WO2002084849A1 - Procede et dispositif pour determiner la position angulaire d'un generateur electrique a induction - Google Patents

Procede et dispositif pour determiner la position angulaire d'un generateur electrique a induction Download PDF

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Publication number
WO2002084849A1
WO2002084849A1 PCT/DE2002/000769 DE0200769W WO02084849A1 WO 2002084849 A1 WO2002084849 A1 WO 2002084849A1 DE 0200769 W DE0200769 W DE 0200769W WO 02084849 A1 WO02084849 A1 WO 02084849A1
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WO
WIPO (PCT)
Prior art keywords
sensor elements
sensor
rotor
ring
magnetizable
Prior art date
Application number
PCT/DE2002/000769
Other languages
German (de)
English (en)
Inventor
Anton Dukart
George Blosch
Anton Paweletz
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2002084849A1 publication Critical patent/WO2002084849A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings

Definitions

  • Electronically commutable motors are increasingly being used as drive units for electromechanical actuators in the automotive industry.
  • an exact angular position detection of such electric induction machines is necessary.
  • the angular position detection is based on the scanning of the angular position of the motor shaft with the aid of an additional device which is installed on the motor flange and is usually stored separately for the demanding positioning drives or can be integrated into the electrical induction machine.
  • an actuating system in which an adjustment is carried out with the aid of a reluctance motor.
  • the drive also acts as a sensor here.
  • hollow-shaft motors are used as the electrical induction machine, hollow-shaft incremental encoders, hollow-shaft resolvers or electromagnetic scanning of magnetic reluctance are usually used, e.g. Magnetic gears are used.
  • the electrical energy is converted into mechanical energy via intermediate translation or gear stages, e.g. converted into a translatory movement.
  • the mechanical contact to the motor shaft of the electrical induction machine can be blocked, since the motor shaft in the middle of the electromechanical actuator is completely converted and is therefore not accessible.
  • a gear ratio or a translatory movement has already taken place, e.g. by means of a ball screw.
  • the angular errors resulting from this type of scanning which result in particular from the inevitable play between the built-in mechanical components and the bending or torsional stiffness of the mechanical components, are not permitted result.
  • the sensor elements for example accommodated on the motor bearing and positioned opposite one another, can be provided with a shield in which the magnetic lines of the stray field of the motor are concentrated without the resulting ones Falsify analog signals from the magnetoresistive sensor elements or the Hall sensors.
  • the solution proposed according to the invention an improvement in the detection accuracy of the rotational position of the electric induction machine can be achieved.
  • the position errors are only related to the pole pitch of the electrical machine and are designed so that they are only a fraction (e.g. 1/200) of this pole pitch. This is particularly important if the electrical induction machine to be monitored with regard to its rotational position position works as a high torque which is followed by only a slight mechanical transmission.
  • Such electrical induction machines generally have a relatively large number of poles, so that the solution proposed according to the invention can be used to prevent electrically operable window surfaces, sunroofs or the like due to insufficiently accurate position detection of the drive shaft of the electric induction machine assigned to them have moved insufficiently into their corresponding closed positions.
  • the analog sensor signals with which a precise position description (angular position of the rotor) within a pole pitch can be used can also be used as the basis for the motor control (e.g. as reference curves for the current controller).
  • the magnetic axis of the rotor can cover the magnetic axis of the sensor ring in a defined manner. This would mean that e.g.
  • the maximum in time of the sine sensor signal corresponds exactly to the specific position of the axis of one of the rotor poles with respect to a correspondingly selected reference point on the stator.
  • the number of poles of the sensor can be the same as the number of poles of the motor or a multiple of the number of motor poles.
  • 1.1 shows a section through an actuator with a drive from a cylindrical three-field machine and conversion of the rotation into a linear movement with a concentric gear spindle set
  • FIG. 1.2 shows a detailed illustration of the motor bearing of the electrical induction machine
