CN2708330Y - Device for detecting rotor position of motor - Google Patents
Device for detecting rotor position of motor Download PDFInfo
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- CN2708330Y CN2708330Y CNU2004200202236U CN200420020223U CN2708330Y CN 2708330 Y CN2708330 Y CN 2708330Y CN U2004200202236 U CNU2004200202236 U CN U2004200202236U CN 200420020223 U CN200420020223 U CN 200420020223U CN 2708330 Y CN2708330 Y CN 2708330Y
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Abstract
The utility model relates to a detection device for the motor rotor, which comprises a check circuit board of rotor initial point, a check circuit board of rotor position when the electric motor is in operation and a grating piece. The grating piece is arranged on the motor shaft, and the check circuit board of the rotor initial point and the check circuit board of rotor position when the electric motor is in operation, are arranged on the rear end cover of the electric motor. The inner surface of the motor frame and the cylinder side of the motor stator silicon steel sheet are respectively made with a mark. The mark is to determine the position relation of the electric motor stator winding and the base in installing. The check circuit board of rotor initial point is provided with three reflection type photoelectric sensors, which are in space doing peripheral distribution of 60 DEG. The check circuit board of rotor position when the electric motor is in operation is provided with a photoelectric incremental coder. The utility model can check the rotor position of the electric motor in high running accurately, and it can avoid the abuse of requiring the adjustment of the code disc position when check the initial point of the motor rotor.
Description
Technical field
The utility model relates to a kind of pick-up unit of motor rotor position, relates in particular to a kind of rotor position detection and inceptive positioning device that is applicable to autocontrol permasyn morot governing system.
Background technology
The permasyn morot governing system is applied to quick, accurate, accurate position control field, especially is widely used in fields such as flexible manufacturing system, robot, office automation, numerically-controlled machine, industrial automatic sewing equipment.
Because the geometric configuration difference of permanent-magnet synchronous motor rotor magnet steel, make the rotor field on space distribution, be divided into sinusoidal wave and two kinds of trapezoidal waves.Therefore, when rotor rotated, the anti-electrodynamic type waveform that produces on stator also just had two kinds of sine wave, trapezoidal waves.Here be the vector controlled model that example is introduced permanent magnet motor with sinusoidal pattern permasyn morot governing system (PMSM).
Here, we suppose that motor is linear, and its parameter is with variations such as temperature, and ignore magnetic hysteresis, eddy current loss, rotor undamped winding.
Permasyn morot stator magnetic linkage equation in the rotor coordinate system (d-q axle system) is:
Ψ
sd＝L
di
sd+Ψ
r
Ψ
sq＝L
qi
sq
In the formula, Ψ
r--the coupling magnetic linkage of rotor magnetic steel on stator;
L
d, L
q--straight, the friendship axle main inductance of permasyn morot;
i
Sd, i
Sq--straight, the quadrature axis component of stator current vector.
The torque equation of PMSM is:
T
d＝p
m(Ψ
sdi
sq-Ψ
sqi
sd)＝p
m[Ψ
ri
sq+(L
d-L
q)i
sdi
sq]
In the formula, p
m--the number of pole-pairs of motor.
As can be seen from the above equation, the electromagnetic torque T of permasyn morot
dBasically depend on stator friendship shaft current component i
SqWith direct-axis current component i
SdIn permasyn morot, because rotor adopts permanent magnetic materials such as neodymium iron boron, magnetic linkage is invariable, so adopt the rotor flux linkage orientation mode to control with the electronic motor of magnetic-synchro.
So-called rotor flux linkage orientation control is oriented in rotor flux vector Ψ to the M axle of directed coordinate system exactly
eOn, and with its synchronous rotation, promptly the M axle overlaps with the geometrical axis d axle of rotor.Because M-T axle system overlaps with d-q axle system, the synchronous motor mathematical model of M-T axle system in fact also is the mathematical model that the d-q axle is fastened, and vector is decomposed on d, q axle, and consider rotor flux linkage orientation, can obtain torque equation and be:
T
d＝p
mL
mdΨ
ei
sT/L
e
L
MdAnd L
eBe the textural constant of motor.
