WO2010022657A1 - Method for measuring rotor angular position of permanent-magnet synchronous motor and position sensor - Google Patents
Method for measuring rotor angular position of permanent-magnet synchronous motor and position sensor Download PDFInfo
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- WO2010022657A1 WO2010022657A1 PCT/CN2009/073545 CN2009073545W WO2010022657A1 WO 2010022657 A1 WO2010022657 A1 WO 2010022657A1 CN 2009073545 W CN2009073545 W CN 2009073545W WO 2010022657 A1 WO2010022657 A1 WO 2010022657A1
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- signal
- angular position
- magnet synchronous
- synchronous motor
- probe coil
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
- G01D5/202—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by movable a non-ferromagnetic conductive element
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- 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
Definitions
- the present invention relates to the field of permanent magnet synchronous motors, and more particularly to a method and a position sensor for measuring the angular position of a permanent magnet synchronous motor rotor. Background technique
- PMSM Permanent magnet synchronous motor
- the permanent magnet synchronous motor drive system has become a hot spot in the research of hybrid electric vehicles and electric vehicle drive systems. It usually adopts the control method of vector control at low speed and weak magnetic control at high speed. Vector control of permanent magnet synchronous motors requires accurate real-time detection of the absolute angular position of the rotor.
- detecting motor rotor position sensors there are two main types of detecting motor rotor position sensors: one is digital signal output, such as a switch Hall sensor; the switch Hall sensor has poor resolution at high motor speed, affecting the weak magnetic expansion range of the motor; The other type is an analog signal output.
- the analog signal is not conducive to transmission under the harsh electromagnetic environment of electric vehicles and hybrid vehicles. It is easy to produce signal distortion, and the analog signal must be A/D converted before the solution angle, resulting in signal lag, affecting the sensor. Dynamic response performance. Summary of the invention
- the technical problem to be solved by the present invention is to provide a method for measuring the rotor angular position of a permanent magnet synchronous motor in order to achieve high speed, high resolution and small signal distortion during the measurement of the rotor angular position of the permanent magnet synchronous motor.
- the position sensor which can adapt to the complex electromagnetic interference environment of electric vehicles and hybrid vehicles, meets the control requirements of high-precision, high-performance servo systems.
- the sensor mainly consists of a signal disk, a probe coil and a hardware circuit to form a basic working system.
- the hardware circuit provides a high-frequency oscillating current flowing into the probe coil, and an alternating magnetic field is generated in the probe coil. If there is no metal material in the effective range of the alternating magnetic field, the magnetic field energy will be completely lost; when the metal conductor to be tested is in this magnetic field, an induced current is generated on the metal surface, which is called The eddy current, at the same time, the eddy current field also produces an alternating magnetic field in a direction opposite to the direction of the probe coil, due to its reaction, the probe coil The amplitude and phase of the high-frequency current are changed (ie, the effective impedance of the coil).
- This change is related to the magnetic permeability, electrical conductivity, geometry, geometry of the metal conductor of the signal disk, and the distance from the probe coil to the surface of the signal disk.
- the physical properties of the probe coil and the signal disk system can be determined by the electrical conductivity ⁇ of the metal conductor of the signal disk, the magnetic permeability, the size factor, the probe coil and the surface of the signal disk.
- Control D, , ft these parameters are not Change, the effective impedance Z of the probe coil becomes a single-valued function of the signal disk size factor ⁇ .
- the effective impedance ⁇ into the waveform generation circuit to obtain a digital pulse signal corresponding to the frequency f and the signal size factor.
- the absolute angular position (t) can be calculated. Therefore, the change of the absolute angular position of the signal disc is converted into the frequency f of the sensor output digital pulse: f 0 , thereby realizing the permanent magnet Measurement of the absolute angular position of the rotor of the synchronous motor ⁇ t).
- a position sensor comprising:
- a probe coil for generating an alternating magnetic field according to the inflowing high frequency oscillating current
- the signal disc is used to generate an eddy current effect in the magnetic field.
- the signal disc rotates with the motor rotor, the eddy current loss generated in the sensor signal disc causes the effective impedance change of the probe coil winding.
- a method for measuring a rotor angular position of a permanent magnet synchronous motor includes the following steps:
- the hardware circuit generates a high frequency oscillating current
- the high frequency oscillating current flows into the probe coil, causing the probe coil to generate an alternating magnetic field
- the alternating magnetic field causes eddy currents on the surface of the signal disk
- the eddy current changes the effective impedance of the winding of the probe coil, thereby obtaining a variation value of the effective impedance
- the technical solution of the present invention by designing a digital position sensor suitable for a permanent magnet synchronous motor rotor, achieves high speed, high resolution, small signal distortion, and motor in measuring the rotor angular position of the permanent magnet synchronous motor
- the resolution at high speed is also high. It does not affect the signal transmission under the harsh electromagnetic environment interference, and the distortion is small, and the dynamic response performance such as signal lag is also reduced.
