The potentiality of position-detection sensor precision are very huge.
It was found from operation principle, the utility model Angle Position detection sensor unlike photoelectric encoder like that in real time on
Angle is reported, but angle is reported in the form of passive Timing Synchronization serial communication.For controlled motor or electro spindle at a high speed
The controller 4 of rotation is by the feedback angle obtained by communicating, the sampling processing result before being a period of time.In high rotating speed
Under, rotor-position signal hysteresis is particularly evident caused by this period, is directly sweared using this feedback angle as current angular
Amount control, can make current phasor deviate correct direction, and control can be caused to fail when serious.Therefore, it is necessary to accurate compensation hysteresis,
Lag time will be obtained by analyzing Angle Position detection sensor work schedule.
The work schedule of the utility model high speed Angle Position detection method as shown in Figure 2, in kth cycle TkStart, control
Device 4 processed communicates with high speed angular position sensing system, and the communication of controller 4 show that k-th of angle feed-back value is θ(k)；Kth cycle TkIt is logical
After letter terminates, carrying out analog-to-digital conversion by A/D modular converters 21 in the cycle of kth -1 and draw after being calculated by computing module
Angle value θk-1For the cycle T of kth+1k+1Will be communicated the angle feed-back value θ sent(k+1)Assignment；Then kth cycle T is carried outkAdopt
Sample calculates, and obtains angle value θk, θkIn the cycle T of kth+1k+1After sign off, the cycle T of kth+2 is assigned tok+2Angle feed-back value
θ(k+2),+2 cycle Ts of kthk+2Communicate obtained angle feed-back value θ(k+2), it is kth cycle TkSampling result of calculation θk, i.e.,
θ(k+2)=θk.From kth cycle TkSampling calculates angle value θkAt the beginning of carve, to the cycle T of kth+2k+2At the beginning of carve (controller
4 will communicate to obtain angle feed-back value θ(k+2)), this period is angle feed-back value θ(k+2)Lag time.
In Fig. 2, a cycle is the controlling cycle of controller 4, is set to Ts, if call duration time is tc, after sign off
Assignment and the time for entering sampling calculating interruption are te, i.e., are sampled after each cycle tc+te times.Then, angle reports stagnant
Time afterwards is Tdelay=2Ts-(tc+te)
High speed Angle Position detection method of the present utility model uses above-mentioned work schedule, accurately calculated angle report it is stagnant
Time afterwards, solve the problems, such as at high speed because call duration time produces rotor-position signal hysteresis.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.By the obvious changes or variations that spirit of the present utility model is extended out still in protection of the present utility model
Among scope.
Claims (8)
- A kind of 1. high speed angular position sensing system, it is characterised in that including：Signal generating unit (1), signal processing unit (2), Communication module (3) and controller (4), the signal processing unit (2) include A/D modular converters (21) and computing module (22), The signal generating unit (1) changes into the magnetic field signal of change after analog voltage signal to be turned by A/D modular converters (21) Data signal is melted into, data signal changes into corresponding angle value θ by computing module (22)kSent out afterwards by communication module (3) Controller (4) is given, the controller (4) receives θkPass through Timing Synchronization serial communication protocol and communication module (3) after value Communication, communication module (3) the triggering A/D modular converters (21) sample again.
- 2. high speed angular position sensing system according to claim 1, it is characterised in that signal generating unit (1) bag Hall magnetic induction part (123) and rotor magnetic steel ring (11) are included, the rotor synchronous drive rotor magnetic steel ring (11) of rotation exists at a high speed Surrounding produces the magnetic field signal of change, and Hall magnetic induction part magnetic field sensor signal simultaneously changes into analog voltage signal output.
- 3. high speed angular position sensing system according to claim 1 or 2, it is characterised in that the signal generating unit (1) On high-speed electric main shaft (5), the signal generating unit (1) includes rotor magnetic steel ring (11) and stator assembly (12), The rotor magnetic steel ring (11) is sleeved on the high-speed electric main shaft (5), and stator assembly (12) location and installation is described On the bearing block of high-speed electric main shaft (5).
- 4. high speed angular position sensing system according to claim 3, it is characterised in that the rotor magnetic steel ring (11) and fixed Subgroup zoarium (12) is two separating components.
- 5. high speed angular position sensing system according to claim 4, it is characterised in that the stator assembly (12) includes Stator support (121), shielding steel loop (122), Hall magnetic induction part (123) and PCB (124), the stator support (121) it is internal to have for the annular groove (1211) of the installation positioning shielding steel loop (122) and for PCB described in location and installation The alignment pin (1225) of circuit board (124), it is internal that the Hall magnetic induction part (123) is arranged on the stator support (121) Square groove (1224) in, the shielding steel loop (122), Hall magnetic induction part (123) and PCB (124) pass through to The interior embedding colloid sealing of stator support (121).
- 6. high speed angular position sensing system according to claim 5, it is characterised in that the rotor magnetic steel ring (11), suddenly The radial center face of that magnetic induction part (123) and shielding steel loop (122) is in the same plane.
- 7. high speed angular position sensing system according to claim 5, it is characterised in that the rotor magnetic steel ring (11) is with determining There is gap between the centre bore (1226) of submounts (121).
- 8. high speed angular position sensing system according to claim 1, it is characterised in that the computing module (22) uses base In the signal processing algorithm of lookup table mode.
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| CN201720437208.9U CN206743153U (en) | 2017-04-24 | 2017-04-24 | A kind of high speed angular position sensing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110071605A (en) * | 2018-01-23 | 2019-07-30 | 赛卓电子科技（上海）有限公司 | Electric motor mounting structure with induction rotary transformer |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110071605A (en) * | 2018-01-23 | 2019-07-30 | 赛卓电子科技（上海）有限公司 | Electric motor mounting structure with induction rotary transformer |
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