CN207675115U - A kind of angular displacement sensor - Google Patents
A kind of angular displacement sensor Download PDFInfo
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- CN207675115U CN207675115U CN201721438703.8U CN201721438703U CN207675115U CN 207675115 U CN207675115 U CN 207675115U CN 201721438703 U CN201721438703 U CN 201721438703U CN 207675115 U CN207675115 U CN 207675115U
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- magnetic
- ring body
- displacement sensor
- angular displacement
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Abstract
The utility model is related to sensor technical field, especially a kind of angular displacement sensor, including magnetic links and stator module.The angular displacement sensor of the utility model is equipped with the shielding construction of shielding external magnetic field, it can prevent external magnetic field from interfering, improve initial signal quality, ensure precision, in addition, using integrated magnetic induction part, initial signal consistency and phase accuracy are improved, it is suitable for miniaturized design, and is also suitable for large-diameter design.
Description
Technical field
The application be " 201720223961.8 " number, the applying date be " on March 9th, 2017 ", a kind of entitled " angle position
The divisional application of the utility model of displacement sensor ", the utility model is related to angular position pick up technical fields, more particularly to one kind
Angular displacement sensor.
Background technology
The position detecting device applied in Motor Control Field is mainly encoder, and one is by rotor for encoder
The physical quantitys such as spin angular position, angular speed are converted to the position sensor of pulse or number, and the resolution ratio and precision of encoder are straight
It connects and influences automated system control performance.
Currently, the encoder applied in field of engineering technology is mainly optical-electricity encoder, however, photoelectric encoder exists
Some are difficult to the shortcomings that overcoming：Photoelectric encoder is formed by glass substance by groove, and anti-vibration and impact capacity be not strong, and
And it is not suitable for the adverse circumstances such as dust, moisture condensation, structure and positioning assembling are complicated；Ruling span has the limit, to improve resolution ratio
Code-disc must be increased, to be difficult to miniaturization；Assembly precision requires very high in production process, directly influences production effect
Rate finally influences product cost.
Magneto-electric encoder can solve the deficiency of photoelectric encoder.Chinese patent ZL2009101 37761.0 is proposed
A kind of magnetism encoder, including magnet steel ring, magnetic guiding loop and magnetic induction part, wherein magnetic guiding loop is by two sections or the same radius of multistage, same
The segmental arc in the center of circle is constituted, and there are gap, magnetic induction part is placed in the gap adjacent two segmental arc, when magnet steel ring and magnetic guiding loop occur
When relative rotary motion, the magnetic signal sensed is converted to voltage signal by magnetic induction part, and the voltage signal is transferred to
Corresponding signal processing apparatus.
A kind of magneto-electric rotation angle detecting method is disclosed in Japan Patent JP Tetsukai 2004-340681A, discloses one
Kind calculates temperature drift amount without using in the case of temperature sensor using two phase signals quadratic sums, to reduce temperature drift
Move the method influenced on angle detection.
In conclusion existing magneto-electric Angle Position detection method has following defect：1. a pair external magnetic field does not have shielding measure,
Reliability is not high；2. pair demand on signal quality is higher, if signal higher harmonic components are higher, two phase signals quadratic sums are not normal
Number then influences to effectively eliminate caused by temperature drift；3. being applicable in just for two phase signals；4. between having ignored each phase signals
Temperature drift amount difference can influence accuracy of detection in practical application.
Utility model content
It is not high, poor reliability scarce that purpose of the utility model is to solve accuracy of detection existing in the prior art
Point, and a kind of angular displacement sensor proposed.
To achieve the goals above, the utility model uses following technical solution：
The angular displacement sensor of the utility model includes magnetic links and stator module, the stator module include shielding case with
And inner ring body in shielding case, the PCB circuit board being fixed on inner ring body, the magnetic induction core that is arranged in PCB circuit board
Piece, the magnetic induction chip are freely rotated towards the magnetic links, the relatively described magnetic induction chip of the magnetic links, the shielding
Have shading ring, the periphery that the shading ring is arranged in the inner ring body upward in cover.
