TW201906325A - Angular position sensing device having a relatively simple circuit structure to thus decrease the circuit area and reduce the manufacturing cost - Google Patents

Abstract

An angular position sensing device includes a first resolver for generating a sinusoidal sensing signal and a cosine sensing signal. The first resolver includes: an annular rotor; an annular stator that is provided with a plurality of stator magnetic poles circularly disposed at equal intervals along the radial direction, wherein one of the annular stator and the annular rotor is arranged in a way of surrounding the other one of the annular stator and the annular rotor; a plurality of excitation coils respectively wound around the stator magnetic poles in a way of being adjacent to the annular stator; and four induction coils that are respectively wound around four of the stator magnetic poles in a way of being adjacent to the annular rotor, and are respectively spaced apart from the excitation coils wound around the four stator magnetic poles. The magnitudes of the sinusoidal and cosine sensing signals are at least related to the shape of the annular rotor.

Description

Angular position sensing device

The present invention relates to an angular position sensing technique, and more particularly to an angular position sensing device for sensing the angular position of a motor rotor.

U.S. Patent No. 5,189,353 discloses a conventional angular position sensing device for sensing the angular position of a rotor of a motor. The conventional angular position sensing device includes first and second resolvers, two three-phase to two-phase converters, and a signal processor. Each of the first and second resolvers includes an annular stator. The annular stator is provided with a plurality of stator poles. Each of the stator poles is wound with an excitation coil and an induction coil. Because the winding manner of the induction coils causes a corresponding set of first sensing signals generated by the first resolver (to resolve the absolute position of the rotor of the motor), and the corresponding second solution The set of second sensing signals generated by the corners (to resolve the relative positions of the rotor of the motor) include three-phase (A-phase, B-phase, and C-phase) sensing signals. Therefore, when the angular position of the rotor of the motor is to be analyzed, the three-phase to two-phase converter first receives the first sensing signal and the second sensing signal respectively, and respectively converts a first Two-phase signal output and one second two-phase signal output. Then, the signal processor parses the angular position of the rotor of the motor based on the first and second two-phase signal outputs.

However, in the above structure, since the winding manners of the induction coils cause the first and second sensing signals of the groups to include three-phase sensing signals, for the conventional angular position sensing device, the three The phase-to-two-phase converter is an essential component, which results in a complicated angular position calculation method and circuit structure of the conventional angular position sensing device, and has the disadvantages of large circuit area and high manufacturing cost.

Accordingly, it is an object of the present invention to provide an angular position sensing device that overcomes the disadvantages of the prior art.

Thus, the angular position sensing device of the present invention includes a first resolver.

The first resolver is configured to generate a sinusoidal sensing signal and a cosine sensing signal that are complementary to each other, the sinusoidal sensing signal and the cosine sensing signal being associated with an absolute position of a rotor of a motor. The first resolver includes an annular rotor, an annular stator, a plurality of excitation coils, and four induction coils.

The annular stator is provided with a plurality of stator magnetic poles in a radially equidistant annular manner, and one of the annular stator and the annular rotor is surrounded by the annular stator and the annular rotor. One way to set.

The excitation coils are respectively wound around the stator poles in a manner adjacent to the annular stator.

The induction coils are respectively wound around the four stator poles of the stator poles in a manner adjacent to the annular rotor, and are respectively spaced apart from the excitation coils wound on the four stator poles.

The magnitude of the sinusoidal sensing signal and the cosine sensing signal is at least related to the shape of the annular rotor.

The effect of the present invention is that the angular position sensing device of the present invention does not need to have a sense of angular position because the winding method of the induction coil causes the first recliner to generate the sinusoidal sensing signal and the cosine sensing signal. The measuring device requires an additional three-phase to two-phase converter. Therefore, the angular position sensing device of the present invention has a relatively simple circuit structure and can reduce the circuit area while reducing the manufacturing cost.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.

Referring to Figures 1, 2 and 3, an embodiment of the angular position sensing device of the present invention is adapted to sense an angular position of a rotor (not shown) of a motor (not shown), and the angular position sensing The device includes a first resolver 1, a second resolver 2, and a signal processor (not shown). In this embodiment, the motor is a Direct Drive Motor.

The first resolver 1 is configured to generate a sinusoidal sensing signal and a cosine sensing signal that are complementary to each other, the sinusoidal sensing signal and the cosine sensing signal being related in common to the absolute position of the rotor of the motor. In the present embodiment, the first resolver 1 includes an annular rotor 11, an annular stator 12, a plurality of excitation coils 13, and four induction coils 14, 15, 16, 17. The magnitude of the sinusoidal sensing signal and the cosine sensing signal is related to the shape of the annular rotor 11.