- FIG. 1 is a schematic diagram of a probe coil and a hardware circuit module of a position sensor according to Embodiment 1 of the present invention
- FIG. 2 is a schematic diagram of a signal panel of a position sensor according to Embodiment 1 of the present invention
- FIG. 3 is a cross-sectional view showing a position sensor installed in a position of an end face of a permanent magnet motor according to Embodiment 1 of the present invention
- FIG. 4 is a flow chart showing the operation of the position sensor according to Embodiment 2 of the present invention.
- Fig. 5 is a flow chart showing a method for measuring the angular position of a rotor of a permanent magnet synchronous motor according to a second embodiment of the present invention. detailed description
- This embodiment provides a digital position sensor for a permanent magnet synchronous motor rotor.
- FIG. 1 is a schematic diagram of a probe coil and a hardware circuit module of a position sensor provided by the embodiment.
- the position sensor mainly comprises a basic working system consisting of a signal disc 3, a probe coil and a hardware circuit.
- the probe coil of the position sensor and the hardware circuit module are integrally packaged (referred to as the sensor module 10), and have a flat fan shape, and the thickness of the sensor module 10 is only At 6 mm, the sensor module 10 is internally provided with two sets of planar coil windings L1, L2 and a signal processing circuit module.
- the two sets of coils are 180 degrees out of each other and form an electrical angle period that forms part of the oscillating circuit.
- FIG. 2 it is a schematic diagram of the position sensor signal plate 3, and a screw hole is arranged on the lower bottom surface thereof for mounting and fixing the signal plate on the rotor of the motor; the upper surface thereof is a metal conductor surface to be tested, and has a positive The two curves of the cosine structure are formed.
- FIG. 3 a sectional view of the position sensor installed at the end position of the permanent magnet motor, the motor stator 200 is fixed with the motor water jacket 100, the motor rotor 300 is supported by the rotor support 400, and the sensor module 10 is fixed by screws 2 On the millimeter-thick sensor holder 20, the sensor holder 20 is fixed integrally with the motor stator 200 to maintain the relative position.
- the sensor signal board 1 is fixed on the motor rotor support 400 by screws.
- the sensor module 10 and the sensor signal board 3 are arranged opposite to each other in the axial direction.
- the opposite sides of the AA plane are the sensing surfaces, and the position of the sensor module 10 and the sensor signal board 3 is
- the internal space of the motor does not increase the axial length of the motor.
- the position sensor system adopting this arrangement has a simple structure and convenient installation, and fully utilizes the internal space of the motor.
- the high-frequency oscillation circuit when the sensor is supplied with 5V DC power, the high-frequency oscillation circuit generates high-frequency oscillating current and flows into the probe coil, which generates an alternating magnetic field in the probe coil, which makes the sensor signal
- the surface of the disc produces an eddy current effect that causes eddy currents on the surface of the metal conductor of the sensor signal disc Effect, when the sensor signal disk rotates with the motor rotor, the eddy current loss generated on the metal conductor surface of the sensor signal plate will cause the effective impedance change of the probe coil winding, and the effective impedance change and the sensor signal plate metal swept by the probe coil winding
- the effective impedance z is introduced into the waveform generating circuit, and the digital pulse signal corresponding to the absolute angular position ⁇ t) of the signal disc can be obtained, and the pulse signal is filtered, compared, amplified, etc. by the signal processing circuit. Finally, it is output as a digital pulse frequency signal. According to the frequency f of the digital pulse signal, the absolute angular position of the signal disc can be solved, thereby realizing the measurement of the absolute angular position (tt) of the permanent magnet synchronous motor rotor.
- the position sensor provided by the embodiment is used for measuring the rotor angular position of the permanent magnet synchronous motor, and has the characteristics of high speed performance, high resolution, easy transmission of output signals, small volume, easy layout and installation.
- Example 2
- the embodiment provides a method for measuring the angular position of a rotor of a permanent magnet synchronous motor.
- the position sensor of the first embodiment is used in the method, and the change of the angular position of the rotor of the motor is converted into the equivalent impedance of the probe coil by using the eddy current effect.
- the probe coil is used as a part of the waveform generating circuit to obtain a motor rotor angular position detecting method for outputting a digital signal corresponding to the absolute angular position of the signal pulse frequency f.
- the method specifically includes the following steps, as shown in FIG. 5:
- Step 1 The hardware circuit generates a high frequency oscillating current
- Step 2 The high frequency oscillating current flows into the probe coil, so that the probe coil generates an alternating magnetic field;
- Step 3 The alternating magnetic field causes an eddy current to be generated on the surface of the signal disc;
- Step 4 Through the rotation of the signal disk with the rotor of the motor, the eddy current causes the effective impedance of the winding of the probe coil to change, thereby obtaining a change value of the effective impedance;
- the change value of the effective impedance depends on the surface area and frequency of the signal metal conductor of the signal coil swept by the probe coil winding;
- the surface area of the signal conductor metal conductor swept by the probe coil winding is a single-valued function of the absolute angular position of the signal disc, one-to-one correspondence;
- Step 5 Obtain a change value of the effective impedance, and the effective impedance change of the coil winding of the probe corresponds to the absolute angular position of the permanent magnet synchronous motor rotor, thereby realizing the measurement of the rotor angular position of the permanent magnet synchronous motor;
- step 5 specifically includes:
- the probe coil is used as part of the impedance of the waveform generating circuit to introduce its effective impedance into the waveform generating circuit a digital pulse signal having a frequency corresponding to an absolute angular position of the signal disk;
- the signal processing circuit performs filtering, comparison, amplification, etc. on the digital pulse signal, and outputs the digital pulse frequency signal;
- the absolute angular position of the signal disk can be solved, thereby realizing the measurement of the absolute angular position of the permanent magnet synchronous motor rotor.