Magnetic links described in the utility model are embedded in the slot of motor tailing axle end, and the magnetic induction chip is welded on PCB
On circuit board, there are gap, the magnetic induction chip to be generated for inductive magnetic steel piece between the magnetic links and magnetic induction chip
Magnetic signal is simultaneously converted into analog voltage signal output, the simulation that the PCB circuit board is used to export magnetic induction chip by magnetic field
Voltage signal carries out processing and exports A, B two-phase simulation voltage signal by signaling interface.
PCB circuit board described in the utility model is fixed on by tapping screw on inner ring body, and the inner ring body is fixed on electricity
On machine rear flange face, the shielding case is fixed on by lock-screw on motor rear flange face.
Inner ring body described in the utility model includes ring body and multiple lugs for being arranged on ring body peripheral surface, described convex
Ear is equipped with through-hole, and the ring body towards the end face of the shielding case there is threaded hole, the shielding case to be equipped with mounting hole,
The shielding case side is further opened with outlet hole.
The utility model proposes the advantageous effect of angular displacement sensor be：
1, angular displacement sensor is equipped with the shielding construction of shielding external magnetic field, can prevent external magnetic field from interfering, and improves just
Beginning signal quality ensures precision；
2, using integrated magnetic induction part, initial signal consistency and phase accuracy are improved；
3, it is suitable for miniaturized design, and is also suitable for large-diameter design.
Description of the drawings
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.
Fig. 1 is the angular displacement sensor structure schematic diagram of the present embodiment；
Fig. 2 is the configuration schematic diagram of the angular displacement sensor of the present embodiment；
Fig. 3 is the inner ring body structural schematic diagram of the present embodiment；
Fig. 4 is the shielding case structure schematic diagram of the present embodiment；
Fig. 5 is the schematic cross-sectional view of the angular displacement sensor of the present embodiment；
Fig. 6 is the angle calculation functional block diagram of the angular displacement sensor of the present embodiment.
In figure：3 lock-screws, 4 magnetic links, 5 inner ring bodies, 51 ring bodies, 52 lugs, 53 threaded holes, 54 through-holes, 6 magnetic strengths
Answer chip, 7 shielding cases, 71 slots, 72 shading rings, 73 outlet holes, 8 motor tailing axles, 9 motor rear flange faces.
Specific implementation mode
In the description of the present invention, it should be understood that term " radial direction ", " axial direction ", "upper", "lower", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the utility model and simplify description, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.In the description of the utility model
In, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
Embodiment：
The angular displacement sensor of the present embodiment is mounted with that shielding construction, shielding construction can prevent external magnetic field from interfering, carry
High initial signal quality ensures precision.
As shown in Figs. 1-5, the angular displacement sensor of the present embodiment includes magnetic links 4 and stator module, and stator module includes
Shielding case 7 and inner ring body 5 in shielding case 7, are arranged in PCB circuits the PCB circuit board 24 being fixed on inner ring body 5
Magnetic induction chip 6 on plate 24, magnetic induction chip 6 are freely rotated with respect to magnetic induction chip 6 towards magnetic links 4, magnetic links 4, shield
Covering has shading ring 72, the periphery that shading ring 72 is arranged in inner ring body 5 upward in cover 7.Wherein, the shape of magnetic links 4 and shielding case 7
Shape size can be according to the electric machine structure flexible design of installation to be coordinated, shielding case 7 and shading ring 72 for shielding external interference magnetic
, the magnetic field that protection magnetic links 4 generate.
The magnetic links 4 of the present embodiment are embedded in the slot of 8 end of motor tailing axle, and with magnetic steel special glue, thus with
Rotor synchronous rotary, magnetic induction chip 6 are welded in PCB circuit board 24, between having between magnetic links 4 and magnetic induction chip 6
Gap, is in contactless state, therefore motor high speed rotation or temperature change are big, have will not under the adverse circumstances such as dust greasy dirt
There is abrasion mechanically, to improve reliability and service life.
There is magnetic links 4 N-S polarity can generate magnetic field, and magnetic induction chip 6 is used for the magnetic field that inductive magnetic steel piece 4 generates and will
Magnetic signal is converted into analog voltage signal output, the analog voltage signal that PCB circuit board 24 is used to export magnetic induction chip 6
It carries out processing and A, B two-phase simulation voltage signal is exported by signaling interface.Wherein, the center of magnetic links 4 and magnetic induction chip
On the same axis, and shading ring 72 then can effectively shield the external interference to magnetic field at 6 center, so that it is guaranteed that magnetic induction chip
The 6 analog voltage signal quality exported.