  • FIG. 1.3 shows an enlarged representation of the sensor elements accommodated on the engine mount
  • FIG. 2 shows the course of the axial component of the induction in the gap between the magnetic ring and sensors
  • FIG. 3.1 shows a magnetic sensor ring with the course of the magnetic induction (Bfz) and. To be detected by the sensor elements
  • FIG. 3.2 shows an enlarged detail with drawn angular divisions ⁇ from a segmented magnetized sensor ring.
  • FIG. 1 shows a section through an electrical rotary machine designed as a concentric, electrical hollow shaft motor.
  • the electrical induction machine 1 shown in section in FIG. 1 is configured as a hollow shaft motor.
  • a shown in dashed lines closure part 2 closes' an only schematically reproduced output 4, which in turn rotationally fixed on a rotating housing on a hollow shaft 13 rotor carrier 12 is added.
  • the electrical induction machine 1 configured as a hollow shaft motor as shown in FIG. 1.1 comprises a spindle 5 which contains a bearing journal 6. Between the bearing journal 6 and the spindle sleeve surrounding it, bearing bodies 7, which are provided as spherical segments as shown in FIG. 1.1, are accommodated.
  • the spindle sleeve 8 is supported by means of an axial bearing 9 on a collar which is formed on the hollow housing shaft 13.
  • a radial bearing 10 is accommodated which is supported on the inside of the housing hollow shaft 13.
  • the housing hollow shaft 13 in turn is part of the housing 3 of the electrical induction machine 1.
  • a rotor support 12 is rotatably received on the housing hollow shaft 13.
  • the rotor support 12 is supported on the one hand on the outer ring of a motor bearing 19 and on the other hand is supported by a radial bearing 11 which is received on the hollow housing shaft 13 with an undercut.
  • an annularly configured receiving element 23 is non-rotatably received on the housing shaft 13, on which sensor elements, which are not shown in FIG.
  • a magnetizable sensor 26 is accommodated on the inner wall of the rotor carrier 12 in the area of the motor bearing 19, as shown in FIG. 1.1.
  • the rotor carrier 12 which is rotatably received on the housing hollow shaft 13 by means of the bearings 19 and 11, on the outside carries on the one hand the rotor 14 of the electric rotary field machine 1 the electrical induction machine 1 is held.
  • a stator winding 16 is assigned to the stator 15, while connections are designated by reference number 17 as shown in FIG. 1.1.
  • a motor air gap 18 is formed between the stator 15 and the rotor 14, which is preferably designed as a laminated core, in which the electrical forces between the stator 15 or the stator winding 16 and the laminated core of the rotor are effective.
  • FIG. 1.2 A more detailed representation of the motor bearing of the electrical induction machine can be seen from the representation according to FIG. 1.2.
  • sensor elements 24, 25 which are electrically offset from one another by exactly 1/4 of the magnetization pole pitch (corresponding to 90 °) are accommodated.
  • an additional pair of such sensor elements could be arranged offset by 180 ° on the opposite side. In this case, you could compensate for any radial play in the bearings.
  • the resulting signal from both sensor pairs 24, 25 should be determined separately and be processed further as an average.
  • the sensor elements 24 and 25 can be designed as magnetoresistive sensor elements; the sensor elements 24 and 25 can also be Hall sensors.
  • the sensor ring 26 is in turn enclosed by a shielding ring 28, the outer side of which lies against the inner side of the rotor carrier 12 as shown in FIG. 1.1.
  • the motor bearing 19 is shown, which comprises an inner ring 22 and an outer ring 21, between which a spherical-shaped roller body 20 is received.
  • the magnetizable sensor ring 26 can be removed from the illustration according to FIG. 1.2 only to a limited extent, but is indicated by the reference numbers 29 and 34, respectively
  • the area of the sensors 24, 25 is sinusoidal.
  • the period of the cutouts 35 ′ therefore corresponds to the period of the magnetization of the magnetic ring 30 or 33.
  • the magnetizable sensor ring 26 is in turn in the axial direction, i.e. Axial recesses 35 'extending parallel to the line of symmetry of the electrical induction machine 1.
  • Axial recesses 35 extend parallel to the line of symmetry of the electrical induction machine 1.
  • FIG. 1 shows that a fixed, internal receiving element 23 with externally attached sensor elements 24 and 25 with an outer circumferential sensor ring 26
  • design variants would be conceivable for an end arrangement, with an arrangement rotated by 90 °.
  • rotations of the arrangements are conceivable that comprise more or less than 90 °, so that the sensor elements 24, 25 are each received on a conical jacket.
