KR20170096845A - Method for Position Detecting of Motor Rotor - Google Patents

Method for Position Detecting of Motor Rotor Download PDF

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Publication number
KR20170096845A
KR20170096845A KR1020160018615A KR20160018615A KR20170096845A KR 20170096845 A KR20170096845 A KR 20170096845A KR 1020160018615 A KR1020160018615 A KR 1020160018615A KR 20160018615 A KR20160018615 A KR 20160018615A KR 20170096845 A KR20170096845 A KR 20170096845A
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South Korea
Prior art keywords
hall sensor
linear hall
linear
phase difference
motor rotor
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KR1020160018615A
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Korean (ko)
Inventor
노승수
안대기
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이래오토모티브시스템 주식회사
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Priority to KR1020160018615A priority Critical patent/KR20170096845A/en
Publication of KR20170096845A publication Critical patent/KR20170096845A/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2211/00—Specific aspects not provided for in the other groups of this subclass relating to measuring or protective devices or electric components
    • H02K2211/03—Machines characterised by circuit boards, e.g. pcb

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The present invention relates to an apparatus for precisely detecting the position of a motor rotor in relation to a motor drive system and a method of using the same.
According to an embodiment of the present invention, 2n (n: natural number) pole pair magnets that are installed on the rotation axis of the motor rotor; And a pair of linear Hall sensors configured to measure a voltage proportional to a change in the magnetic field of the pole pair magnet while being spaced apart from the pole pair magnet by a predetermined distance, A sensor; And a second linear hall sensor having a phase difference of 90n degrees (n: odd number) from the first linear hall sensor at an electrical angle, wherein the first linear hall sensor and the second linear hall sensor each have a Hall sensor And a first and a second inverting Hall sensors opposed to each other in the direction opposite to the direction of the rotation of the motor rotor and having a phase difference of 180n degrees (n: natural number) as an electric angle, respectively.

Description

[0001] The present invention relates to a method for detecting a position of a motor rotor,

The present invention is a method for precisely detecting the position of a motor rotor in association with a motor drive system.

Conventionally, a position sensing method for motor driving uses a single pole pair magnet or a plurality of pole pair magnets installed at one end on a rotor axis to determine the position of the rotor using a Hall sensor do.

1 is a view showing the principle of a Hall sensor.

The hall sensor is a sensor using a Hall effect. When a current flows through a certain conductor, a Hall effect separates the electric current in the vertical direction of the electric field and magnetic field when a magnetic field is applied in the vertical direction thereof. It is a phenomenon that is caught. As a result, the relationship between voltage, magnetic flux, and electric potential appears, how much current flows due to the magnetic flux, and how the voltage appears, and is therefore mainly used as a position detection sensor of a motor.

For example, a BLDC motor is made up of a rotor made of a permanent magnet and stator poles made of a winding. By rotating the rotor with electric energy by the relationship between the permanent magnet rotor and the magnetic field generated from the current- Energy. At this time, Hall sensor is used as position detecting sensor of BLDC motor.

Referring to FIG. 1, the Hall sensor can be made of a very thin semiconductor plate. Specifically, a semiconductor piece having a thickness of about 0.5 to 100 mu m is attached to a ceramic or plastic substrate, or a semiconductor piece is thinly coated to a thickness of about 2 to 3 mu m on the substrate.

When a voltage is applied in the longitudinal direction of the semiconductor plate, the current moves electrons at a very high speed. At this time, when magnetic flux is passed in the direction perpendicular to the current, electric charge is biased to the side by the Lorentz force. Therefore, a voltage of several hundreds mV is generated at the other ends of the substrate. This voltage is called a Hall voltage. The Hall voltage is proportional to the current and the magnetic flux density, and changes depending on the semiconductor material (the hole constant) and the thickness of the semiconductor plate.

However, in the case of Hall sensors, when the magnetism changes due to current flowing through the rotor, the rotor is not center aligned due to the influence of the disturbance, so that the position becomes inaccurate. In addition to the problem that the output signal of the Hall sensor is different from the ideal sinusoidal signal There is a problem that it is detected in the form of a rocking signal.

In order to solve the conventional problems, there is provided a method of confirming a precise rotor position using at least two linear type Hall sensors without mechanically deforming the mounting structure of a conventional magnet assembly.