The PCB circuit board 24 of the present embodiment is fixed on by tapping screw 25 on inner ring body 5, and inner ring body 5 is fixed on motor
On rear flange face 9, shielding case 7 is fixed on by lock-screw 3 on motor rear flange face 9.
The inner ring body 5 of the present embodiment includes ring body 51 and the multiple lugs 52 being arranged on 51 peripheral surface of ring body, convex
Ear 52 is equipped with through-hole 54, and ring body 51 towards the end face of shielding case 7 there is threaded hole 53, shielding case 7 to be equipped with mounting hole 71,
7 side of shielding case is further opened with outlet hole 73, and outlet hole 73 is used for across output signal line.
Fig. 6 shows angle when diagonal displacement sensor signal generation part output two phase signals of A, B in the present embodiment
Computing Principle block diagram, detection method includes the following steps for the Angle Position：
S01. sampling processing：Original signal A, B progress sampling processing caused by diagonal displacement sensor obtains two and believes
Number real-time sampling value U 'A、U′B；
S02. correcting process：The two phase signals real-time sampling value U ' that sampling processing is obtainedA、U′BProcessing is modified to obtain
Two-phase is used to inquire the signal value U " of calibration dataA、U″B；
S03. interval judgement：Two-phase signal value U " after correcting processA、U″BInterval judgement is carried out again obtains section letter
Breath；
S04. angle is obtained：With block information and revised two-phase signal value U "A、U″BAs input, by with school
The mutual transmission of quasi- data carries out angle calculation, obtains angle value θA、θB；
S05. output is adjusted：To angle value θA、θBIt carries out adjusting final output angle value θ again；
S06. correction amount calculates：After the completion of step S04, according to angle value θA、θBΔ θ is obtained by mathematic interpolation, then is tied
Close block information, revised two-phase signal value U "A、U″B, carry out to zero point offset amount U_offset, ratio correction value K0, ratio
Correction value K1It is respective it is independent calculate, obtain U_offset、K0、K1；
S07. correcting process is recycled：U as obtained by correction amount calculating_offset、K0、K1To two phase signals real-time sampling values
U′A、U′BIt is modified processing, and repeats step S01-S06 in some cycles.
Correction amount, which calculates, in above-mentioned Angle Position detection method uses recursive algorithm, specific as follows：
S501：Calibration data relational expression is：U
Meaning of parameters is：
AWidth--- A phase signals amplitudes； BWidth--- B phase signals amplitudes；
UA--- A phase signals values；UB--- B phase signals values；
θ --- signal corresponding angles angle value.
Real-time sampling value relational expression is：
Meaning of parameters is：
A′Width--- A phase signals amplitude real-time sampling values；
B′Width--- B phase signals amplitude real-time sampling values；
UA_offset--- A phase signals zero point offset amounts；
UB_offset--- B phase signals zero point offset amounts；
U′A--- A phase signals real-time sampling values；
U′B--- B phase signals real-time sampling values.
Wherein：Initialize amplitude proportion correction value：K0=K1=1；
Inquiry calibration data numerical formula be：
U″A(K)=(U 'A(K)-UA_offset)·K0(K-1),
U″B(K)=(U 'B(K)-UB_offset)K1·K0(K-1)；
Meaning of parameters is：
U′A(k)--- kth period A phase signals real-time sampling value；
U′B(k)--- kth period B phase signals real-time sampling value；
K0(k-1)--- -1 period proportional correction value of kth；
U″A(k)--- the A phase signals values for inquiring calibration data；
U″B(k)--- the B phase signals values for inquiring calibration data.
Use U "A(K)、U″B(K)The angle value that inquiry calibration data obtains：θA(K)、θB(K)；
Obtain angle overall error：Δθ(K)=θB(K)-θA(K)；
θAError with angle true value θ is：ΔθB(K)=Δ θA(K)-Δθ(K)；
θBError with angle true value θ is：ΔθA(K)=Δ θ(K)+ΔθB(K)；
Meaning of parameters is：
θA--- the angle value that A phase signals values inquiry calibration data obtains；
θB--- the angle value that B phase signals values inquiry calibration data obtains；
ΔθA(k)--- the error discreet value between the looked into angle of kth period A phases and true value angle；
ΔθB(k)--- the error discreet value between the looked into angle of kth period B phases and true value angle.