Shown in following formula, during the control of synchronous electric motor rotor flux linkage orientation, torque T
dOnly with rotor flux Ψ
eAnd the torque component i of stator current
ST(i
Sq) be directly proportional, and Ψ
eAnd i
STSeparate idol mutually, independently of one another, as long as control rotor excitation current i well
eExcitation component i with stator current
SM, keep rotor flux Ψ
eConstant amplitude, then electromagnetic torque T
dOnly be subjected to the torque component i of stator current
STControl, like this vector control frequency control of synchronous motor with regard to and the variable voltage control of dc separately excited motor have identical quality.
Because magnetic linkage Ψ
eAnd i
Sd, i
eConcern complexity, for simplified control system, can be controlled at stator current vector all the time on the T axle (q axle), promptly stator current does not have M axle (d axle) excitation component, i
Sq=i
s, i.e. i
Sd=0, rotor flux is a steady state value so, and electromagnetic torque only is directly proportional with the amplitude of stator current.Just stator current all is used for producing torque, and the electromagnetic torque equation is:
T
d＝p
mΨ
ri
s
By above analysis, we know, as long as can detect rotor space position (d axle) exactly, by control inverter the resultant current (mmf) of threephase stator are positioned on the q axle, so, and the electromagnetic torque T of permasyn morot
dOnly with the amplitude i of stator current
sBe directly proportional, promptly, just can control electromagnetic torque T well as long as control the amplitude of stator current well
d
The detection of motor rotor position comprises the detection to initial position of rotor, the detection of motor operation back rotor-position, and by corresponding software processes, obtains the spatially high-precision absolute position of rotor.Detection to initial position of rotor mainly is to make the correctly commutation of motor speed governing system inverter, with the normal operation of control motor.The detection of motor operation back rotor-position mainly is the position control occasion in order to satisfy the demand quick, accurate, accurate, and it mainly is the segmentation space angle, to have improved the detection degree of accuracy of rotor-position.It is output as the space relative angle.
Described by preamble, want to detect rotor space position (d axle) exactly, only know that accurate relative angle is not all right, usually behind the electric motor starting, detect a certain road signal that the initial position of rotor pick-up unit sends along the time, the pulse that begins motor rotors position detecting device is sent counts, and extrapolates high-precision rotor space absolute position in proper order.
Rotor position detector is generally all made non-contact type, and multiple different form is arranged, and what the rotor detection method of permasyn morot was relatively more commonly used is Mageneto-sensitive type and photo-electric.
The Mageneto-sensitive type detection method is to utilize magneto sensor to reflect rotor-position, sends one group of position signalling.It requires with the coaxial detecting device rotor that links to each other of synchronous electric motor rotor is permanent-magnet structure, and identical with the number of pole-pairs of synchronous motor, on the detecting device stator magneto sensor is installed.Because be subjected to the restriction of number of pole-pairs, resolution is generally done not high.So the application scenario is limited.
The photo-electric detection method is to utilize photovalve, and the position of the rotating circular disk (lenticular lenses) that has notch (or grid) is detected.Export the pulse signal of a series of reflection rotor-positions, detection resolution height, the motor that suitable detection runs up.
Yet, when traditional photo-electric detects the motor rotor initial position, needing to make the output waveform of pick-up unit and stator-induced electromagnetic kinetic potential waveform form suitable, unique corresponding relation by adjusting the code-disc position, practical operation extremely bothers.Be unfavorable for large batch of production.
Summary of the invention
The purpose of this utility model is to provide a kind of pick-up unit of motor rotor position, and it can accurately detect the rotor-position of the motor that runs up, and can avoid needing to adjust the drawback of code-disc position when detecting the motor rotor initial position.
