KR20170056485A - Resolver - Google Patents

Abstract

Disclosed is a resolver capable of being robust against an external noise and reducing an error in the detection of a rotation angle. According to an embodiment of the present invention, the resolver includes: a magnetic stator including a plurality of teeth and slots alternately formed therein; an insulating cover including a tooth insulation part corresponding to the teeth, and installed on both vertical sides of the stator; and a coil wound on the teeth through the tooth insulation part. A coil-per-slot space factor defined by the following equation, which is a ratio of the area of a slot occupied by the coil when the insulating cover is fixed, is not more than 35%. The equation satisfies that the coil-per-slot space factor is equal to the area of one slot occupied by coils divided by the area of one slot.

Description

Resolver {RESOLVER}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a rotation angle of a rotating device, and more particularly to a resolver.

When controlling a rotating device, for example an electric motor, rotation information should be detected precisely and quickly. In the control of the rotating device, the rotation angle of the rotating body must be accurately measured by the rotation angle detecting device provided on the rotating shaft. There are resolvers and encoders which have been adopted and used in this way, and these detectors have advantages and disadvantages. The resolver directly detects the absolute position of the rotor and calculates the rotation direction and the rotation speed by changing the position of the rotor.

Electric power steering (EPS: Electric Power Steering) is employed in a vehicle to assist the steering of the steering wheel by rotating the motor by a battery. Electric power steering has attracted attention as an efficient system that reduces the power loss of the engine compared with the case where the hydraulic pressure is generated by the rotation of the engine. In EPS, since a precise control is realized, a rotation angle detection device for precisely detecting the rotation angle of the motor is required, and the rotation angle detection device is required to have high reliability. A resolver having a higher environmental resistance than an encoder has been used for such a vehicle rotation angle detecting device.

Resolver is a kind of sensor for precisely measuring the rotation speed and rotation angle of a motor. In general, the resolver has a relatively simple structure in which both the exciting coil and the output coil are located in the stator and the rotor having the shape of an ellipse or a multipole is located inside the stator. Resolvers having such a structure have been disclosed in, for example, Japanese Laid-Open Patent Publication No. 1996-178610.

Fig. 1 is a view attached to the publication of the Japanese Unexamined Patent Publication (KOKAI) No. 2004-328751. The resolver includes a rotor 10 through which a rotating shaft passes and an annular stator 11 facing the rotor 10 with a gap therebetween. The rotor 10 is formed with a plurality of protruded pole portions 10a along the outer periphery thereof and the annular stator 11 has a plurality of teeth 11b and slots 11a alternately formed along the inner periphery thereof. The exciting coil and the output coil are wound around the teeth 11b of the stator 11 and the exciting coil and the output coil are accommodated in the slot 11a. The output coil is composed of the first output coil and the second output coil. When the excitation voltage is applied to the exciting coil and the rotary shaft is rotated, a sine signal and a cosine signal are output from the first output coil and the second output coil, and the rotation angle of the resolver can be determined by analyzing these signals.

As described above, the coil wound around the teeth 11b of the stator 11 in the resolver is an important factor for inputting and outputting a signal, and therefore, a precise design is required when winding the coil in a rotation angle detecting device such as a resolver. For example, in the case where a large number of coils are wound on the teeth 11b, the area occupied by the coils in the slots 11a between the teeth 11b increases, causing electrical interference between the coils wound on the two adjacent teeth 11b, And conversely, when the coil is wound on the teeth 11b on the contrary, there is a disadvantage that the transforming ratio of the induction voltage of the output coil is lowered and becomes vulnerable to external noise.

JP 1996-178610 A

SUMMARY OF THE INVENTION The present invention has been made in view of the above technical requirements, and it is an object of the present invention to provide a resolver that is robust against external noise and reduces error of rotation angle detection.