- the technical solution in this embodiment adopts the digital position sensor in the first embodiment, so that in the measurement of the rotor angular position of the permanent magnet synchronous motor, the detection resolution of the sensor is also high under the high speed of the motor, and in the harsh electromagnetic environment.
- the interference does not affect the signal transmission, the distortion is small, and the dynamic response performance such as signal lag is also reduced.
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Abstract
A method for measuring a rotor angular position of a permanent-magnet synchronous motor and a position sensor. The position sensor includes a hardware circuit, a probe coil (102) and a signal plate (3). The hardware circuit generates a high-frequency oscillating current. The high-frequency oscillating current causes the probe coil (102) to generate alternating magnetic field. The magnetic field induces eddy currents on the surface of the signal plate (3). The eddy currents cause an effective impedance of the probe coil (102) to change. The effective impedance corresponds to the rotor angular position.
Description
测量永磁同步电机转子角位置的方法及位置传感器 技术领域 Method for measuring rotor angular position of permanent magnet synchronous motor and position sensor
本发明涉及永磁同步电机领域， 特别涉及测量永磁同步电机转子角位置的方法及 位置传感器。 背景技术 The present invention relates to the field of permanent magnet synchronous motors, and more particularly to a method and a position sensor for measuring the angular position of a permanent magnet synchronous motor rotor. Background technique
永磁同步电机 （PMSM ) 与直流电机、 感应电机、 普通同步电机相比， 具有较高 的能量密度和效率， 其体积小、 惯性低、 响应快、 控制灵活等优点， 逐渐成为交流伺 服系统执行电机的主流， 尤其是在高精度、 高性能要求的功率伺服系统领域。 因此， 它非常适应于混合动力汽车和电动汽车的驱动系统。 Permanent magnet synchronous motor (PMSM) has higher energy density and efficiency than DC motor, induction motor and common synchronous motor. Its small size, low inertia, fast response and flexible control have gradually become the implementation of AC servo system. The mainstream of motors, especially in the field of high-precision, high-performance power servo systems. Therefore, it is very suitable for the drive system of hybrid and electric vehicles.
从近年来汽车发展看， 永磁同步电机驱动系统已经是当前混合动力汽车和电动汽 车驱动系统研究的一个热点， 它通常采用的控制方式是低速时采用矢量控制， 高速时 采用弱磁控制。 永磁同步电机的矢量控制需要准确的实时检测转子绝对角位置。 From the perspective of automobile development in recent years, the permanent magnet synchronous motor drive system has become a hot spot in the research of hybrid electric vehicles and electric vehicle drive systems. It usually adopts the control method of vector control at low speed and weak magnetic control at high speed. Vector control of permanent magnet synchronous motors requires accurate real-time detection of the absolute angular position of the rotor.
目前， 检测电机转子位置传感器主要有两类： 一类是以数字量信号输出， 如开关 霍尔传感器； 开关霍尔传感器在电机高速时的分辨率较差， 影响电机的弱磁扩速范围； 另一类是以模拟量信号输出。 模拟量信号在电动汽车和混合动力汽车车体恶劣的电磁 环境干扰下不利于传输， 易产生信号失真， 且模拟量信号在解算角度前还须进行 A/D 转换， 导致信号滞后， 影响传感器的动态响应性能。 发明内容 At present, there are two main types of detecting motor rotor position sensors: one is digital signal output, such as a switch Hall sensor; the switch Hall sensor has poor resolution at high motor speed, affecting the weak magnetic expansion range of the motor; The other type is an analog signal output. The analog signal is not conducive to transmission under the harsh electromagnetic environment of electric vehicles and hybrid vehicles. It is easy to produce signal distortion, and the analog signal must be A/D converted before the solution angle, resulting in signal lag, affecting the sensor. Dynamic response performance. Summary of the invention
本发明要解决的技术问题是， 为了在测量永磁同步电机转子角位置过程中， 实现 高速度、 高分辨率， 信号失真小， 本发明提供一种测量永磁同步电机转子角位置的方 法及位置传感器， 该传感器能适应于电动汽车和混合动力汽车的复杂电磁干扰环境， 满足高精度、 高性能伺服系统的控制要求。 The technical problem to be solved by the present invention is to provide a method for measuring the rotor angular position of a permanent magnet synchronous motor in order to achieve high speed, high resolution and small signal distortion during the measurement of the rotor angular position of the permanent magnet synchronous motor. The position sensor, which can adapt to the complex electromagnetic interference environment of electric vehicles and hybrid vehicles, meets the control requirements of high-precision, high-performance servo systems.