For achieving the above object, the pick-up unit of the motor rotor position that the utility model provides, it comprises an initial position of rotor testing circuit plate, a motor rotors position detecting circuit plate, a lenticular lenses;
Described lenticular lenses is installed on the motor reel;
Described initial position of rotor testing circuit plate, motor rotors position detecting circuit plate are installed on the rear end cap of motor;
Described motor bed-plate inside surface, described motor stator silicon steel sheet right cylinder side are done a mark respectively; Make marks is in order to determine the position relation of motor stator winding and support, makes that stator field has definite position to concern under the situation of given stator current in the space.
Described initial position of rotor testing circuit plate is provided with 3 reflective photoelectric sensors, and these 3 reflective photoelectric sensors spatially are 60 degree and do circle distribution at interval;
Described motor rotors position detecting circuit plate is provided with a photoelectricity incremental encoder;
Described 3 reflective photoelectric sensors and described lenticular lenses match, and initial position of rotor is detected;
Described photoelectricity incremental encoder and described lenticular lenses cooperate, and the relative position of motor operation course rotor is detected.
Be symmetrically arranged with somely to being used for shading light part, the light transmission part that initial position of rotor detects on the described lenticular lenses, and shading light part and light transmission part evenly distribute along 360 degree circumference in turn.
Also be provided with some raster grids that motor operation course rotor relative position detects that are used on the described lenticular lenses, described raster grid and described shading light part, light transmission part are designed on same block of silicon steel sheet.
On the circle, be provided with a lenticular lenses projection in the described lenticular lenses;
The pick-up unit of described motor rotor position also comprises: a lenticular lenses base, this grating gathering sill that grating base is provided with and this lenticular lenses projection is adaptive; Described lenticular lenses is fixed on this lenticular lenses base.
Described motor reel is provided with 2 pilot holes, and described lenticular lenses base is provided with associated 2 pilot holes; Described lenticular lenses base is fixed on the motor reel by the above-mentioned pilot hole and the lock screw that matches;
Described lenticular lenses is 180 line grating sheets, or 360 line grating sheets.
The utility model can accurately detect the rotor-position of the motor that runs up, and can accurately measure the motor rotor initial position, according to motor clockwise or the inverter commutation sequential of the requirement correspondence that is rotated counterclockwise come the control inverter commutation, guarantee the operate as normal of permasyn morot.Avoid when detecting the motor rotor initial position, needing to adjust the drawback of code-disc position.And its simplicity of design, it is convenient to realize.
Description of drawings
Fig. 1 is installed on diagrammatic cross-section on the motor reel for the utility model;
Fig. 2-1, Fig. 2-2 is the synoptic diagram of circuit board in the utility model;
Fig. 3-1 is the motor reel synoptic diagram; Fig. 3-2, Fig. 3-3 is lenticular lenses base synoptic diagram;
Fig. 4-1, Fig. 4-2 are the synoptic diagram of lenticular lenses in the utility model;
Fig. 5 connects winding three-phase full-controlled bridge inverter circuit model synoptic diagram for Y shape;
Fig. 6 is the commutation position detecting device output waveform of motor speed governing system inverter;
Fig. 7 is 2 tunnel output signal synoptic diagram of incremental optical-electricity encoder in the utility model;
Fig. 8 verifies the conforming key diagram of rotor-position under the situation that detects given electric current.
Embodiment
Following according to Fig. 1 to Fig. 8, a better embodiment of the present utility model is described.
As shown in Figure 1, the pick-up unit 1 of the motor rotor position that provides for the utility model is installed on the diagrammatic cross-section on the motor reel 2; The utility model comprises initial position of rotor testing circuit plate 11, motor rotors position detecting circuit plate 12, and they all are fixed on the back end cover for motor 3.The utility model also comprises lenticular lenses 13, and it is installed on the lenticular lenses base 14 and is installed on the motor reel 2.