To achieve the above object, according to one aspect of the present invention, there is provided a resolver comprising: a stator of a magnetic material material having a plurality of teeth and slots formed alternately inward; An insulative cover formed on the stator at both upper and lower surfaces of the stator, the insulated cover corresponding to the teeth being formed inside; And a coil wound around the tooth via the tooth insulator, wherein a percentage of a coil per slot defined by an area ratio occupied by the coil in a slot in which the insulating cover is fixed is 35% Or less.

(Equation)

Percentage of coil per slot = (area occupied by coils in one slot) / (area of one slot)

The drop rate of the coil per slot may be 3% or more.

In the slot in which the insulating cover is fixed, the shortest distance between the coils wound on two adjacent teeth may be 4 mm or more.

The coil may include at least one exciting coil and at least one or more output coils.

The exciting coil and the output coil may have different diameters.

The resolver further includes a rotor made of a magnetic material, which rotates about a rotation axis and cooperates with the stator to change a gap permeance.

The rotor may be an inner type rotor disposed at the inner center of the stator.

The rotor and the stator may be a laminated steel sheet in which a plurality of magnetic steel sheets of a predetermined thickness are laminated.

The stator may be formed by annularly machining the magnetic steel plate so that a plurality of teeth and slots are alternately formed inward.

The rotor may have an annular shape having a through hole through which a rotation shaft is inserted in the central portion and a plurality of salient poles on the outer periphery to change the gap permeance.

The salient pole may be an arc shape having a diameter at least smaller than the diameter of the rotor.

The centers of the arcs may be spaced apart from the center of the rotor by a predetermined distance, and the arcs constituting the plurality of salient poles may have the same diameter.

According to another aspect of the present invention, there is provided a resolver including: a stator of a magnetic material material in which a plurality of teeth and slots are alternately formed inward; An insulative cover formed on the stator at both upper and lower surfaces of the stator, the insulated cover corresponding to the teeth being formed inside; And a coil wound around the tooth via the tooth insulator, wherein the shortest distance between the coils wound on two adjacent teeth in the slot in which the insulator cover is fixed is at least 4 mm.

The coil may include at least one exciting coil and at least one or more output coils.

The exciting coil and the output coil may have different diameters.

The resolver may further include a rotor made of a magnetic material, which rotates around a rotation axis and cooperates with the stator to change a gap permeance.

The rotor may be an inner type rotor disposed at the inner center of the stator.

The rotor and the stator may be a laminated steel sheet in which a plurality of magnetic steel sheets of a predetermined thickness are laminated.

The stator may be formed by annularly machining the magnetic steel plate so that a plurality of teeth and slots are alternately formed inward.

The rotor may have an annular shape having a through hole through which a rotation shaft is inserted in the central portion and a plurality of salient poles on the outer periphery to change the gap permeance.

The salient pole may be an arc shape having a diameter at least smaller than the diameter of the rotor.

The centers of the arcs may be spaced apart from the center of the rotor by a predetermined distance, and the arcs constituting the plurality of salient poles may have the same diameter.

The resolver of the present invention is robust against external noise and can increase the accuracy of the output waveform to precisely measure the rotation angle of a rotating device such as a motor.

The resolver of the present invention improves the product performance by reducing the inter-magnetic flux interference occurring in adjacent teeth.

1 shows a resolver according to the prior art.
2 is a perspective view of a resolver according to one embodiment of the present invention.
Figure 3 is a partial plan view of the resolver of Figure 2;
4 is a view of a rotor of a resolver according to an embodiment of the present invention.
5 is an enlarged view of a portion A in Fig.
6 is a view showing the shortest distance between coils according to an embodiment of the present invention.
7 is a diagram illustrating a test environment of a resolver according to an embodiment of the present invention.
8 to 16 are graphs showing the error rates of the respective resolvers manufactured as a sample.

The foregoing and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a perspective view of a resolver according to an embodiment of the present invention, FIG. 3 is a partial plan view of the resolver of FIG. 2, and FIG. 4 is a view of a rotor of a resolver according to an embodiment of the present invention .