该传感器主要由信号盘、 探头线圈、 硬件电路三部分构成基本工作系统， 硬件电 路提供高频振荡电流流入探头线圈， 在探头线圈中产生交变的磁场。 如果在这一交变 磁场的有效范围内没有金属材料靠近， 则这一磁场能量会全部损失； 当有被测金属导 体在这一磁场内时， 则在此金属表面产生感应电流， 称之为电涡流， 与此同时该电涡 流场也产生一个方向与探头线圈方向相反的交变磁场， 由于其反作用， 使探头线圈中
的高频电流的幅值和相位得到改变（即线圈的有效阻抗）， 这一变化与信号盘金属导体 的磁导率、 电导率、 几何形状、 几何尺寸以及探头线圈到信号盘表面的距离等参数有 关。 通常假定信号盘金属导体材质均匀且性能是线性和各项同性， 则探头线圈和信号 盘系统的物理性质可由信号盘金属导体的电导率 σ、磁导率 、尺寸因子 、探头线圈 与信号盘表面的距离 D、 以及探头线圈激励电流的角频率 "等参数来描述， 即探头线 圈有效阻抗可用2 = ^， ，(7，1)，^函数来表示。 控制 D, , ft这几个参数不变， 则探 头线圈的有效阻抗 Z就成为信号盘尺寸因子 τ的单值函数， 我们将该有效阻抗 Ζ引入 到波形产生电路中， 就可以得到频率 f与信号盘尺寸因子 对应的数字脉冲信号， 而根 据信号盘的尺寸因子 又可以计算出其绝对角位置 (t)， 因此， 信号盘的绝对角位置 ^t)变化转化成传感器输出数字脉冲的频率 f变化: f 0 ， 从而实现对永磁同步电机 转子绝对角位置 ^t)的测量。 The sensor mainly consists of a signal disk, a probe coil and a hardware circuit to form a basic working system. The hardware circuit provides a high-frequency oscillating current flowing into the probe coil, and an alternating magnetic field is generated in the probe coil. If there is no metal material in the effective range of the alternating magnetic field, the magnetic field energy will be completely lost; when the metal conductor to be tested is in this magnetic field, an induced current is generated on the metal surface, which is called The eddy current, at the same time, the eddy current field also produces an alternating magnetic field in a direction opposite to the direction of the probe coil, due to its reaction, the probe coil The amplitude and phase of the high-frequency current are changed (ie, the effective impedance of the coil). This change is related to the magnetic permeability, electrical conductivity, geometry, geometry of the metal conductor of the signal disk, and the distance from the probe coil to the surface of the signal disk. Related to parameters. It is generally assumed that the metal material of the signal disk is uniform and the properties are linear and isotropic. The physical properties of the probe coil and the signal disk system can be determined by the electrical conductivity σ of the metal conductor of the signal disk, the magnetic permeability, the size factor, the probe coil and the surface of the signal disk. The distance D, and the angular frequency of the excitation current of the probe coil are described by the parameters, that is, the effective impedance of the probe coil can be expressed by 2 = ^, , (7 , 1) , ^ function. Control D, , ft these parameters are not Change, the effective impedance Z of the probe coil becomes a single-valued function of the signal disk size factor τ. We introduce the effective impedance Ζ into the waveform generation circuit to obtain a digital pulse signal corresponding to the frequency f and the signal size factor. According to the size factor of the signal disc, the absolute angular position (t) can be calculated. Therefore, the change of the absolute angular position of the signal disc is converted into the frequency f of the sensor output digital pulse: f 0 , thereby realizing the permanent magnet Measurement of the absolute angular position of the rotor of the synchronous motor ^t).
本发明的技术方案具体包括： The technical solution of the present invention specifically includes:
一种位置传感器， 包括： A position sensor comprising:
硬件电路， 用于提供高频振荡电流； a hardware circuit for providing a high frequency oscillating current;
探头线圈， 用于根据流入的高频振荡电流， 产生交变的磁场； a probe coil for generating an alternating magnetic field according to the inflowing high frequency oscillating current;
信号盘， 用于使磁场产生电涡流效应， 当信号盘随电机转子旋转时， 在传感器信 号盘中产生的电涡流损耗会导致探头线圈绕组的有效阻抗变化。 The signal disc is used to generate an eddy current effect in the magnetic field. When the signal disc rotates with the motor rotor, the eddy current loss generated in the sensor signal disc causes the effective impedance change of the probe coil winding.
