JPH08178610A - Variable reluctance type angle detector - Google Patents

Abstract

PURPOSE: To realize a mechanical winding by winding an exciting winding and an output winding in every slot of a stator in order, and to make the winding in a sine wave form magnetic flux distribution. CONSTITUTION: To a stator 11, slots 11a are formed on the whole body of the inner periphery at the same intervals, and an exciting winding with the pole logarithm P1, and an output winding with the pole logarithm P2 are housed to the slots 11a. To a rotator 10, N pieces of projecting poles 10a are formed on the outer periphery. The exciting winding and the output winding are wound at one stroke pitch in every slot 11a (wound in order in the slots 11a), and to make the magnetic flux in a sine wave form. As a result, a mechanical winding by a winding machine is made possible difference from a manual work method, and the manufacturing cost of a variable reluctance type detector using no winding on the rotator 10 can be reduced. Furthermore, both the exciting side and the output side can be made in a multiple phase easily, and not only a resolver but also a transolver and the like can be replaced to the variable reluctance type.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a variable reluctance type angle detector, and in particular, it enables mechanical winding by winding excitation and output windings at a 1-slot pitch and a sinusoidal magnetic flux distribution. Variable reluctance type conventional resolver, differential synchronization (3 phase / 3 phase)
And a new improvement for obtaining the function of the transsolver (3 phase / 2 phase).

[0002]

2. Description of the Related Art A variable reluctance type angle detector of this type which has been conventionally used is shown in FIG.
An example is the structure disclosed in Japanese Patent Application Laid-Open No. 6-213614, which is indicated by 0,21. That is, FIG.
As indicated by 0 and 21, the exciting winding and the output winding have different numbers of poles, and the slots 11a of the stator core 11 are used.
In the structure in which the number of pole pairs of the excitation winding is P ₁ and the number of pole pairs of the output winding is P ₂ , the rotor 10 is an iron core having N salient poles and no winding is provided, P ₁ + P ₂ = When N or P ₁ -P ₂ = ± N, the excitation winding has a single phase, and the output winding has two or three phases, the movement of 1 / N of the entire circumference of the rotor 10 1
Taking advantage of the fact that a two-phase or three-phase voltage of a sine wave with a period is induced in the output winding, if the exciting winding is two-phase and the output winding is single-phase, it is induced in the output winding. The position is detected by utilizing the fact that the voltage becomes a sinusoidal voltage whose phase changes by 2π when the rotor moves 1 / N of the entire circumference.

[0003]

In the conventional configuration, both the excitation winding 11b and the output windings 11c and 11d are wound over a pitch of two slots or more in order to increase the output efficiency (particularly, In the output winding,
Since the fixed position was changed at a 2-slot pitch and the sinusoidal distribution of the magnetic flux was obtained by the combination of the number of turns, it was difficult to wind the machine mechanically, and it was difficult for a skilled worker to put in the winding. . In addition, there is only a single-phase configuration such as one-phase excitation / two-phase output or two-phase excitation / one-phase output, and therefore, generally used two-phase excitation / 2-phase output It was impossible to realize the same function as the resolver with this variable reluctance type resolver.

The present invention has been made to solve the above problems, and in particular, the excitation and output windings are wound at a 1-slot pitch and with a sinusoidal magnetic flux distribution.
A variable reluctance type angle detector that enables mechanical winding and also obtains the functions of a conventional resolver, differential resolver (3 phase / 3 phase) and transsolver (3 phase / 2 phase) with a variable reluctance type. The purpose is to

[0005]

The variable reluctance type angle detector according to the present invention has the number of pole pairs of the excitation winding as P ₁
And a stator which is housed in a slot with the number of pole pairs of the output winding being P ₂ , and a rotor which is composed of N salient poles or an iron core having sinusoidal gap permeance of N cycles and has no winding. , P ₁ + P ₂ = N or P ₁ -P ₂ = ± N
In the variable reluctance type angle detector adapted to obtain an output of NX (X is a shaft angle multiplier), the excitation winding and the output winding are wound at one slot pitch for each slot, and the magnetic flux distribution is obtained. Is a configuration that is wound so as to have a sine wave shape.