Referring to FIGS. 2 to 4, the resolver according to the present embodiment includes a rotor 300, a stator 110 made of a magnetic material in which a plurality of teeth 111 and slots 112 are alternately formed along the inner periphery, An annular insulating cover 120 mounted on both upper and lower surfaces of the stator 110 and a coil 140 wound around each tooth 111 via the insulating cover 120.

The rotor 300 is an annular ferromagnetic body having a through hole 301 formed therein through which a rotating shaft is inserted. The rotor 300 may be formed by laminating a magnetic steel sheet having a predetermined thickness. The rotor 300 is an inner type ferromagnetic body disposed at the inner center of the stator 110 and rotates around the rotation axis to cooperate with the stator 110 to change the gap permeance A plurality of salient poles are formed along the outer periphery. At this time, the salient pole of the rotor 300 is in the shape of an arc having a diameter R2 smaller than the diameter R1 of the rotor 300. The center C2 of the circular arc of the salient pole may be disposed at a predetermined distance from the center C1 of the rotor 300 and the diameters R2 of the arcs of the salient poles may be equal to each other.

The stator 110 faces the rotor 300 with a gap therebetween and a plurality of teeth 111 are formed at predetermined intervals along the inner circumference and a slot 112 is formed between the adjacent teeth 111 It is an annular ferromagnetic body. The stator 110 can be manufactured by annularly processing and laminating a magnetic steel plate so that a plurality of teeth 111 and slots 112 are alternately formed inward.

Since the insulating cover 120 is mounted on both the upper and lower surfaces of the stator 110, it is composed of an upper insulating cover and a lower insulating cover. The insulating cover 120 has a plurality of tooth insulating portions 121 covering the teeth 111 of the stator 110 at regular intervals along the inner circumference. Since the insulating cover 120 is mounted on both the upper and lower surfaces of the stator 110, the top and bottom surfaces of the tooth 111 are covered with the tooth insulating portion 121.

The coil 140 is wound around the tooth insulating portion 121 in a state where the insulating cover 120 is fixed on both upper and lower surfaces of the stator 110. [ That is, the coil 140 is wound on the tooth 111 via the tooth insulator 121 without directly touching the tooth 111. Since the coil 140 is wound around the tooth 111 via the tooth insulator 121 as described above, the coil 140 is accommodated in the slot 112. The coil may be composed of one-phase excitation coil and two-phase output coil. One output coil of the two-phase output coil outputs the SIN signal, and the other output coil outputs the COS signal. When the excitation voltage is applied to the exciting coil and the rotary shaft is rotated, a sine signal and a cosine signal are output from the first output coil and the second output coil, and the rotation angle of the resolver can be determined by analyzing these signals.

In such a resolver, when a coil is wound around the tooth 111 via the tooth insulating portion 121 in the state where the insulating cover 120 is fixed and is accommodated in the slot 112, the area of one slot 112 The ratio of the coil per slot, which is the area ratio occupied by the area of the coils, greatly affects the performance of the resolver. The drop rate of the coil per slot can be expressed as: < EMI ID = 1.0 >

(1)

Percentage of coil per slot = (area occupied by coils in one slot) / (area of one slot)

More specifically, the dot rate will be described with reference to FIG. 2 to FIG. 5 as follows. 5 is an enlarged view of a portion A in Fig.

As described with reference to FIGS. 2 and 3, a plurality of teeth 111 and slots 112 are alternately formed along the inner periphery of the stator 110. An insulating cover 120 is mounted on both upper and lower surfaces of the stator 110 and fixed. Insulating portions 121 corresponding to the teeth 111 of the stator 110 are formed on the inner circumference of the insulating cover 120 to cover the teeth 111 of the stator 110 on both upper and lower surfaces. At this time, when viewed in a plan view, the tooth insulation portion 121 covering the tooth 111 is slightly larger than the tooth 111.