一种测量永磁同步电机转子角位置的方法包括如下步骤： A method for measuring a rotor angular position of a permanent magnet synchronous motor includes the following steps:
硬件电路产生高频振荡电流， The hardware circuit generates a high frequency oscillating current,
高频振荡电流流入探头线圈， 使得探头线圈产生交变磁场； The high frequency oscillating current flows into the probe coil, causing the probe coil to generate an alternating magnetic field;
交变磁场使得信号盘表面产生电涡流； The alternating magnetic field causes eddy currents on the surface of the signal disk;
通过信号盘随电机转子的旋转， 电涡流使得所述探头线圈的绕组有效阻抗发生变 化， 从而得到有效阻抗的变化值； By the rotation of the signal disk with the rotor of the motor, the eddy current changes the effective impedance of the winding of the probe coil, thereby obtaining a variation value of the effective impedance;
获取有效阻抗的变化值， 由于探头线圈绕组的有效阻抗变化对应于永磁同步电机 转子绝对角位置， 从而实现对永磁同步电机转子角位置的测量。 Obtaining the change value of the effective impedance, since the effective impedance change of the probe coil winding corresponds to the absolute angular position of the permanent magnet synchronous motor rotor, thereby realizing the measurement of the rotor angular position of the permanent magnet synchronous motor.
本发明的技术方案， 通过设计了一种适用于永磁同步电机转子的数字式位置传感 器， 在测量永磁同步电机转子角位置中， 实现了高速度、 高分辨率， 信号失真小， 并 且电机高速时的分辨率也很高， 在恶劣的电磁环境干扰下不影响信号的传输， 失真小， 也减小了信号滞后等动态响应性能。
附图说明 The technical solution of the present invention, by designing a digital position sensor suitable for a permanent magnet synchronous motor rotor, achieves high speed, high resolution, small signal distortion, and motor in measuring the rotor angular position of the permanent magnet synchronous motor The resolution at high speed is also high. It does not affect the signal transmission under the harsh electromagnetic environment interference, and the distortion is small, and the dynamic response performance such as signal lag is also reduced. DRAWINGS
图 1是本发明实施例 1提供的位置传感器的探头线圈和硬件电路模块示意图； 图 2是本发明实施例 1提供的位置传感器的信号盘的示意图； 1 is a schematic diagram of a probe coil and a hardware circuit module of a position sensor according to Embodiment 1 of the present invention; FIG. 2 is a schematic diagram of a signal panel of a position sensor according to Embodiment 1 of the present invention;
图 3是本发明实施例 1提供的位置传感器安装在永磁电机端面位置的剖面图； 图 4是本发明实施例 2提供的位置传感器的工作流程图； 3 is a cross-sectional view showing a position sensor installed in a position of an end face of a permanent magnet motor according to Embodiment 1 of the present invention; FIG. 4 is a flow chart showing the operation of the position sensor according to Embodiment 2 of the present invention;
图 5是本发明实施例 2提供的测量永磁同步电机转子角位置的方法流程图。 具体实施方式 Fig. 5 is a flow chart showing a method for measuring the angular position of a rotor of a permanent magnet synchronous motor according to a second embodiment of the present invention. detailed description
为使本发明的目的、 技术方案和优点更加清楚， 下面将结合附图对本发明实施方 式作进一步地详细描述。 In order to make the objects, technical solutions and advantages of the present invention more comprehensible, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings.
实施例 1 Example 1
本实施例提供了一种用于永磁同步电机转子的数字式位置传感器。 This embodiment provides a digital position sensor for a permanent magnet synchronous motor rotor.
如图 1所示： 为本实施例提供的位置传感器的探头线圈和硬件电路模块示意图。 该位置传感器主要由信号盘 3、 探头线圈、 硬件电路三部分构成基本工作系统， 位置 传感器的探头线圈和硬件电路模块封装为一体 （简称传感器模块 10 )， 呈扁平扇形， 传感器模块 10的厚度仅为 6毫米， 传感器模块 10内部布置有 2组平面线圈绕组 Ll、 L2和信号处理电路模块。 2组线圈互差 180度的电角度周期，构成振荡电路的一部分。 FIG. 1 is a schematic diagram of a probe coil and a hardware circuit module of a position sensor provided by the embodiment. The position sensor mainly comprises a basic working system consisting of a signal disc 3, a probe coil and a hardware circuit. The probe coil of the position sensor and the hardware circuit module are integrally packaged (referred to as the sensor module 10), and have a flat fan shape, and the thickness of the sensor module 10 is only At 6 mm, the sensor module 10 is internally provided with two sets of planar coil windings L1, L2 and a signal processing circuit module. The two sets of coils are 180 degrees out of each other and form an electrical angle period that forms part of the oscillating circuit.
如图 2所示： 为位置传感器信号盘 3的示意图， 其下底面设有安装螺纹孔， 用于 将信号盘安装固定在电机转子上； 其上表面为被测金属导体形面， 由具有正、 余弦结 构的两条曲线环围构成。 As shown in FIG. 2, it is a schematic diagram of the position sensor signal plate 3, and a screw hole is arranged on the lower bottom surface thereof for mounting and fixing the signal plate on the rotor of the motor; the upper surface thereof is a metal conductor surface to be tested, and has a positive The two curves of the cosine structure are formed.