Shown in Fig. 2-1, Fig. 2-2, be the synoptic diagram of the utility model rotor initial position testing circuit plate 11, motor rotors position detecting circuit plate 12.Circuit board 11 is provided with 3 reflective photoelectric sensors 111,112,113.These 3 reflective photoelectric sensors 111,112,113 spatially are 60 degree and do circle distribution at interval.Circuit board 12 is provided with photoelectricity incremental encoder 121.
Shown in Fig. 3-2, Fig. 3-3, be lenticular lenses base synoptic diagram; Lenticular lenses 13 is installed on the lenticular lenses base 14.Lenticular lenses base 14 can adopt the manufacturing of light weight aluminium, and is provided with lenticular lenses gathering sill 141 thereon.
As Fig. 4-1, shown in Fig. 4-2, be the synoptic diagram of lenticular lenses in the utility model 13; Lenticular lenses 13 can adopt 180 line grating sheets 131, or 360 line grating sheets 132.On the lenticular lenses 131 (132), be provided with and be applied to light transmission part 1311 (1321), the shading light part 1312 (1322) that the motor rotor initial position detects; And the raster grid 1313 (1323) that is applied to motor operation course rotor position probing; Light transmission part 1311 (1321), shading light part 1312 (1322) and raster grid 1313 (1323) can be designed on the same block of silicon steel sheet.Simplify design, saved the space.
In addition, in lenticular lenses 131 (132), designed a lenticular lenses projection 1314 (1324) on the circle.During installation, lenticular lenses 131 (132) is put on the lenticular lenses base 14 along lenticular lenses gathering sill 141, shown in Fig. 3-2, and lenticular lenses projection 1314 (1324) cooperates lenticular lenses gathering sill 141, and add that some other securing member is (as jump ring 142, plain cushion 143, ripple pad 144, pressure ring 145 etc.) make lenticular lenses 13 with respect to grating base 14 stationkeeping.
Shown in Fig. 3-3, on the lenticular lenses base 14, also have 2 pilot holes 1461,1462.Shown in Fig. 3-1, also be provided with 2 pilot holes 21 simultaneously on the motor shaft 2, can utilize screw, the grating base 14 that is equiped with lenticular lenses is fixed on the motor shaft 2, thereby has guaranteed that different motor lenticular lenses and rotor have fixing position relation.
As shown in Figure 5, connect winding three-phase full-controlled bridge inverter circuit model synoptic diagram for Y shape.Wherein, U1 is a DC bus-bar voltage, and VF1～VF6 is a power switch pipe.Hall_A, Hall_B, hall_C are the output signal of 3 reflective photoelectric sensors 111,112,113 behind application the utility model, drive the turn-on and turn-off of 6 power switch pipes through decoding scheme, voltage conversion circuit.
Inverter (not illustrating in the drawings) is according to 6 duty S1～S6 circulation primary shown in the table one, and motor just rotates a week.
| State | Hall_A | Hall_B | Hall_C | VFl | VF2 | VF3 | VF4 | VF5 | VF6 |
| S1 | 0 | 0 | 1 | ON | ON | ON | OFF | OFF | OFF |
| S2 | 0 | 1 | 0 | OFF | ON | ON | ON | OFF | OFF |
| S3 | 0 | 1 | 1 | OFF | OFF | ON | ON | ON | OFF |
| S4 | 1 | 0 | 0 | OFF | OFF | OFF | ON | ON | ON |
| S5 | 1 | 0 | 1 | ON | OFF | OFF | OFF | ON | ON |
| S6 | 1 | 1 | 0 | ON | ON | OFF | OFF | OFF | ON |
Table one: 6 commutation states of permasyn morot governing system inverter
In the table one, Hall_A, Hall_B, Hall_C three row: 0 representative is output as low level; 1 representative is output as high level.Here, we are with permasyn morot, and rotor is 2 pairs of very examples, corresponding 2 rotor field dextrorotation ripples so rotor rotates a circle, promptly 2 * 360 °=720 ° electrical angle.3 reflective photoelectric sensors 111,112,113 are 60 degree in the space and make circle distribution at interval, cooperate the raster grid on the lenticular lenses 131 (or 132), both light transmission part 1311 (1321), shading light part 1312 (1322) work, the output waveform of Hall_A, Hall_B, Hall_C is the square wave of 120 ° of electrical angles of phase sequence, as shown in Figure 5.