According to an embodiment of the present invention, there are provided 2n (n: natural number) pole pair magnets that are installed on a rotating shaft of a motor rotor. And a pair of linear Hall sensors configured to measure a voltage proportional to a change in the magnetic field of the pole pair magnet while being spaced apart from the pole pair magnet by a predetermined distance, A sensor; And a second linear hall sensor having a phase difference of 90n degrees (n: odd number) from the first linear hall sensor at an electrical angle, wherein the first linear hall sensor and the second linear hall sensor each have a Hall sensor And a first and a second inverting Hall sensors opposed to each other in the direction opposite to the direction of the rotation of the motor rotor and having a phase difference of 180n degrees (n: natural number) as an electric angle, respectively.

According to one embodiment, the linear hall sensor further includes a plurality of pairs of linear hall sensors, wherein each pair of linear hall sensors is arranged to have a phase difference of 90n degrees (n: odd number) at an electrical angle, An inverse hall sensor corresponding to the linear hall sensor may be provided for each linear hall sensor.

According to one embodiment, the first and second linear hall sensors may be mounted on a position fixing PCB.

According to one embodiment, a plurality of the pole pair magnets may be formed.

According to one embodiment, the shape of the pole pair magnet may be circular or polygonal in cross section.

According to another aspect of the present invention, there is provided a method of driving a linear hall sensor, comprising the steps of: (a) detecting output signals of the first and second linear hall sensors and the first and second inverting Hall sensors; (b) providing a first synthesized signal by summing an output signal of the first linear hall sensor and an output signal of a first inverted Hall sensor having an electrical phase difference of 180 degrees corresponding to the first linear hall sensor; (c) preparing a second composite signal by summing an output signal of the second linear hall sensor and an output signal of a second inverting Hall sensor having an electrical phase difference of 180 degrees corresponding to the second linear hall sensor; And (d) matching the first synthesized signal with the second synthesized signal.

According to the motor rotor position detection method of the embodiment of the present invention, at least two linear type Hall sensors can be used to precisely detect the rotor position despite the influence of disturbance.

1 is a view showing the principle of a Hall sensor.
2 (a) and 2 (b) are views showing a positional relationship between a magnet and a Hall sensor according to an embodiment of the present invention.
3 is a view showing an output signal of the position of the motor rotor using the linear hall sensor of the present invention.
4 is a view illustrating a magnet assembly installed on a rotor shaft according to an embodiment of the present invention.
5 is an enlarged view of a portion A in Fig.
6 is a block diagram of a motor rotor detection method according to an embodiment of the present invention.
7 is a block diagram of a motor rotor position detection system according to a method of combining a linear Hall sensor and an inverted Hall sensor.

The embodiments described below are provided so that those skilled in the art can easily understand the technical idea of the present invention, and thus the present invention is not limited thereto. In addition, the matters described in the attached drawings may be different from those actually implemented by the schematic drawings to easily describe the embodiments of the present invention.

It is to be understood that when an element is referred to as being connected or connected to another element, it may be directly connected or connected to the other element, but it should be understood that there may be other elements in between.

The term "connection" as used herein means a direct connection or an indirect connection between a member and another member, and may refer to all physical connections and electrical connections such as adhesion, attachment, fastening, bonding, and coupling.

Also, the expressions such as 'first, second', etc. are used only to distinguish a plurality of configurations, and do not limit the order or other features between configurations.

The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. The word "comprise" or "having" is used herein to mean that a feature, a number, a step, an operation, an element, a component or a combination thereof is included in the description, A step, an operation, an element, a part, or a combination thereof.

Prior to the description of the drawings, the same constituent elements as in the prior art will be described using the same reference numerals.

The main feature of the present invention is that at least two or more linear hall sensors and at least two reverse hall sensors corresponding to the two or more linear hall sensors are provided. An inverted Hall sensor is also a type of linear Hall sensor, which means a Hall sensor in which the phase is inverted (phase difference of 180 degrees). Hereinafter, a motor rotor position detecting device including the above configuration and a position detecting method using the same will be described in detail.

2 (a) and 2 (b) are views showing the positional relationship between the magnet and the Hall sensor according to the embodiment of the present invention. 3 is a view showing an output signal of the position of the motor rotor using the linear hall sensor of the present invention.

2 (a) and 2 (b), according to an embodiment of the present invention, 2n (n: natural number) pole pair magnets 2, which are installed in the rotary shaft 1 of the motor rotor, ; And a pair of linear hall sensors (3) configured to measure a voltage proportional to a change in the magnetic field of the pole pair magnet (2) while being spaced apart from the pole pair magnet (2) by a predetermined distance, The linear hall sensor 3 of the second embodiment includes a first linear hall sensor 3A; And a second linear hall sensor 3B having a phase difference of 90n degrees (n: odd number) from the first linear hall sensor 3A at an electrical angle, and the first and second linear hall sensors 3B It is possible to additionally provide the first and second inverted Hall sensors 3C and 3D, respectively, which face the opposite direction to the direction of the center of the rotating shaft opposed to each other and have a phase difference of 180n degrees (n: natural number) have.