That is, as shown in Fig. 5, the width of the tooth insulating portion 121 may have a width margin? Such that it is larger than the width of the teeth 111. [ Therefore, in the present embodiment and the following claims, the area of the slot 112 can be understood as the area of the portion excluding the margin area. In other words, in this embodiment, the area of one slot 112 is the area between the adjacent two tooth insulating portions 121, not the area between the adjacent two teeth 111. The area of one slot 111 is the area of the figure having four points a, b, c, and d of the adjacent two tooth insulating portions 121 shown in FIG. 5 as vertexes.

The area occupied by the coils 140 in the area of the slot 112 can be determined by the number of turns of the coil 140 and the diameter of each coil 140. [ For example, if the exciting coil is wound n times in each of adjacent two tooth insulating portions 121 and the output coil (assuming that the first output coil and the second output coil have the same radius) is wound m times, The area of the coil 140 housed in the slot 112 between the slots 121 is expressed by the following equation (2).

(2)

Area of the coil = 2nπr ₁ ² + 4mπr ₂ ² . Where r ₁ is the radius of the exciting coil and r ₂ is the radius of the output coil.

Generally, the minimum number of turns of the output coil required at the minimum when the exciting coil is wound on the tooth insulator 121 is expressed by the following equation (3). In Equation (3), a represents the number of turns of the exciting coil, b represents the transforming ratio, c represents the minimum air gap between the stator and the rotor, d represents the cross sectional area per coil, and e represents the input voltage.

(3)

In general, the input voltage to the excitation coil is at least 4Vrms and the frequency is 10kHz. In this case, the magnetic flux densities of the stator and the rotor, which are ferromagnetic materials, should not be saturated, and thus the maximum input current input to the excitation coil is 0.5A. If the minimum number of turns of the exciting coil is determined so as to satisfy this condition, the minimum number of turns of the output coil is determined according to Equation (3). Calculating the drop rate using the determined number of turns of the exciting coil and the output coil, the radius of the exciting coil and the output coil, and the area of the slot 112 between the tooth insulating portions 121 results in a minimum drop rate, This minimum spot rate is 3%. That is, when the drop rate of the coil in the slot 112 is less than 3%, the input current to the excitation coil increases, damaging the circuit for applying the input voltage, and also increasing the magnetic flux density, The waveform is distorted. In addition, the transforming ratio of the induction voltage generated in the output coil is reduced, and it becomes vulnerable to external noise. Therefore, the drop rate of the coil per slot should be at least 3%.

The magnetic flux generated by the input current inputted to the exciting coil interlinks the output coil to generate the induced voltage. The normal magnetic flux generated by the input current is linked to the rotor. At this time, the magnetic flux generated by the input current generates an eddy current while being linked to the rotor, and the eddy current occurs in a direction opposite to the normal input magnetic flux. The magnetic flux components generated by the induction voltage generated in the first output coil and the second output coil collide with each other and affect each other. Thus, the eddy current and the magnetic flux component generated by the induced voltage of the output coil deteriorate the performance of the resolver by distorting the output-side induced voltage. In order to minimize the distortion of the output side induced voltage, the drop rate of the coil per slot should be 35% or less.

Taking all the above into account, the drop rate of the coil per slot in the resolver must be within the range of 3% to 35% to reduce performance distortion.

On the other hand, a certain distance is required to be maintained between the coils wound on the first teeth and the coils wound on the second teeth in the adjacent two teeth 111 so that the magnetic flux flows smoothly. When the distance between the coil wound on the first tooth and the coil wound on the second tooth in the adjacent two teeth 111 is close to each other, the magnetic fluxes generated by the teeth 111 may interfere with each other, Causing an error in the rotation angle detection. In order to reduce the occurrence of such an error, a certain distance should be secured between the coils wound on the two adjacent teeth 111 in the slot 112, and the shortest distance between the coils must be 4 mm or more. 6 is a view showing the shortest distance (1 _min ) between coils according to an embodiment of the present invention.