如图 3所示： 为位置传感器安装在永磁电机端面位置的剖面图， 电机定子 200与 电机水套 100固定在一起， 电机转子 300通过转子支撑 400支撑， 传感器模块 10通过 螺钉固定在一个 2毫米厚的传感器支架 20上， 传感器支架 20与电机定子 200固定为 一体， 保持相对位置。 传感器信号盘 1通过螺钉固定在电机转子支撑 400上， 传感器 模块 10和传感器信号盘 3沿轴向相对布置， 两者相对面 A-A平面为感应面， 传感器 模块 10和传感器信号盘 3所在的位置为电机内部空间， 没有增加电机的轴向长度。采 用该布置方式的位置传感器系统， 结构简单， 安装方便， 充分利用了电机的内部空间。 As shown in FIG. 3: a sectional view of the position sensor installed at the end position of the permanent magnet motor, the motor stator 200 is fixed with the motor water jacket 100, the motor rotor 300 is supported by the rotor support 400, and the sensor module 10 is fixed by screws 2 On the millimeter-thick sensor holder 20, the sensor holder 20 is fixed integrally with the motor stator 200 to maintain the relative position. The sensor signal board 1 is fixed on the motor rotor support 400 by screws. The sensor module 10 and the sensor signal board 3 are arranged opposite to each other in the axial direction. The opposite sides of the AA plane are the sensing surfaces, and the position of the sensor module 10 and the sensor signal board 3 is The internal space of the motor does not increase the axial length of the motor. The position sensor system adopting this arrangement has a simple structure and convenient installation, and fully utilizes the internal space of the motor.
如图 4所示： 为位置传感器的工作流程图， 给传感器提供 5V直流电源时， 高频 振荡电路产生高频振荡电流流入探头线圈， 在探头线圈中产生交变的磁场， 该磁场使 传感器信号盘表面产生电涡流效应， 该磁场使传感器信号盘金属导体表面产生电涡流
效应， 当传感器信号盘随电机转子旋转时， 在传感器信号盘金属导体表面产生的电涡 流损耗会导致探头线圈绕组的有效阻抗变化， 而有效阻抗的变化与探头线圈绕组扫过 的传感器信号盘金属导体表面面积成比例， 即探头线圈有效阻抗可用 Z = f(S)函数来表 示， s为传感器信号盘被测金属导体表面面积， 它是信号盘的绝对角位置 ^t)的单值函 数3 = 8^(0)。 将该有效阻抗 z引入到波形产生电路中， 就可以得到频率 f与信号盘的 绝对角位置 ^t)对应的数字脉冲信号， 通过信号处理电路对该脉冲信号作滤波、 比较、 放大等处理， 最后以数字量脉冲频率信号输出。 根据该数字脉冲信号的频率 f就可解 算出信号盘的绝对角位置^ t)， 从而实现对永磁同步电机转子绝对角位置 ^t)的测量。 As shown in Figure 4: For the position sensor's working flow diagram, when the sensor is supplied with 5V DC power, the high-frequency oscillation circuit generates high-frequency oscillating current and flows into the probe coil, which generates an alternating magnetic field in the probe coil, which makes the sensor signal The surface of the disc produces an eddy current effect that causes eddy currents on the surface of the metal conductor of the sensor signal disc Effect, when the sensor signal disk rotates with the motor rotor, the eddy current loss generated on the metal conductor surface of the sensor signal plate will cause the effective impedance change of the probe coil winding, and the effective impedance change and the sensor signal plate metal swept by the probe coil winding The surface area of the conductor is proportional, that is, the effective impedance of the probe coil can be expressed by the Z = f ( S ) function, s is the surface area of the metal conductor of the sensor signal disc, which is the single-valued function of the absolute angular position of the signal disc ^t) = 8^(0). The effective impedance z is introduced into the waveform generating circuit, and the digital pulse signal corresponding to the absolute angular position ^t) of the signal disc can be obtained, and the pulse signal is filtered, compared, amplified, etc. by the signal processing circuit. Finally, it is output as a digital pulse frequency signal. According to the frequency f of the digital pulse signal, the absolute angular position of the signal disc can be solved, thereby realizing the measurement of the absolute angular position (tt) of the permanent magnet synchronous motor rotor.
本实施例提供的位置传感器， 用于测量永磁同步电机转子角位置， 具有高速性能 好， 分辨率高， 输出信号易于传输， 体积小， 易于布置和安装等特点。 实施例 2 The position sensor provided by the embodiment is used for measuring the rotor angular position of the permanent magnet synchronous motor, and has the characteristics of high speed performance, high resolution, easy transmission of output signals, small volume, easy layout and installation. Example 2
本实施例提供了一种测量永磁同步电机转子角位置的方法， 该方法中采用了实施 例 1 中的位置传感器， 利用电涡流效应将电机转子角位置变化转化为探头线圈等效阻 抗的变化， 并把探头线圈作为波形产生电路的一部分， 从而得到输出脉冲频率 f与信 号盘的绝对角位置相对应的数字量信号的电机转子角位置检测方法。 The embodiment provides a method for measuring the angular position of a rotor of a permanent magnet synchronous motor. The position sensor of the first embodiment is used in the method, and the change of the angular position of the rotor of the motor is converted into the equivalent impedance of the probe coil by using the eddy current effect. And the probe coil is used as a part of the waveform generating circuit to obtain a motor rotor angular position detecting method for outputting a digital signal corresponding to the absolute angular position of the signal pulse frequency f.