A motor rotor of the present invention includes a rotating shaft (1) and a magnet (2) that is installed on the rotating shaft (1). Here, the magnet 2 can be combined as a pair structure of S-pole and N-pole, and the combination is implemented as 2n (n: natural number) pole pairs. As the magnet 2 is fixed to the rotary shaft 1, the magnet 2 rotates together with the rotary shaft 1 in one direction. FIG. 2 shows a case where two pole pair magnets are formed, but four pole pair magnets and eight pole pair magnets may be formed as shown in FIG. 4, and the position of the pole pair magnet according to each embodiment may be detected A plurality of linear hall sensors may be provided.

In other words, the figure shown in FIG. 2 is a minimum configuration, and the number of the magnets may be added or the number of the Hall sensors may be added in order to increase the precision of the output waveform.

Therefore, the linear hall sensor of the present invention may further include a plurality of pairs of linear hall sensors, and each pair of linear hall sensors may be arranged so as to have a phase difference of 90n degrees (n: odd number) at an electrical angle. Further, by providing a reverse Hall sensor for each linear hall sensor, it is possible to detect the position of the rotor more accurately. For example, the third linear hall sensor and the fourth linear hall sensor may be paired, and the third reverse hall sensor and the fourth reverse hall sensor corresponding to the third linear hall sensor and the fourth linear hall sensor may be disposed with an electrical angle difference of 180n from the linear hall sensor . Furthermore, the fifth and sixth linear hall sensors or more embodiments may naturally fall within the scope of the present invention.

Hereinafter, a pair of linear Hall sensors including a first linear hall sensor 3A and a second linear hall sensor 3B will be described as an embodiment.

The Hall sensor according to an embodiment of the present invention uses a linear hall sensor 3 rather than a latch type hall sensor as in the prior art.

Specifically, the linear hall sensor 3 for measuring the position of the motor rotor can measure the amount of magnetic poles generated in the magnet assembly 2 and the magnet moving at the same angular speed as the rotor shaft 1 and the rotor shaft 1 The first linear hall sensor 3A is spaced apart from the magnet assembly 2 by a predetermined distance. The first linear hall sensor 3A is spaced apart from the first linear hall sensor 3A by an electrical angle of 90n (n: odd number) And a second linear hall sensor 3B installed at a predetermined interval.

The Hall sensors may be electrically connected to a circuit board (PCB) for supporting the Hall sensors and various circuit elements as an additional configuration. Further, the Hall sensor may further include an operational amplifier for obtaining a DC component varying in accordance with the disturbance in the output signal of the hall sensor.

Referring to FIG. 3, the Hall signal output from the magnet assembly 2 is close to a pure sine wave. However, due to the disturbance, some deformation occurs in the i and k directions like the point P on the floor. This distortion in the output signal causes a significant error in the detection of the position of the motor rotor, making accurate measurement difficult. Disturbances in i and k directions cause changes to several volts in the environment using the rotor current, causing problems in detecting the exact position of the motor.

In order to eliminate the above problems, the present invention includes a first linear hall sensor 3A and a second linear hall sensor 3B. If only the first linear hall sensor 3A is provided, since there is no comparison standard for the position of the rotor, the second linear hall sensor 3B is provided in addition to the first linear hall sensor 3A as described above, . Therefore, using two linear Hall sensors is for detecting the relative position of the motor rotor, and the two linear Hall sensors become essential components in the present invention.

Meanwhile, the second linear hall sensor according to an embodiment of the present invention may be arranged to have an arbitrary angle from the first linear hall sensor at an electrical angle, but it is preferable that the second linear hall sensor has an electrical angle of 90n (n: odd number) It is preferable to have a phase difference. Referring to FIG. 2, a second linear hall sensor 3B having an electrical angle of 90 degrees from the first linear hall sensor 3A is formed. If the two adjacent linear Hall sensors are formed to have a phase difference of 90 n degrees from each other, the final synthesized signal is derived as a sine wave and a cosine wave, thereby enhancing the intuitiveness in detecting the position of the motor rotor have. It is preferable that the first linear hall sensor 3A and the second linear hall sensor 3B have a phase difference of electrical angle of 90 degrees from each other in comparison of output signals and convenience of electrical signal synthesis.