The annular rotor 11 is disposed coaxially with the annular stator 12 (that is, the inner ring surface of the annular rotor 11 and the outer ring surface of the annular stator 12 are the same as the center of the outer ring surface of the annular stator 12). The annular rotor 11 includes a ring body 111 having a varying height in an extending direction y of the ring body 111, and the height gradually increases from a maximum height value along a circumferential direction of the ring body 111. Decrement. It should be noted that the first angle resolver 1 is coupled to the motor in a coaxial manner, and rotates the annular rotor 11 in synchronization with the rotor of the motor. Further, in the present embodiment, the maximum height value is actually 10.2 mm, and the height is gradually decreased from 10.2 mm to 3.23 mm, but is not limited thereto.

The annular stator 12 has an outer annular surface 120 adjacent to the annular rotor 11. The annular stator 12 is provided in a radially equidistant manner, and a plurality of stator poles 121 are disposed on the outer ring surface 120. One of the annular stator 12 and the annular rotor 11 is disposed in such a manner as to surround the other of the annular stator 12 and the annular rotor 11. In the present embodiment, the annular rotor 11 surrounds the annular stator 12, but is not limited thereto.

The excitation coils 13 are respectively wound around the stator poles 121 in a manner adjacent to the annular stator 12. Each excitation coil 13 is used to output an excitation signal.

The induction coils 14, 15, 16, 17 are respectively wound around the four stator poles 121 of the stator poles 121 in a manner adjacent to the annular rotor 11, and are respectively wound around the four stator poles 121. The excitation coils 13 are spaced apart. In the present embodiment, a magnetic pole extending direction of any two of the stator poles 121 around which the induction coils 14, 15, 16, 17 are wound is perpendicular to each other. For example, a pole extending direction A of the stator pole 121 wound with the induction coil 14 and a pole extending direction B of the stator pole 121 wound with the induction coil 15 are perpendicular to each other. The magnetic pole extending direction A and a magnetic pole extending direction D of the stator magnetic pole 121 around which the induction coil 17 is wound are perpendicular to each other. A pole extending direction C of the stator pole 121 wound with the induction coil 16 and the pole extending direction B are perpendicular to each other. The magnetic pole extension direction C and the magnetic pole extension direction D are perpendicular to each other. It should be noted that the induction coils 14, 15, 16, 17 are used to sense the change of the magnetic field generated when the annular rotor 11 rotates with the annular stator 12 to generate and output the sinusoidal sensing signal and the Cosine sensing signal. In the present embodiment, the outputs of the induction coils 15, 17 are combined into the sinusoidal sensing signal, and the outputs of the induction coils 14, 16 are combined into the cosine sensing signal.

The second resolver 2 is for generating a set of two-phase (ie, sine, cosine) sensing signals in a known manner, the set of two-phase sensing signals being related to the relative position of the rotor of the motor (ie, relative to The position of the absolute position). In the present embodiment, the implementation of the second resolver 2 is as shown in FIG. The second resolver 2 is also coupled to the first resolver 1 and the motor in a coaxial manner, and includes an annular rotor 21 included in the same direction as the rotor of the motor. The connection relationship between the second resolver 2 and the motor and the first resolver 1 and its operating principle are well known to those skilled in the art and will not be described herein.

The signal processor receives the sinusoidal sensing signal, the cosine sensing signal and the set of two-phase sensing signals output from the first and second resolvers 1, 2, and according to the sinusoidal sensing signal, the cosine sensing signal And the set of two-phase sensing signals to resolve the angular position of the rotor of the motor. The analytical method used by the signal processor to resolve the angular position of the rotor of the motor is a known manner and will not be described herein.

Referring to FIG. 4, a waveform diagram of the sinusoidal sensing signal and the cosine sensing signal generated by the first recliner 1 of the embodiment is shown. Parameters V1, V2 represent the sinusoidal sensing signal and the cosine sensing signal, respectively.

Referring to FIG. 5, a waveform diagram of one of the set of two-phase sensing signals generated by the second recoiler 2 of the embodiment and one of the cosine sensing signals V4 and one of the cosine sensing signals V4 are shown.