More specifically, the exciting winding is of n phase, the output winding is of the same or different n phase from the n phase, and the exciting winding and the output winding are both polyphase. It is a composition.

[0007]

In the variable reluctance type angle detector according to the present invention, the present invention is such that the number of pole pairs of the excitation winding is P ₁ ,
In a structure in which the number of pole pairs of the output winding is P ₂ , the rotor is an iron core having N salient poles and no winding is provided. P ₁ + P ₂ =
By setting N or P ₁ −P ₂ = ± N, the gap magnetic flux density of the number of pole pairs P ₂ is generated by the action of the magnetomotive force generated by the current of the exciting winding and the fluctuation of the gap permeance due to the salient poles. Is used to move 1 / N of the entire circumference, the spatial position of the peak value of the magnetic flux density moves 1 / P ₂ of the entire circumference. The induced voltage to the output winding due to this magnetic flux density is as follows when the excitation winding is a single phase (or two or more phases) m-phase and the output winding is a two-phase or three-phase n-phase.
A two-phase or three-phase n-phase voltage with a sinusoidal waveform in which 1 / N movement of the entire circumference of the rotor constitutes one cycle, the excitation winding is two-phase m-phase, and the output winding is single-phase (also double-phase) If possible, the n-phase (multi-phase is also possible) becomes a sine wave voltage in which the phase changes by 2π when the rotor moves 1 / N of the entire circumference.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a variable reluctance type angle detector according to the present invention will be described in detail below with reference to the drawings. FIG. 1 shows a rotor 10 and a stator 11. The stator has slots 11 at equal intervals all over its inner circumference.
a is formed (only a part of the slot is shown in the drawing), and the excitation winding having the number P ₁ of pole pairs and the output winding having the number P ₂ of pole pairs are housed in the slot. The rotor N salient poles 10a is formed on the outer periphery, any number of the above pole pairs and salient poles P ₁ + P ₂ = N (1) or _{P 1 -P 2 = ± N (} 2) Is selected so that the relationship is satisfied. The gap permeance coefficient in this case is

[0009]

[Equation 1]

It is represented as Here, Z ₁ represents the number of stator slots, α and γ represent positive and negative integers including 0, and θ ₁ is fixed with the center of the entire coil constituting the exciting winding of one pole as the origin. It is a coordinate that indicates the position of an arbitrary point on the inner circumference of the child with a space angle, and θ ₂ is fixed to the rotor with the center of the salient pole of the rotor closest to the origin of θ ₁ at the moment of t = 0 as the origin. The coordinates are represented by a spatial angle like θ ₁ .

The spatial angle corresponding to one pole pitch of the rotor salient poles is ψ, and as shown in FIG. 1, the spatial angle between both origins of θ ₁ and θ ₂ when the rotor is stationary. If it is ξψ, there is a relation of θ ₂ = θ ₁ −ξψ (4), and ξ takes a value of −0.5 ≦ ξ ≦ 0.5.
Substituting equation (4) into equation (3), the gap permeance coefficient becomes the following equation.

[0012]

[Equation 2]

Let I be the effective value of the current flowing in the excitation winding,
When the angular frequency is ω, the fundamental wave magnetomotive force due to this current is

[0014]

(Equation 3)

Is expressed as Here, W _e is the winding of the exciting winding, P ₁ is the number of pole pairs of the exciting winding, and K _W1 is the winding coefficient for the fundamental wave component. In order to show the principle here, neglecting the gap permeance pulsation due to the stator slot, it is sufficient to consider the case of α = 0 in equation (5).