For example, it is assumed that the first linear hall sensor 3A represents a sine wave output signal as a sinusoidal wave, and the second linear hall sensor 3B is a sinusoidal wave and represents an output signal of a cosine wave. Can be assumed.

According to an embodiment of the present invention, a plurality of linear hall sensors having the same phase difference as the phase difference between the first and second linear hall sensors may be additionally provided. A plurality of Hall sensors other than the first and second linear hall sensors 3A and 3B are provided to detect the position of the rotor to further enhance the accuracy and reliability thereof.

 According to an embodiment of the present invention, the first and second linear hall sensors 3A and 3B may be mounted on a position fixing PCB. That is, the linear hall sensors 3A and 3B are stably fixed so as to withstand the vibration generated during rotation of the rotor, and at the same time, the information obtained from the sensors is transmitted to the circuit elements electrically connected to the Hall sensors It can be attached.

According to one embodiment, the shape of the pole pair magnet 2 may be circular or polygonal in cross section. The shape of the pole pair magnet 2 is not limited to a circular shape but may be modified to have a different shape for convenience of use.

Hereinafter, with reference to FIG. 6, a method of detecting the position of the rotor of the present invention will be described in more detail.

A method of detecting the position of a motor rotor according to an embodiment of the present invention includes: (a) detecting (S610) output signals of the first and second linear hall sensors and the first and second inverting Hall sensors; (b) combining the output signal of the first linear hall sensor and the output signal of the first inverse Hall sensor having an electrical phase difference of 180 degrees corresponding to the first linear hall sensor to prepare a first synthesized signal (S620) ; (c) a step (S630) of adding an output signal of the second linear hall sensor and an output signal of a second inverting Hall sensor electrically corresponding to the second linear hall sensor and having a phase difference of 180 degrees to provide a second synthesized signal; ; And (d) matching the first synthesized signal with the second synthesized signal (S640).

Here, for convenience of explanation, it is assumed that the first linear hall sensor 3A and the second linear hall sensor 3B are formed so that the electrical angle between them is precisely 90 degrees.

The output signal of the first linear hall sensor 3A can be expressed as a sum of a sinusoidal component and a direct current component as shown in the following Equation (1).

[Equation 1]

Figure pat00001

Here, 'a' denotes an amplitude generated by a magnet assembly under an environment where a disturbance acts as shown in FIG. 3, 'dc' denotes an intrinsic value of a direct current component generated by the magnet assembly, 'b' 'Means the DC component of the disturbance component. In addition, 'w' may denote the natural frequency of the output signal detected by the magnet assembly, and 't' may denote time. The change of the output signal due to the disturbance largely affects the direct current component and has a small influence on the sinusoidal wave component.

Next, an output signal of the first inverse Hall sensor 3B having a phase difference of 180 degrees with respect to the first linear Hall sensor 3A and inverted in the alignment direction can be expressed by the following equation (2).

&Quot; (2) "

Figure pat00002

The sinusoidal component and the direct current component of the output of the first linear hall sensor 3A are output as an output signal different from the theoretical output signal due to the influence of the external magnetic field due to the rotor drive current and disturbance. Since the first inversion Hall sensor 3B differs from the first linear Hall sensor 3A only in the electrical angle and in the alignment direction, the direct current component 'b' for the disturbance element is only the sign but the size is measured in the same way .

Next, the output signals of the first linear Hall sensor 3A and the first inverted Hall sensor 3B are synthesized as shown in the following equation (3).

&Quot; (3) "

Figure pat00003

When the derived combined signal is multiplied by 1/2, an output signal including a DC component whose influence of disturbance is removed is detected as shown in the following equation (4).

&Quot; (4) "

Figure pat00004

When the synthesized signal is defined as a first synthesized signal for the first linear hall sensor 3A and the first inverted Hall sensor 3C,

The composite signal for the second linear hall sensor 3B and the second inverted Hall sensor 3D can be defined as a second composite signal.

When the second synthesized signal is derived by 1/2 and multiplied by 1/2 in the same manner as described above, an output signal including a DC component whose influence of disturbance is removed is detected as shown in the following equation (5).

&Quot; (5) "

Figure pat00005

The first synthesized signal and the second synthesized signal are matched to detect the relative position of the motor rotor. Here, the term " matching " may include the meaning of comparison, contrast, synthesis, projection, projection, etc. of objects. For example, when a first synthesized signal and a second synthesized signal are synthesized, a final output signal including a sine wave and a cosine wave is detected. By calculating an inverse function (arctangent) of the trigonometric function The rotation angle of the rotor can be detected.