Hereinafter, the performance test results of the resolver according to the above-described spot rate of the coil per slot and the shortest distance between the coils will be described with reference to Table 1 below.

Sample production

The stator 110 having the number of the slots 112, the insulating cover 120, the rotor 300 having eight poles, and the coil 140 are prepared. At this time, the stator 110 and the rotor 300 are made of a ferromagnetic material having a high magnetic permeability and laminated with 0.5 mm thick electrical steel sheets to reduce iron loss. After assembling the stator 110 and the insulating cover 120, the exciting coil and the output coil are wound around each slot 112 using a circular winding machine to manufacture a resolver. A total of nine resolvers are manufactured, and each resolver is manufactured to have the minimum through-hole distance and spot rate as shown in Table 1 below.

Error rate measurement

7 is a diagram illustrating a test environment of a resolver according to an embodiment of the present invention. After each resolver is manufactured as described in the above sample production, each resolver 630 is fastened to one end of the rotating shaft of the motor 610, and the encoder 620 is fastened to the other end of the rotating shaft. The calculator 640 analyzes the output waveforms of the resolver 630 and the encoder 620. Specifically, after driving the rotation axis of the motor 610, the calculator 640 analyzes the output waveform of the resolver 630 to compute the rotation angle profile, and compares it with the rotation angle profile of the encoder 620 Thereby calculating the error rate. 10 tests are performed for each resolver 630, and the largest error rate is defined as a maximum error rate. Resolvers generally require that the maximum error rate be less than 0.5.

FIGS. 8 to 16 are graphs showing the error rates of the respective resolvers produced as a sample, and are graphs of error rates with time in a test in which the maximum error rate is 10 times tested for each resolver 630. FIGS. 8 to 12 are graphs of error rates of Examples 1 to 5 of Table 1, respectively, and FIGS. 13 to 16 are graphs of error rates of Comparative Examples 1 to 4 of Table 1, respectively.

Referring to FIG. 8, in the resolver of the first embodiment, the maximum value of the positive error rate is 0.3 and the maximum value of the negative error rate is -0.36. Therefore, the maximum error rate is 0.36, which is the absolute value of the negative error rate. Referring to FIG. 9, in the resolver of the second embodiment, the maximum value of the positive error rate is 0.32 and the maximum value of the negative error rate is -0.33. Therefore, the maximum error rate is 0.33, which is the absolute value of the negative error rate. Referring to FIG. 10, in the resolver of Example 3, the maximum value of the positive error rate is 0.29 and the maximum value of the negative error rate is -0.29. Therefore, the maximum error rate is 0.29. Referring to Fig. 11, in the resolver of Example 4, the maximum value of the positive error rate is 0.39 and the maximum value of the negative error rate is -0.42. Therefore, the maximum error rate is 0.42, which is the absolute value of the negative error rate. Referring to FIG. 12, in the resolver of Example 5, the maximum value of the positive error rate is 0.48 and the maximum value of the negative error rate is -0.44. Therefore, the maximum error rate is 0.48.

Referring to FIG. 13, in the resolver of Comparative Example 1, the maximum value of the positive error rate is 0.61 and the maximum value of the negative error rate is -0.12. Therefore, the maximum error rate is 0.61. Referring to FIG. 14, in the resolver of Comparative Example 2, the maximum value of the positive error rate is 0.24 and the maximum value of the negative error rate is -0.52. Therefore, the maximum error rate is 0.52, which is the absolute value of the negative error rate. Referring to FIG. 15, in the resolver of Comparative Example 3, the maximum value of the positive error rate is 0.64 and the maximum value of the negative error rate is -0.21. Therefore, the maximum error rate is 0.64. Referring to FIG. 16, in the resolver of Comparative Example 4, the maximum value of the positive error rate is 0.61 and the maximum value of the negative error rate is -0.23. Therefore, the maximum error rate is 0.61.