Referring to FIG. 6 , another embodiment of the first recliner 1 of the embodiment is illustrated, and FIG. 6 is similar to FIG. 1 except that the ring is replaced by a ring rotor 11 ′. Rotor 11 (see Figure 1). The annular rotor 11' includes a ring body 111' having an inner annular surface 112 adjacent to the outer annular surface 120 of the annular stator 12, and an outer annular surface remote from the annular stator 12. The outer annulus 113 of 120. The inner annular surface 112 of the ring body 111' is disposed coaxially with the outer annular surface 120 of the annular stator 12 (the parameter O ₂ represents a center of the inner annular surface 112 and the outer annular surface 120), The outer annular surface 113 of the ring body 111' and the outer annular surface 120 of the annular stator 12 are eccentrically disposed with each other (parameter O ₁ represents a center corresponding to the outer annular surface 113, and the centers O ₁ , O ₂ The distance d ₁ ) is spaced such that the ring body 111' has a varying thickness. The thickness has a maximum thickness value at a first portion 1111 of the ring body 111' and is gradually thinned from both sides of the first portion 1111. In the present embodiment, the maximum thickness value is actually 7.7 mm, and the thickness is gradually decreased from 7.7 mm to 6.5 mm, but is not limited thereto.

Referring to FIG. 7, another embodiment of the first recliner 1 of the embodiment is illustrated, and FIG. 7 is similar to FIG. 1, except that the annular rotor 11" is substituted for the An annular rotor 11 (see FIG. 1), the annular rotor 11" includes a ring body 111" having an inner annular surface 114 adjacent to the outer annular surface 120 of the annular stator 12, and a distance away from The outer annular surface 115 of the outer annular surface 120 of the annular stator 12. The magnitude of the sinusoidal sensing signal and the cosine sensing signal is related not only to the shape of the annular rotor 11", but also to the inner annular surface 114 of the annular body 11" of the annular rotor 11" relative to the annular stator The position of the outer annulus 120 of 12 is set.

In this embodiment, the outer annular surface 115 of the ring body 111 ′′ is disposed coaxially with the outer annular surface 120 of the annular stator 12 (parameter O ₃ represents the outer annular surface 115 and the outer annular surface 120 Corresponding to a center, the inner annular surface 114 of the ring body 111" and the outer annular surface 120 of the annular stator 12 are eccentrically disposed with each other (parameter O ₄ represents a center corresponding to the inner annular surface 114, The center of the circle O ₃ , O _{4 is} spaced apart by a distance d ₂ ) such that the ring body 111 ′′ has a varying thickness, and the inner annular surface 114 and the outer annular surface 120 have a varying gap 1110 . The inner annular surface 114 of the ring body 111" has a maximum thickness value closest to a second portion 1112 of the annular stator 12 and is gradually thinned from both sides of the second portion 1112. The gap 1110 has a minimum spacing value closest to the second portion and gradually increases along both sides of the second portion. In the present embodiment, the maximum thickness value is actually 7.7 mm, and the thickness is gradually decreased from 7.7 mm to 6.5 mm, but is not limited thereto.

In summary, the winding manner of the induction coils 14-17 of the present invention causes the signal generated by the first angle resolver 1 to be a two-phase sensing signal output (ie, the sinusoidal sensing signal and the cosine sensing signal). Synthesizing the two-phase sensing signal output), and the second reckoning device 2 is configured to generate the two-phase sensing signal, so the signal processor can directly directly according to the sinusoidal sensing signal, the cosine sensing signal, and the set of two-phase sensing The signal is used to resolve the angular position of the rotor of the motor. Therefore, the angular position sensing device of the present invention does not need to add two three-phase to two-phase converters as in the conventional angular position sensing device. Therefore, the angular position sensing device of the present invention has a simpler angular position resolution calculation method and circuit structure than the conventional angular position sensing device, and can reduce the circuit area while reducing the manufacturing cost.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