In the present embodiment,,, evenly distribute along 360 degree circumference so the shading light part 1311 (1321) on the lenticular lenses, shading light part 1312 (1322) are two pairs because permanent-magnet synchronous motor rotor is 2 pairs of utmost points.Shown in Fig. 4-1, Fig. 4-2.
In the table one, in VF1～VF6 six row: ON represents that corresponding power switch pipe is in conducting state; OFF represents that corresponding power switch pipe is in off state.The conducting of different power switch pipes, shutoff are made up, and have constituted 6 duty S1～S6 of inverter.
Suppose and arrange: the work schedule respective motor clockwise direction of inverter S1-S2-S3-S4-S5-S6-S1 is rotated; The work schedule respective motor of S6-S5-S4-S3-S2-S1-S6 is counterclockwise rotated.Moment before each opertaing device powers on operation, master controller can detect the output signal of 3 reflective photoelectric sensors, determines motor then in this operation process, the work schedule of inverter.
For instance, suppose that motor rotates in the direction of the clock.Before motor operation, the output signal that master controller detects Hall_A, Hall_B, Hall_C is 011, inverter will be controlled the turn-on and turn-off of corresponding power switching tube according to the work schedule of S3-S4-S5-S6-S1-S2-S3, runs well with drive motor.
For 2 pairs of utmost point permasyn morots, 3 reflective photoelectric sensors 111,112,113 cooperate lenticular lenses 131 (or 132), form the pick-up unit of initial position of rotor, the square wave that provides 3 tunnel phase sequences to be spaced apart 120 ° of electrical angles, as shown in Figure 6.The space absolute angle that can reflect rotor, its resolution are 60 ° of electrical angles, i.e. 30 ° of space mechanism angles.
As mentioned above, moment before each opertaing device powers on operation, master controller can pass through the initial position of rotor pick-up unit, obtains a certain work schedule of inverter, drive motor rotates then, detection obtain a certain road signal that the initial position of rotor pick-up unit sends along the time.The pulse that begins motor rotors position detecting device is sent counts, and extrapolates high-precision rotor space absolute position successively.Main system just can be finished the position control quick, accurate, accurate to motor.
In the utility model, adopt photoelectricity incremental encoder 121,180 line grating sheets 131 (the perhaps 360 line grating sheets 132) cooperating of inner tape comparator and lens, detect the relative position of motor operation course rotor.The waveform that incremental encoder is output as 2 road quadrature square wave A, B as shown in Figure 7.Master driver is made quadruple with detected 2 road quadrature square waves and is handled, and can improve 4 times to the degree of accuracy of rotor position detection.With 180 line grating sheets is the example explanation: 1 ° at interval of raster grid 1313, the detection resolution of rotor-position is 1 °.Master driver is handled its resolution through quadruple and is brought up to 0.25 °.
As described in the background art, the permasyn morot governing system just can be controlled electromagnetic torque well as long as control the amplitude of stator current well.Each phase current of stator given, one of factor that needs reference is exactly the real-time absolute position, space of rotor, and the accuracy of detection of rotor-position is high more, and the synthetic stator field waveform of given electric current approaches sine wave more, and the performance of system is good more.
As a rule, motor manufacturer majority does not provide the pick-up unit of motor rotor position, every motor stator winding does not have accurate status requirement when packing support into, make different motors under the situation of given identical stator current, its stator field is not unique in the locus, makes the residing position of rotor not unique yet.As shown in Figure 8: with motor B, C phase power outlet short circuit, add U=5V, the direct current of I=500mA, this moment, given electric current can form fixing stator field in the space, with the magnetic field interaction that permanent magnet on the rotor forms, acting force can order about rotor and rotate to a certain fixed position.