该方法具体包括以下步骤， 如图 5所示： The method specifically includes the following steps, as shown in FIG. 5:
步骤 1、 硬件电路产生高频振荡电流； Step 1. The hardware circuit generates a high frequency oscillating current;
步骤 2、 高频振荡电流流入探头线圈， 使得探头线圈产生交变磁场； Step 2. The high frequency oscillating current flows into the probe coil, so that the probe coil generates an alternating magnetic field;
步骤 3、 交变磁场使得信号盘表面产生电涡流； Step 3. The alternating magnetic field causes an eddy current to be generated on the surface of the signal disc;
步骤 4、 通过信号盘随电机转子的旋转， 电涡流使得所述探头线圈的绕组有效阻 抗发生变化， 从而得到有效阻抗的变化值； Step 4. Through the rotation of the signal disk with the rotor of the motor, the eddy current causes the effective impedance of the winding of the probe coil to change, thereby obtaining a change value of the effective impedance;
其中， 有效阻抗的变化值取决于探头线圈绕组扫过的信号盘金属导体表面面积和 频率； Wherein, the change value of the effective impedance depends on the surface area and frequency of the signal metal conductor of the signal coil swept by the probe coil winding;
探头线圈绕组扫过的信号盘金属导体表面面积是信号盘的绝对角位置的单值函 数， 两者一一对应； The surface area of the signal conductor metal conductor swept by the probe coil winding is a single-valued function of the absolute angular position of the signal disc, one-to-one correspondence;
步骤 5、 获取有效阻抗的变化值， 探头线圈绕组的有效阻抗变化对应于永磁同步 电机转子绝对角位置， 从而实现对永磁同步电机转子角位置的测量； Step 5: Obtain a change value of the effective impedance, and the effective impedance change of the coil winding of the probe corresponds to the absolute angular position of the permanent magnet synchronous motor rotor, thereby realizing the measurement of the rotor angular position of the permanent magnet synchronous motor;
其中， 步骤 5中具体包括： Wherein, step 5 specifically includes:
探头线圈作为波形发生电路阻抗的一部分， 将其有效阻抗引入到波形产生电路
中， 便可获得频率与信号盘的绝对角位置对应的数字脉冲信号； The probe coil is used as part of the impedance of the waveform generating circuit to introduce its effective impedance into the waveform generating circuit a digital pulse signal having a frequency corresponding to an absolute angular position of the signal disk;
信号处理电路对所述数字脉冲信号作滤波、 比较、 放大等处理， 以数字量脉冲频 率信号输出； The signal processing circuit performs filtering, comparison, amplification, etc. on the digital pulse signal, and outputs the digital pulse frequency signal;
根据数字脉冲信号的频率就可解算出信号盘的绝对角位置， 从而实现对永磁同步 电机转子绝对角位置的测量。 According to the frequency of the digital pulse signal, the absolute angular position of the signal disk can be solved, thereby realizing the measurement of the absolute angular position of the permanent magnet synchronous motor rotor.
本实施例中的技术方案， 采用实施例 1中的数字式位置传感器， 使得在测量永磁 同步电机转子角位置中， 电机高速情况下传感器的检测分辨率也很高， 且在恶劣的电 磁环境干扰下不影响信号的传输， 失真小， 也减小了信号滞后等动态响应性能。 The technical solution in this embodiment adopts the digital position sensor in the first embodiment, so that in the measurement of the rotor angular position of the permanent magnet synchronous motor, the detection resolution of the sensor is also high under the high speed of the motor, and in the harsh electromagnetic environment. The interference does not affect the signal transmission, the distortion is small, and the dynamic response performance such as signal lag is also reduced.
以上所述仅为本发明的较佳实施例， 并不用以限制本发明， 凡在本发明的精神和 原则之内， 所作的任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are within the spirit and scope of the present invention, should be included in the protection of the present invention. Within the scope.
Claims
1、 一种测量永磁同步电机转子角位置的方法， 其特征在于， 包括如下步骤： 步骤 1、 硬件电路产生高频振荡电流； A method for measuring a rotor angular position of a permanent magnet synchronous motor, comprising: the following steps: Step 1. The hardware circuit generates a high frequency oscillating current;
步骤 2、 所述高频振荡电流流入探头线圈， 使得所述探头线圈产生交变磁场； 步骤 3、 所述交变磁场使得信号盘表面产生电涡流； Step 2, the high-frequency oscillating current flows into the probe coil, so that the probe coil generates an alternating magnetic field; Step 3, the alternating magnetic field causes an eddy current to be generated on the surface of the signal disc;
步骤 4、 所述信号盘随电机转子旋转， 所述电涡流使得所述探头线圈的绕组有效 阻抗发生变化， 得到有效阻抗的变化值； Step 4: The signal disk rotates with a motor rotor, and the eddy current causes a change in an effective impedance of the coil of the probe coil to obtain a change value of an effective impedance;
步骤 5、 获取有效阻抗的变化值， 所述探头线圈绕组的有效阻抗变化对应于永磁 同步电机转子绝对角位置， 从而实现对永磁同步电机转子角位置的测量。 Step 5: Obtain a change value of the effective impedance, and the effective impedance change of the coil winding of the probe corresponds to the absolute angular position of the permanent magnet synchronous motor rotor, thereby realizing the measurement of the rotor angular position of the permanent magnet synchronous motor.