Thus, in driving the motor rotor, even if there is a certain disturbance, the output signal having a constant direct current component can be filtered, and the accurate position of the rotor can be detected.

Next, the motor rotor position detection system of the present invention will be described with reference to FIG.

7 is a block diagram of a motor rotor position detection system according to a method of summing a linear hall sensor and a coupled hall sensor.

Referring to FIG. 7, first and second linear Hall sensors 3 and first and second inverting Hall sensors 3 'for detecting a change in magnetic field due to rotation of the motor rotor are provided, (10). Here, the inverted Hall sensor 3 'is spaced apart from the linear hall sensor 3 by an electric angle of 180 n degrees (n: natural number). The combining section 10 adds up and half times the signals transmitted from the linear hall sensor and the inverted Hall sensor 3 '. The first synthesized signal and the second synthesized signal synthesized in the synthesis section 10 are specified as the final output signal of the motor rotor to be detected through the matching section 20 and the final output signal specified is supplied to the calculation section 30 As the rotation angle of the motor rotor. With the above system, the accurate position of the rotor can be detected.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. For example, the steps of (a), (b), and (c) above are not limited to the order of operations for the implementation of the present method according to the order of the description.

The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

1:
2: Magnet
3: Hall sensor
3a: first linear hall sensor
3b: second linear hall sensor
3c: Third linear hall sensor

Claims (6)

2n (n: natural number) pole pair magnet that is installed on the rotation axis of the motor rotor; And
And a pair of linear Hall sensors configured to measure a voltage proportional to a change in the magnetic field of the pole pair magnet while being spaced apart from the pole pair magnet by a predetermined distance,
The pair of linear hall sensors includes a first linear hall sensor; And a second linear hall sensor having a phase difference of 90n degrees (n: odd number) from the first linear hall sensor at an electrical angle, wherein the first linear hall sensor and the second linear hall sensor each have a Hall sensor Further comprising first and second inverted Hall sensors opposing directions opposite to each other and having a phase difference of 180n degrees (n: natural number) as an electric angle, respectively.
The method according to claim 1,
The linear hall sensor further includes a plurality of pairs of linear hall sensors, wherein each pair of linear hall sensors is arranged so as to have a phase difference of 90n degrees (n: odd number) at an electrical angle, And a sensor for detecting the position of the motor rotor.
The method according to claim 1,
Wherein the first and second linear hall sensors are mounted on a position fixing PCB.
The method according to claim 1,
Wherein a plurality of the pole pair magnets are formed.
The method according to claim 1,
Wherein the shape of the pole pair magnet is circular or polygonal in cross section.
A method of detecting the position of a motor rotor using the apparatus according to any one of claims 1 to 5,
(a) detecting output signals of the first and second linear hall sensors and the first and second inverting Hall sensors;
(b) providing a first synthesized signal by summing an output signal of the first linear hall sensor and an output signal of a first inverted Hall sensor having an electrical phase difference of 180 degrees corresponding to the first linear hall sensor;
(c) preparing a second composite signal by summing an output signal of the second linear hall sensor and an output signal of a second inverting Hall sensor having an electrical phase difference of 180 degrees corresponding to the second linear hall sensor; And
(d) matching the first synthesized signal with the second synthesized signal.



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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019124925A1 (en) * 2017-12-19 2019-06-27 엘지이노텍 주식회사 Sensing apparatus, rotor, and method for determining presence of abnormality in sensor
KR20190127215A (en) * 2018-05-04 2019-11-13 현대엘리베이터주식회사 Apparatus for compensating error of rotation speed
KR20200082358A (en) * 2018-12-28 2020-07-08 주식회사 유라코퍼레이션 BLDC Motor control system and control method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019124925A1 (en) * 2017-12-19 2019-06-27 엘지이노텍 주식회사 Sensing apparatus, rotor, and method for determining presence of abnormality in sensor
KR20190073881A (en) * 2017-12-19 2019-06-27 엘지이노텍 주식회사 Apparatus for sensing and method for detecting error of the same
US11462972B2 (en) 2017-12-19 2022-10-04 Lg Innotek Co., Ltd. Sensing apparatus, rotor, and method for determining presence of abnormality in sensor
US11799365B2 (en) 2017-12-19 2023-10-24 Lg Innotek Co., Ltd. Sensing apparatus, rotor, and method for determining presence of abnormality in sensor
KR20190127215A (en) * 2018-05-04 2019-11-13 현대엘리베이터주식회사 Apparatus for compensating error of rotation speed
KR20200082358A (en) * 2018-12-28 2020-07-08 주식회사 유라코퍼레이션 BLDC Motor control system and control method

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