S502：Judge output angle angle value according to interval division：θOutputFor θA(K)Or θB(K)；
And θA is true (K)=θA(K)+ΔθA(K)Or θB is true (K)=θB(K)+ΔθB(K)；
Meaning of parameters is：
θA is true (k)--- the real angle discreet value that the kth period is obtained by A phases；
θB is true (k)--- the real angle discreet value that the kth period is obtained by B phases.
Then amplitude error value：ΔUA is true (K)=Δ θA(K)·AcosθA is true (K)；ΔUB is true (K)=-Δ θB(K)·BsinθB is true (K)；
Meaning of parameters is：
ΔUA is true (k)--- the A phases amplitude error discreet value of kth period；
ΔUB is true (k)--- the B phases amplitude error discreet value of kth period.
S503：Ratio correction value formula is calculated according to interval division：
K0(K)=K0(K-1)+ΔUA is true (K)/(U′A(K)-UA_offset)；
Or K0(K)=K0(K-1)+ΔUB is true (K)/((U′B(K)-UB_offset)K1).Meaning of parameters is：
K0(k)--- kth period proportional correction value.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not
Be confined to this, any one skilled in the art within the technical scope disclosed by the utility model, according to this practicality
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (4)
1. a kind of angular displacement sensor, it is characterised in that：Including magnetic links (4) and stator module, the stator module includes screen
Cover cover (7) and inner ring body (5) in the shielding case (7), the PCB circuit board (24) being fixed on inner ring body (5), setting exist
Magnetic induction chip (6) in PCB circuit board (24), the magnetic induction chip (6) is towards the magnetic links (4), the magnetic links
(4) the relatively described magnetic induction chip (6) is freely rotated, and has shading ring (72), the shading ring (72) in the shielding case (7)
The periphery for being arranged in the inner ring body (5) is upward.
2. a kind of angular displacement sensor according to claim 1, which is characterized in that the magnetic links (4) are embedded in motor
In the slot of tailing axle (8) end, the magnetic induction chip (6) is welded in PCB circuit board (24), the magnetic links (4) and magnetic strength
Answering between chip (6) has gap, and the magnetic field that the magnetic induction chip (6) generates for inductive magnetic steel piece (4) simultaneously turns magnetic signal
Change analog voltage signal output into, the analog voltage signal that the PCB circuit board (24) is used to export magnetic induction chip (6) into
Row processing simultaneously exports A, B two-phase simulation voltage signal by signaling interface.
3. a kind of angular displacement sensor according to claim 2, which is characterized in that the PCB circuit board (24) passes through certainly
It attacks screw (25) to be fixed on inner ring body (5), the inner ring body (5) is fixed on motor rear flange face (9), the shielding case
(7) it is fixed on motor rear flange face (9) by lock-screw (3).
4. a kind of angular displacement sensor according to claim 3, which is characterized in that the inner ring body (5) includes ring body
(51) and multiple lugs (52) on ring body (51) peripheral surface are set, the lug (52) is equipped with through-hole (54), described
Ring body (51) towards the end face of the shielding case (7) there is threaded hole (53), the shielding case (7) to be equipped with mounting hole
(71), shielding case (7) side is further opened with outlet hole (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721438703.8U CN207675115U (en) | 2017-03-09 | 2017-03-09 | A kind of angular displacement sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720223961.8U CN206891377U (en) | 2017-03-09 | 2017-03-09 | A kind of angular displacement sensor |
| CN201721438703.8U CN207675115U (en) | 2017-03-09 | 2017-03-09 | A kind of angular displacement sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110411403A (en) * | 2019-08-22 | 2019-11-05 | 深圳南方德尔汽车电子有限公司 | A kind of integrated form oil pump angular transducer and integrated electric pump control unit device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108880126A (en) * | 2018-08-21 | 2018-11-23 | 桂林智神信息技术有限公司 | A kind of motor and the hand-held stabilizer of lightweight of stabilizer |
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- 2017-03-09 CN CN201721438703.8U patent/CN207675115U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110411403A (en) * | 2019-08-22 | 2019-11-05 | 深圳南方德尔汽车电子有限公司 | A kind of integrated form oil pump angular transducer and integrated electric pump control unit device |
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