Usually the position of every motor rotor is all inequality.This has just explained, when why traditional electro-optical pickoff detects the motor rotor initial position, needs make the output waveform of pick-up unit and stator-induced electromagnetic kinetic potential waveform form suitable, unique corresponding relation by adjusting the code-disc position.Trace it to its cause, be same model on the same stage time motor is under the situation of given electric current, synthetic field waveform is inconsistent in the locus.
Because all can ignoring, the motor of common same model, the difference of the coiling difference between the stator winding, the stacking technique of silicon steel sheet do not remember.In the utility model, for addressing the above problem, do a mark respectively at motor bed-plate inside surface and stator silicon steel plate right cylinder side, when stator coil is pressed into support, utilize special anchor clamps allow 2 markers align, then stator and silicon steel sheet assembly are pressed in the support.This manufacturing process can guarantee on the same stage time motor of same model, and under the situation of given electric current, synthetic field waveform is equipped with higher consistance in space bit, the product of our company can be controlled in ± 2.5 ° in.
The utlity model has simple for structure, production technology is simple, with low cost, reliability is high, the advantage exempt to debug is installed.And can accurately measure the motor rotor initial position, according to motor clockwise or the inverter commutation sequential of the requirement correspondence that is rotated counterclockwise come the control inverter commutation, guarantee the operate as normal of permasyn morot.Can avoid simultaneously when detecting the motor rotor initial position, needing to adjust the drawback of code-disc position.
Claims (7)
1. the pick-up unit of a motor rotor position is characterised in that, it comprises an initial position of rotor testing circuit plate, a motor rotors position detecting circuit plate, a lenticular lenses;
Described lenticular lenses is installed on the motor reel;
Described initial position of rotor testing circuit plate, motor rotors position detecting circuit plate are installed on the rear end cap of motor;
Described motor bed-plate inside surface, described motor stator silicon steel sheet right cylinder side are done a mark respectively; The position of motor stator winding and support relation when this mark is determined to install;
Described initial position of rotor testing circuit plate is provided with 3 reflective photoelectric sensors, and these 3 reflective photoelectric sensors spatially are 60 degree and do circle distribution at interval;
Described motor rotors position detecting circuit plate is provided with a photoelectricity incremental encoder;
Described 3 reflective photoelectric sensors and described lenticular lenses match, and initial position of rotor is detected;
Described photoelectricity incremental encoder and described lenticular lenses cooperate, and the relative position of motor operation course rotor is detected.
2. the pick-up unit of motor rotor position as claimed in claim 1, it is characterized in that, be symmetrically arranged with somely to being used for shading light part, the light transmission part that initial position of rotor detects on the described lenticular lenses, and shading light part and light transmission part evenly distribute along 360 degree circumference in turn.
3. the pick-up unit of motor rotor position as claimed in claim 2, it is characterized in that, also be provided with some raster grids that motor operation course rotor relative position detects that are used on the described lenticular lenses, described raster grid and described shading light part, light transmission part are designed on same block of silicon steel sheet.
4. as the pick-up unit of claim 1 or 3 described motor rotor positions, it is characterized in that, on the circle, be provided with a lenticular lenses projection in the described lenticular lenses.
5. the pick-up unit of motor rotor position as claimed in claim 4 is characterized in that, the pick-up unit of described motor rotor position also comprises: a lenticular lenses base, this grating gathering sill that grating base is provided with and this lenticular lenses projection is adaptive; Described lenticular lenses is fixed on this lenticular lenses base.
6. the pick-up unit of motor rotor position as claimed in claim 5 is characterized in that, described motor reel is provided with 2 pilot holes, and described lenticular lenses base is provided with associated 2 pilot holes; Described lenticular lenses base is fixed on the motor reel by the above-mentioned pilot hole and the lock screw that matches.