[0016]

[Equation 4]

## EQU1 ## The magnetic flux density is calculated as the product of equations (6) and (7),

[0018]

(Equation 5)

Is expressed as Considering the order of magnetic flux density (P ₁ + γN), when γ = 0, (P ₁ + γN) = P ₂ , but for γ = ± 1, equation (1) is satisfied. If γ = −1, then (P
₁ + γN) = − P ₂ , and when γ = 1, (P ₁ + γN) =
(2P ₁ + P ₂ ), and when the formula (2) is satisfied,

[0020]

(Equation 6)

When (P ₁ + γN) = P ₂ , and when γ = 1, (P ₁ + γN) = (2P ₁ -P ₂ ). Therefore, the number of pole pairs in the gap magnetic flux density is P ₁ , P ₂ and (2P ₁ +
The component of P ₂ ) will be present. Therefore, the magnetic flux density is expressed by the equation (9) or the equation (10) when the equation (1) or the equation (2) is satisfied.

[0022]

(Equation 7)

[0023]

(Equation 8)

Focusing on the second term of equations (9) and (10),
Since Nψ = 2π, when ξ changes from −0.5 to +0.5, that is, when the one pole pitch of the salient poles of the rotor moves, the position of the peak value of the magnetic flux density of the pole pair number P ₂ is 1 It shows that the pole pair moves. Therefore, the magnitude of the interlinking magnetic flux between this magnetic flux and the output winding having the number of pole pairs P ₂ stored in the stator slot changes depending on the position of the rotor salient pole.
The magnitude of the induced voltage in the output winding also changes depending on the rotor. One of the output windings is provided at the same winding axis position as the exciting winding, and the other one is provided at a position separated by 90 electrical degrees from the winding axis of the exciting winding. The former is called the output winding 1 and the latter is called the output winding 2.

The induced voltage applied to these output windings is as follows. That is, the voltage induced in the output windings 1 and 2 by the magnetic flux density of the second term of the equation (9) or (10) is expressed by the following equations (11) and (12).

[0026]

[Equation 9]

[0027]

[Equation 10]

In the output winding having the number of pole pairs P _2, a voltage is induced only by a magnetic flux density having an order of spatial distribution which is an odd multiple of P ₂ , and therefore (2P ₁ ± P ₂ ) is an odd multiple of P ₂ . in case of,
A voltage is induced in the output winding by the third term of the expressions (9) and (10). Depending on this voltage, the effective value E ₁ of the voltage in the equations (11) and (12) changes, but the form of the equation does not change.

Similarly, when P ₁ is an odd multiple of P ₂ , (9)
And the first term of the equation (10) induces a constant voltage in the output winding 1 regardless of the rotor position, and this voltage can be removed by the circuit processing. However, since it is desirable that such circuit processing is not required, it is possible to prevent the voltage from being induced by the first term by appropriately selecting the combination of P ₁ and P ₂ .

When the output winding is a three-phase winding, even if the spatial distribution order is an odd multiple of P ₂ , a magnetic flux density component of an integer multiple of 3 induces a voltage in the output winding. No, even in the case of a single-phase or two-phase winding, if the two-phase windings of the three-phase winding are connected as shown in FIG. 2 and used as one-phase winding,
Similar to the case of the three-phase winding, the induced voltage due to the magnetic flux density component of the order of integer multiple of 3 is not generated. In this case, (9) and
It becomes easy to select the combination of P ₁ and P ₂ so as not to generate the induced voltage according to the first term of the equation (10).

Therefore, a voltage proportional to the cos and sine functions, which is one period when the rotor moves by one pole pitch of the salient poles, is induced in the above two sets of output windings. Is the same as the voltage induced in the input / output winding when it moves by one pole pitch, the position can be detected by processing with the R / D converter. This is the basic principle of the present invention. Therefore, the rotor 1
Reference numeral 0 is a structure that is composed of N salient poles or an iron core having sinusoidal gap permeance of N cycles and has no winding.

In the above description, the output winding 1 is arranged at the same position as the exciting winding, but this is for convenience of description, and the arrangement is not necessarily limited to this arrangement. In the case of 2-phase, the output winding of 2-phase is 9 in electrical angle.
If they are kept at 0 degree apart, they can be placed at any position in the stator slots. The excitation winding is single-phase (also possible in multi-phase) as above, but if the output winding is a three-phase winding, one cycle is generated when the rotor moves one pole pitch of the salient poles. Since the three-phase voltage is
It can be used in the same way as a conventional sync electric machine. In this case as well, the one phase is often arranged at the same position as the excitation winding, but there is no particular focus on this arrangement, and the three sets of output windings are kept at 120 electrical degrees apart. By doing so, it can be arranged at any position in the stator slot.