2、 根据权利要求 1 所述的测量永磁同步电机转子角位置的方法， 其特征在于， 所述有效阻抗的变化值根据所述探头线圈绕组扫过的信号盘金属导体表面面积和频率 确定； 2. The method of measuring a rotor angular position of a permanent magnet synchronous motor according to claim 1, wherein the change value of the effective impedance is determined according to a surface area and a frequency of a signal metal conductor swept by the probe coil winding;
所述探头线圈绕组扫过的信号盘金属导体表面面积与信号盘的绝对角位置对应。 The surface area of the signal metal conductor swept by the probe coil winding corresponds to the absolute angular position of the signal disc.
3、 根据权利要求 1 所述的测量永磁同步电机转子角位置的方法， 其特征在于， 所述步骤 5中， 具体包括： The method of claim 1, wherein the step 5 includes:
获得频率与信号盘的绝对角位置对应的数字脉冲信号； Obtaining a digital pulse signal having a frequency corresponding to an absolute angular position of the signal disc;
信号处理电路对所述数字脉冲信号作滤波、 比较、 放大等处理， 以数字量脉冲频 率信号输出； The signal processing circuit performs filtering, comparison, amplification, etc. on the digital pulse signal, and outputs the digital pulse frequency signal;
根据所述数字脉冲信号的频率解算出信号盘的绝对角位置， 从而实现对永磁同步 电机转子绝对角位置的测量。 The absolute angular position of the signal disk is calculated based on the frequency of the digital pulse signal, thereby realizing the measurement of the absolute angular position of the permanent magnet synchronous motor rotor.
4、 一种位置传感器， 其特征在于， 包括： 4. A position sensor, comprising:
硬件电路， 用于提供高频振荡电流； a hardware circuit for providing a high frequency oscillating current;
探头线圈， 用于根据流入的高频振荡电流， 产生交变的磁场； a probe coil for generating an alternating magnetic field according to the inflowing high frequency oscillating current;
信号盘， 用于使所述磁场产生电涡流效应， 当信号盘随电机转子旋转时， 在传感 器信号盘中产生的电涡流损耗会导致探头线圈绕组的有效阻抗变化。 The signal disc is used to cause the eddy current effect of the magnetic field. When the signal disc rotates with the motor rotor, the eddy current loss generated in the sensor signal disc causes an effective impedance change of the probe coil winding.
5、 根据权利要求 4 所述的位置传感器， 其特征在于， 所述有效阻抗反映永磁同 步电机转子绝对角位置。
The position sensor according to claim 4, wherein the effective impedance reflects the absolute angular position of the permanent magnet synchronous motor rotor.
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| CN101359893B (en) * | 2008-08-27 | 2010-09-08 | 奇瑞汽车股份有限公司 | Method for measuring rotor angle location of permanent magnet synchronous electric motor |
| DE102009028170A1 (en) * | 2009-07-31 | 2011-02-10 | Robert Bosch Gmbh | Commutated electric drive and method for controlling a commutated electric motor |
| CN102608528A (en) * | 2011-12-01 | 2012-07-25 | 华南理工大学 | Defect detection method and device for motors |
| DE102013206426A1 (en) * | 2013-04-11 | 2014-10-16 | Robert Bosch Gmbh | Sensor device, steering angle sensor device, method for determining the position of a metal object |
| CN105444869B (en) * | 2015-11-17 | 2018-05-15 | 北京安特帕斯计算机网络技术有限公司 | The method and system of rotor horizontal swing amplitude during a kind of rotary body rotation of measurement indirectly |
| KR101789435B1 (en) * | 2016-07-20 | 2017-11-15 | 현대다이모스(주) | Absolute Positioning Sensor having detection of Signal Line Fault for DC Motor |
| CN107968540A (en) * | 2017-12-27 | 2018-04-27 | 北京信息科技大学 | Magnetic suspension brshless DC motor axial displacement and rotor-position integrated sensor |
| CN112671295B (en) * | 2020-11-30 | 2022-05-27 | 西北工业大学 | Rotor initial position detection method and system based on motor common-mode current |
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| CN101359893A (en) * | 2008-08-27 | 2009-02-04 | 奇瑞汽车股份有限公司 | Method for measuring rotor angle location of permanent magnet synchronous electric motor, location sensor thereof |
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