Table 1 summarizes these.

division Dotting rate The shortest distance Maximum error rate Example 1 32 2.2 0.36 Example 2 32 3.7 0.33 Example 3 32 4.5 0.29 Example 4 37 4.5 0.42 Example 5 42 4.5 0.48 Comparative Example 1 37 2.2 0.61 Comparative Example 2 37 3.7 0.52 Comparative Example 3 42 2.2 0.64 Comparative Example 4 42 3.7 0.61

In Table 1, in Examples 1 and 2, the maximum error rate is 0.5 or less when the spot rate of the coil is 35% or less even if the shortest distance between the coils is less than 4 mm in the slot 112, . On the other hand, in Comparative Examples 1 to 4, when the shortest distance between the coils in the slot 112 is less than 4 mm and the percentage of coils is more than 35%, the maximum error rate is greater than 0.5, I can confirm that I can not.

Particularly, in comparison between Embodiments 1 and 2 and Embodiment 3, the maximum error rate when the shortest distance between coils in the slot 112 is 4 mm or more and the percentage of coils is 35% or less, Is less than the maximum error rate when the shortest distance is less than 4 mm and the spot rate is 35% or less. That is, it can be seen that the performance is the best when the shortest distance between the coils is 4 mm or more in the slot 112 and the condition where the spot rate is 35% or less is satisfied.

According to the fifth embodiment, even when the spot rate of the coil exceeds 35% in the slot 112, if the shortest distance between the coils is 4 mm or more, the maximum error rate is 0.48, which is 0.5 or less. Can be confirmed. On the other hand, according to the comparative examples 1 to 4, when the spot rate of the coil in the slot 112 exceeds 35% and the shortest distance between the coils is less than 4 mm, the maximum error rate becomes larger than 0.5, .

In summary, when the condition that the shortest distance between the coils in the slot 112 is 4 mm or more and the condition in which the spot rate of the coil is 35% or less is satisfied, the maximum error rate of the resolver is 0.5 or less, Meets the requirements. Also, the maximum error rate when both conditions are satisfied is lower than when only one of the two conditions is satisfied, and the performance becomes better. On the other hand, if both of these conditions are not satisfied, the maximum error rate is greater than 0.5, which does not satisfy the product requirements.

While the specification contains many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. In addition, the features described in the individual embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described in the singular < Desc / Clms Page number 5 > embodiments herein may be implemented in various embodiments individually or in combination as appropriate.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

110: stator
120: Insulation cover
111: Teeth
112: Slot
121:
140: Coil
300: rotor

Claims (2)

A stator of a magnetic material material in which a plurality of teeth and slots are alternately formed inward;
A rotor made of a magnetic material that rotates around a rotation axis and cooperates with the stator to change a gap permeance;
An insulative cover formed on the stator at both upper and lower surfaces of the stator, the insulated cover corresponding to the teeth being formed inside; And
And a coil wound around the tooth via the tooth insulation portion,
Wherein a percentage of the coil per slot defined by the following formula, which is an area ratio occupied by the coil in the slot in which the insulating cover is fixed, is 3% or more and 35% or less.
(Equation)
Percentage of coil per slot = (area occupied by coils in one slot) / (area of one slot) A stator of a magnetic material material in which a plurality of teeth and slots are alternately formed inward;
A rotor made of a magnetic material that rotates around a rotation axis and cooperates with the stator to change a gap permeance;
An insulative cover formed on the stator at both upper and lower surfaces of the stator, the insulated cover corresponding to the teeth being formed inside; And
And a coil wound around the tooth via the tooth insulation portion,
Wherein the shortest distance between coils wound on two adjacent teeth in a slot in which the insulating cover is fixed is 4 mm or more.

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