  • FIG. 1.3 A detailed view of the circumference of the sensor element recorded can be seen from FIG. 1.3 shown on an enlarged scale.
  • the setting 30 of the magnetic induction is identified by reference numeral 30, which leads to alternating magnetization of a sensor 24, for example a magnetoresistive sensor element, and influences the electrical resistance of the sensor element 24, provided that it is a magnetoresistive sensor element.
  • the magnetic lines emanating from the stray field of the electrical induction machine 1 are preferably received by an annularly configured shielding element 28, which surrounds the magnetizable sensor ring 26.
  • the course 30 or 33 of the magnetic induction from N to S that forms in the sensor ring is shown in more detail in FIG. The lines that characterize the course of the magnetic induction run in opposite directions (see illustration according to FIG. 3.2).
  • the magnetizable sensor ring 26 which is fastened on the inside of the rotor carrier 12 rotating around the receiving element 23, is divided into individual segments 27.
  • the segment division (compare illustration according to FIG. 3.1) is designated by reference number 31.
  • the individual segments 27 of the segmented magnetizable sensor ring 26 are divided by recesses 35 'extending in the axial direction.
  • a monolithic magnetic ring can be magnetized alternately.
  • FIG. 3.1 shows a segment-by-segment magnetizable sensor ring with a course of magnetic induction (Bsz) to be detected by the sensor elements.
  • the magnetization of the magnetizable sensor rings is so coordinated, • that the induction curve 30 in the gap between the inside of the magnetizable sensor ring 26 and the outside of the receiving element fixed to the housing, which receives the sensor elements 24 and 25, is as homogeneous as possible in the axial direction. If the polarity is changed, the induction changes periodically approximately preferably sinusoidally with the rotational movements of the movable rotating components, ie the segmented sensor ring 26 received on the inner wall of the motor mount 12. The course becomes through the ferromagnetic yoke elements 29, which include the recesses 35 ' the axial component of the induction, for which purpose in particular the ferromagnetic edge elements 29 are used.
  • the course 30 of the magnetic induction Bsz can be achieved by appropriate adjustment of the geometrical shape of these recesses 35 'extending in the axial direction in coordination with the field of the sensor elements 24 and 25, so that the resulting analog signals of the sensor elements 24 designed as magnetoresistive sensors, for example or 25 have a sinusoidal profile 37.
  • the sine functions of the two magnetoresistive sensor elements 24 and 25 are shifted by an electrical angle of 90 °.
  • Analog signals can be calculated from the resulting voltages of the sensor elements 24 and 25, which represent the signal curve, with which a precise position description of the angular position of the rotor 14 within a pole pitch 31 is possible.
  • the magnetizable sensor ring 26 is divided into individual segments 27 in a pole pitch 31.
  • the course of the magnetic induction is identified by reference numeral 36, which is slightly delayed in the angular position of the individual segments 27 in the direction of the extension (compare position of the zero crossings 38 with respect to the beginning of the segment).
  • the course of the induction in the individual segments 27 of the magnetizable sensor ring 26 causes alternating magnetization on the sensor elements 24 and 25, for example, as magnetoresistive sensor elements (not shown here). This results in an induction vector curve into the plane of the character or out of the plane of the character (see illustration according to FIG. 3.2).
  • the desired course of the magnetic induction can be set, so that the resulting analog output signals of the magnetoresistive sensors 24 and 25 also have a sinusoidal course. From the resulting voltages of the sensors procured as magnetoresistive sensor elements, it is possible to determine two analog signals with which an exact position description, i.e. a precise detection of the winch cellage of the rotor 14 within a pole pitch is possible. These signals can be used to determine the electronic commutation of the electrical induction machine 1 and can be used as a basis for setting a reference curve in the current control.
  • linearly operating Hall sensors can also be used instead of the magnetoresistive sensor elements 24 or 25 used.
  • the configuration proposed according to the invention can thus also be operated with Hall sensors, in which two sensor signals "Sin” and “Cos” can also be used. LIST OF REFERENCE NUMBERS