1‧‧‧First resolver

11‧‧‧Ring rotor

11'‧‧‧Ring rotor

11"‧‧‧ring rotor

111‧‧‧Act

111’‧‧‧Act

111"‧‧‧Act

1110‧‧‧ gap

1111‧‧‧Part 1

1112‧‧‧Part II

112‧‧‧ Inner torus

113‧‧‧ outer annulus

114‧‧‧ Inner torus

115‧‧‧ outer annulus

12‧‧‧Ring stator

120‧‧‧ outer annulus

121‧‧‧statar pole

13‧‧‧Exciting coil

14~17‧‧‧Induction coil

2‧‧‧Second angler

21‧‧‧Ring rotor

A‧‧‧Magnetic pole extension direction

B‧‧‧Magnetic pole extension direction

C‧‧‧Magnetic pole extension direction

D‧‧‧Magnetic pole extension direction

V1‧‧‧ sinusoidal sensing signal

V2‧‧‧ cosine sensing signal

V3‧‧‧ sinusoidal sensing signal

V4‧‧‧ cosine sensing signal

O ₁ ‧‧‧ Center

O ₂ ‧‧‧ Center

O ₃ ‧‧‧ Center

O ₄ ‧‧‧ Center

y‧‧‧Extension direction

d ₁ ‧‧‧distance

d ₂ ‧‧‧distance

Other features and advantages of the present invention will be apparent from the embodiments of the present invention, wherein: Figure 1 is a plan view illustrating a first resolver in one embodiment of the angular position sensing device of the present invention. 2 is a side view illustrating the first resolver of the embodiment; FIG. 3 is a plan view illustrating a second resolver of the embodiment; FIG. 4 is a waveform diagram, A waveform of a sinusoidal sensing signal and a cosine sensing signal generated by the first recliner of the embodiment is illustrated; FIG. 5 is a waveform diagram illustrating a set of two generated by the second recoiler of the embodiment. FIG. 6 is a plan view showing another embodiment of the first resolver of the embodiment; and FIG. 7 is a top view, FIG. 6 is a plan view showing a waveform of one of the phase sensing signals and a mode of the cosine sensing signal; FIG. Yet another embodiment of the first resolver of this embodiment is illustrated.

Claims (7)

An angular position sensing device comprising: a first resolver for generating a sinusoidal sensing signal and a cosine sensing signal complementary to each other, the sinusoidal sensing signal and the cosine sensing signal being jointly associated with a rotor of a motor Absolute position, the first resolver comprises an annular rotor, an annular stator, and a plurality of stator poles are arranged in a radially equidistant manner, and the annular stator and the annular rotor One of the two is arranged around the annular stator and the other of the annular rotor, and a plurality of excitation coils are respectively wound around the stator poles in a manner adjacent to the annular stator, and four inductions. a coil is respectively wound around the four stator poles of the stator poles in a manner adjacent to the annular rotor, and is respectively spaced apart from the excitation coils wound on the four stator poles; wherein the sinusoidal induction The magnitude of the signal and the cosine induced signal is at least related to the shape of the annular rotor. The angular position sensing device according to claim 1, wherein a magnetic pole extending direction of any two of the stator magnetic poles around which the induction coils are wound is perpendicular to each other. The angular position sensing device of claim 1, wherein the annular rotor is coaxially disposed with the annular stator, the annular rotor includes a ring body having a direction in an extending direction of the ring body The height of the change, and the height gradually decreases from a maximum height value along a circumferential direction of the ring body. The angular position sensing device of claim 1, wherein the annular rotor surrounds the annular stator, the annular stator has an outer annular surface adjacent to the annular rotor, and the outer annular surface is provided with the stator magnetic pole. The angular position sensing device of claim 4, wherein: the annular rotor comprises a ring body having an inner annular surface adjacent to the outer annular surface of the annular stator, and a distance away from the annular stator An outer annular surface of the outer annular surface; and the inner annular surface of the annular body of the annular rotor is coaxially disposed with the outer annular surface of the annular stator, the outer annular surface of the annular body and the annular ring The outer annulus of the stator is eccentric to each other such that the ring has a varying thickness that has a maximum thickness value in a first portion of the ring and tapers from both sides of the first portion. The angular position sensing device of claim 4, wherein: the annular rotor comprises a ring body having an inner annular surface adjacent to the outer annular surface of the annular stator, and a distance away from the annular stator The outer annular surface of the outer annular surface; and the magnitude of the sinusoidal sensing signal and the cosine sensing signal are related not only to the shape of the annular rotor, but also to the inner annular surface of the annular body of the annular rotor relative to the The position of the outer annular surface of the annular stator. The angular position sensing device of claim 6, wherein the outer annular surface of the ring body of the annular rotor is coaxially disposed with the outer annular surface of the annular stator, and the inner annular surface of the annular body The outer annular faces of the annular stator are eccentrically disposed from each other such that the ring body has a varying thickness, and the inner annular surface of the annular body has a variation between the outer annular surface and the outer annular surface of the annular stator a gap having a maximum thickness value at a second portion of the inner annular surface of the ring body closest to the annular stator, and gradually thinning from both sides of the second portion, the gap being closest to the first portion The two portions have a minimum spacing value and gradually become larger along the sides of the second portion.