When the exciting winding has two phases and the output winding has a single phase (there is also a case of multiple phases), the phase of the induced voltage in the output winding changes depending on the rotor position, and the phase is The change of 2π with respect to the movement of one pole pitch of the rotor is also the same as that of the conventional resolver. Therefore, in this case as well, the output signal
Position detection can be performed by processing with the D converter. So far, for the explanation of the principle, only the fundamental wave magnetomotive force has been taken into consideration, and the case where α = 0 and γ = ± 1 has been described. However, the harmonic component of the magnetomotive force and the gap permeance coefficient due to the stator slot are described. Assuming that α is an integer value as, the gap magnetic flux density is

[0034]

[Equation 11]

[0035] In each term of this equation of the magnetic flux density, the voltage is induced in the output winding only by the component in which the coefficient of θ ₁ ( _np1 + αZ ₁ + γN) is an odd multiple of P ₂ .
In the case of the connection, the voltage is induced in the output winding only by the component of the order except the integral multiple of 3. When the voltage induced in the output winding 11c is calculated in consideration of these matters, it is expressed as equations 14 and 15, respectively.

[0036]

(Equation 12)

[0037]

(Equation 13)

In this equation, when γ = 0, θ ₁
The coefficient of is ( _np1 + αZ ₁ ), but in the case of an integer slot, Z ₁ is also an integer multiple of P ₁ , so by appropriately setting the combination of P ₁ and P ₂ , It is possible not to induce the voltage due to this term. Next, the voltage induced in the output winding by the term corresponding to γ = ± 1 is expressed in the same form as in Equations 11 and 12, but since the harmonic magnetic flux density component that induces the voltage increases, the effective voltage value E ₁
Changes in size. However, the form of the formula does not change, so 2
In the pair of output windings, a voltage proportional to the cos and sin functions, which becomes one cycle when the rotor moves one pole of the salient pole, is induced.

One for each slot 11a of the stator 11 described above.
The excitation winding 11b and the output winding 11c, which are sequentially wound at a slot pitch, are wound in each slot 11a at a 1-slot pitch and in a sinusoidal magnetic flux distribution, as shown in FIGS. 5 to 8. . First, FIG. 5 shows two phases on the excitation side /
It shows the case of two phases on the output side, the number of pole pairs P ₁ = 3 of the excitation winding 11b on the excitation side of FIG.
When 24 1a are formed, in each slot 11a, the number of turns of the forward winding E and the number of reverse windings F is not a magnetic flux distribution in the circumferential direction of the stator 11 but a sinusoidal shape (same distribution as the conventional configuration). It is wound so that it becomes different. Further, the A phase and the B phase as the two phases are wound in a state in which the phase of the magnetic flux distribution of the exciting winding 11b in each slot 11a is shifted by 90 ° (electrical angle).

Further, the number of pole pairs of the output winding 11c on the output side shown in FIG. 6 is P ₂ = 2, and the number of turns of the positive winding number E and the number of reverse windings F is set in each slot 11a. It is wound in the same manner as above, and is composed of two phases, ie, a phase and b phase, which are mutually offset by 90 ° (electrical angle). Accordingly, as shown in FIGS. 7 and 8, A-phase excitation = E _R1 - _3, B-phase excitation =
E _R2 - when ₄ to the output voltage of a phase is represented by the following equation (17).

[0041]

[Equation 14]

[0042]

(Equation 15)

Thus, the output characteristics are exactly the same as those of the conventional 2-phase excitation / 2-phase output resolver. Also, FIG. 9 and FIG.
As shown in, the excitation side is different from the m phase and the output side is different from the m phase.
When the phase is set, the electrical angle is 1 from the beginning to the end of the m phase.
By shifting the phases by × 2π / m, 2 × 2π / m, and (m−1) × 2π / m, it is possible to obtain an output voltage having the same output characteristics as the two-phase excitation / 2-phase output described above. In addition,
In the case of the n-phase on the output side, the electrical angle from the beginning to the end of the n-phase is 1 × 2π / m ... (m−1) × 2π / m
The phases are shifted one by one. Further, in FIG. 9 and FIG.
Illustration of each slot 11a is omitted.