7. as the pick-up unit of claim 2 or 3 described motor rotor positions, it is characterized in that described lenticular lenses is 180 line grating sheets, or 360 line grating sheets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2004200202236U CN2708330Y (en) | 2004-02-17 | 2004-02-17 | Device for detecting rotor position of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2004200202236U CN2708330Y (en) | 2004-02-17 | 2004-02-17 | Device for detecting rotor position of motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2708330Y true CN2708330Y (en) | 2005-07-06 |
Family
ID=34849030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2004200202236U Expired - Lifetime CN2708330Y (en) | 2004-02-17 | 2004-02-17 | Device for detecting rotor position of motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2708330Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920840A (en) * | 2009-06-15 | 2010-12-22 | 欧姆索德科马克有限责任公司 | The rotating carousel that is used for rotary printing machines |
| CN102221649A (en) * | 2010-04-14 | 2011-10-19 | 襄樊五二五泵业有限公司 | Dynamic tester for magnetic driver |
| CN102427290A (en) * | 2011-10-28 | 2012-04-25 | 雅科贝思精密机电(上海)有限公司 | High-torque and low-inertia direct-driving motor |
| WO2013041059A1 (en) * | 2011-09-23 | 2013-03-28 | 华为终端有限公司 | Position detecting device |
| CN103293000A (en) * | 2013-05-24 | 2013-09-11 | 东营市胜软石油技术开发有限公司 | Multi-motor detection device of elevating system of self-elevating drilling platform and application method |
| CN105141074A (en) * | 2015-10-10 | 2015-12-09 | 上海鲍麦克斯电子科技有限公司 | Externally-arranged sleeve-type encoder and installation method thereof |
| CN106931998A (en) * | 2017-04-26 | 2017-07-07 | 苏州睿牛机器人技术有限公司 | A kind of novel photoelectric code sensor |
| CN113162488A (en) * | 2021-05-06 | 2021-07-23 | 深圳市航顺芯片技术研发有限公司 | Rotor position measuring method and control method of motor, motor rotor and motor |
-
2004
- 2004-02-17 CN CNU2004200202236U patent/CN2708330Y/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920840A (en) * | 2009-06-15 | 2010-12-22 | 欧姆索德科马克有限责任公司 | The rotating carousel that is used for rotary printing machines |
| CN102221649A (en) * | 2010-04-14 | 2011-10-19 | 襄樊五二五泵业有限公司 | Dynamic tester for magnetic driver |
| CN102221649B (en) * | 2010-04-14 | 2013-06-19 | 襄樊五二五泵业有限公司 | Dynamic tester for magnetic driver |
| WO2013041059A1 (en) * | 2011-09-23 | 2013-03-28 | 华为终端有限公司 | Position detecting device |
| CN102427290A (en) * | 2011-10-28 | 2012-04-25 | 雅科贝思精密机电(上海)有限公司 | High-torque and low-inertia direct-driving motor |
| CN103293000A (en) * | 2013-05-24 | 2013-09-11 | 东营市胜软石油技术开发有限公司 | Multi-motor detection device of elevating system of self-elevating drilling platform and application method |
| CN103293000B (en) * | 2013-05-24 | 2016-01-20 | 东营市胜软石油技术开发有限公司 | The application process of lifting system of self-lifting well drilling platform multi-motor pick-up unit |
| CN105141074A (en) * | 2015-10-10 | 2015-12-09 | 上海鲍麦克斯电子科技有限公司 | Externally-arranged sleeve-type encoder and installation method thereof |
| CN106931998A (en) * | 2017-04-26 | 2017-07-07 | 苏州睿牛机器人技术有限公司 | A kind of novel photoelectric code sensor |
| CN113162488A (en) * | 2021-05-06 | 2021-07-23 | 深圳市航顺芯片技术研发有限公司 | Rotor position measuring method and control method of motor, motor rotor and motor |
| CN113162488B (en) * | 2021-05-06 | 2022-07-26 | 深圳市航顺芯片技术研发有限公司 | Rotor position measuring method and control method of motor, motor rotor and motor |
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