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)

Abstract

L'invention concerne un procédé et un dispositif permettant de déterminer la position angulaire d'un générateur électrique à induction (1) pouvant être commuté par voie électronique, comprenant un support de rotor (12) recevant un rotor (22), ainsi qu'un enroulement de stator (15, 16) disposé bloqué en rotation à l'intérieur d'un boîtier (3). Un élément annulaire magnétisé (26) est associé au support de rotor (12), cet élément coopérant avec des éléments sensibles (24, 25) disposés bloqués en rotation, p. ex. des capteurs magnétorésistants ou des capteurs à effet Hall, qui déterminent le profil d'induction (30, 31). A partir de l'inversion magnétique périodique des éléments sensibles (24, 25), on détermine des signaux des deux éléments sensibles (24, 25), ces signaux étant décalés selon un angle électrique.
PCT/DE2002/000769 2001-04-11 2002-03-01 Procede et dispositif pour determiner la position angulaire d'un generateur electrique a induction WO2002084849A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10118052.7 2001-04-11
DE10118052A DE10118052A1 (de) 2001-04-11 2001-04-11 Verfahren und Vorrichtung zur Drehlagerfassung einer elektrischen Drehfeldmaschine

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Publication Number Publication Date
WO2002084849A1 true WO2002084849A1 (fr) 2002-10-24

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007141021A2 (fr) 2006-06-07 2007-12-13 Vogt Electronic Components Gmbh Encodeur de position et procédé de détection de la position d'une partie mobile de machine
DE102005011912B4 (de) * 2004-03-22 2017-03-23 General Motors Corp. Drehmelderanordnung eines Motors und Verfahren zum Messen der Drehzahl und Stellung eines Motorrotors

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10337564A1 (de) * 2003-08-14 2005-03-10 Bosch Gmbh Robert Einrichtung und Verfahren zur Rotorpositionsbestimmung einer elektrischen Maschine
DE102004013919A1 (de) * 2004-03-22 2005-10-20 Siemens Ag Elektromotor
JP2007060734A (ja) 2005-08-22 2007-03-08 Mitsubishi Electric Corp 回転電機
FR2912852B1 (fr) * 2007-02-19 2009-12-18 Mitsubishi Electric Corp Machine rotative electrique
DE102007048061A1 (de) * 2007-10-05 2009-04-09 Zf Friedrichshafen Ag Lenkaktuator für ein Steer-by-wire Schiffsteuersystem und Verfahren zum Betreiben des Lenkaktuators
WO2014048453A1 (fr) * 2012-09-25 2014-04-03 Aktiebolaget Skf Moteur électrique

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DE4311267A1 (de) * 1993-04-06 1994-10-20 Tornado Antriebstech Gmbh Positionsgeber
US5920134A (en) * 1995-09-26 1999-07-06 Interelectric Ag DC motor
DE19817356A1 (de) * 1998-04-18 1999-10-21 Bosch Gmbh Robert Winkelgeber und Verfahren zur Winkelbestimmung
DE19816568A1 (de) * 1998-04-15 1999-11-04 Bosch Gmbh Robert Sensoranordnung zur Erfassung eines Drehmoments und/oder eines Drehwinkels
US6181036B1 (en) * 1998-06-30 2001-01-30 Ykk Corporation Rotational angle detector for brushless motor and brushless motor using the detector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4311267A1 (de) * 1993-04-06 1994-10-20 Tornado Antriebstech Gmbh Positionsgeber
US5920134A (en) * 1995-09-26 1999-07-06 Interelectric Ag DC motor
DE19816568A1 (de) * 1998-04-15 1999-11-04 Bosch Gmbh Robert Sensoranordnung zur Erfassung eines Drehmoments und/oder eines Drehwinkels
DE19817356A1 (de) * 1998-04-18 1999-10-21 Bosch Gmbh Robert Winkelgeber und Verfahren zur Winkelbestimmung
US6181036B1 (en) * 1998-06-30 2001-01-30 Ykk Corporation Rotational angle detector for brushless motor and brushless motor using the detector

Non-Patent Citations (1)

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Title
"METHOD OF MANUFACTURING A MULTI-TRACK ENCODER WHEEL FOR BRUSHLESS MOTORS", RESEARCH DISCLOSURE, KENNETH MASON PUBLICATIONS, HAMPSHIRE, GB, no. 338, 1 June 1992 (1992-06-01), pages 442, XP000315644, ISSN: 0374-4353 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005011912B4 (de) * 2004-03-22 2017-03-23 General Motors Corp. Drehmelderanordnung eines Motors und Verfahren zum Messen der Drehzahl und Stellung eines Motorrotors
WO2007141021A2 (fr) 2006-06-07 2007-12-13 Vogt Electronic Components Gmbh Encodeur de position et procédé de détection de la position d'une partie mobile de machine
DE102006026543A1 (de) * 2006-06-07 2007-12-13 Vogt Electronic Components Gmbh Lagegeber und zugehöriges Verfahren zum Erfassen einer Position eines Läufers einer Maschine
DE102006026543B4 (de) * 2006-06-07 2010-02-04 Vogt Electronic Components Gmbh Lagegeber und zugehöriges Verfahren zum Erfassen einer Position eines Läufers einer Maschine
US8421446B2 (en) 2006-06-07 2013-04-16 Vogt Electronic Components Gmbh Position encoder and a method for detecting the position of a movable part of a machine

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