The wiring configurations shown in FIGS. 11 to 19 show the application side to various angle (rotation) detectors when the stator having the winding structure according to the present invention is used. The N = X number (axis multiplication angle) can be freely determined by the method of determining P ₁ and P ₂ . First, as in the case of FIG. 11, a resolver of one-phase excitation / two-phase output can be constructed. Also, as in the case of FIG.
Two-phase excitation / one-phase output resolver, as in the case of FIG.
2-phase excitation / 2-phase output resolver, 1-phase excitation / 3-phase output synchro detector as in FIG. 14, 3-phase excitation / 3-phase output differential synchro detector as in FIG. ,
A three-phase excitation / two-phase output transsolver can be configured as in the case of FIG. 16, and an m-phase excitation / n-phase output resolver can be configured as in the case of FIG.

[0045]

Since the variable reluctance type angle detector according to the present invention is constructed as described above, the following effects can be obtained. That is, by winding the excitation winding and the output winding that use windings only for the stator so that the magnetic flux distribution becomes sinusoidal at a 1-slot pitch (sequentially wound in each slot) for each slot, Unlike the manual method, mechanical winding can be performed by a winding machine, and the manufacturing cost of a variable reluctance detector that does not use a winding for the rotor can be significantly reduced. Further, it becomes easy to make the excitation side and the output side in multiple phases, and not only the resolver but also the well-known transsolver,
The variable sync can be replaced with a variable reluctance type, which can improve the characteristics and reduce the cost.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a variable reluctance type angle detector according to the present invention.

FIG. 2 is a configuration diagram showing an example of a winding.

FIG. 3 is a configuration diagram showing a rotor.

FIG. 4 is a configuration diagram showing another example of FIG.

FIG. 5 is an explanatory diagram showing an excitation winding.

FIG. 6 is an explanatory diagram showing an output winding.

FIG. 7 is a connection diagram of a resolver.

FIG. 8 is a vector diagram showing input / output voltages.

9 is an explanatory diagram showing another example of FIG. 5. FIG.

FIG. 10 is an explanatory diagram showing another example of FIG.

FIG. 11 is a connection diagram of a resolver.

FIG. 12 is a wiring diagram of a resolver.

FIG. 13 is a wiring diagram of a resolver.

FIG. 14 is a connection diagram of a synchro detector.

FIG. 15 is a connection diagram of a differential synchro detector.

FIG. 16 is a connection diagram showing a transsolver.

FIG. 17 is a connection diagram showing a resolver.

FIG. 18 is a connection diagram showing a resolver.

FIG. 19 is a connection diagram showing a resolver.

FIG. 20 is a configuration diagram showing a conventional variable reluctance resolver.

21 is an explanatory diagram showing windings in each slot of FIG. 20. FIG.

[Explanation of symbols]

 10 Rotor 11 Stator 11a Slot 11b Excitation Winding 11c Output Winding

Claims (2)

[Claims] 1. The number of pole pairs with the excitation winding (11b) is P ₁ ,
A stator (11), which is housed in a slot (11a) with the number of pole pairs of the output winding (11c) being P ₂ , and an iron core having N salient poles or N cycles of sinusoidal gap permeance, has a winding. A variable reluctance type angle detector having a rotor (10) which does not have a rotor (10), and obtains an output of NX (X is an axis multiple angle) as P ₁ + P ₂ = N or P ₁ -P ₂ = ± N, The excitation winding (11b) and the output winding (11c) are wound at a pitch of one slot with respect to each slot (11a), and are wound so that the magnetic flux distribution is sinusoidal. Variable reluctance type angle detector. 2. The exciting winding (11b) is an m-phase, the output winding (11c) is an n-phase that is the same as or different from the m-phase, and the exciting winding (11b) and the output winding are The variable reluctance type angle detector according to claim 1, wherein both (11c) are polyphase.