WO2014108096A1 - 一种多圈绝对磁编码器 - Google Patents

一种多圈绝对磁编码器 Download PDF

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Publication number
WO2014108096A1
WO2014108096A1 PCT/CN2014/070472 CN2014070472W WO2014108096A1 WO 2014108096 A1 WO2014108096 A1 WO 2014108096A1 CN 2014070472 W CN2014070472 W CN 2014070472W WO 2014108096 A1 WO2014108096 A1 WO 2014108096A1
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Prior art keywords
permanent magnet
unit
turn
magnetic field
angular displacement
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PCT/CN2014/070472
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English (en)
French (fr)
Inventor
迪克詹姆斯·G
周志敏
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江苏多维科技有限公司
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Application filed by 江苏多维科技有限公司 filed Critical 江苏多维科技有限公司
Priority to JP2015551977A priority Critical patent/JP6414936B2/ja
Priority to EP14737770.9A priority patent/EP2944924B1/en
Priority to US14/760,355 priority patent/US9389099B2/en
Publication of WO2014108096A1 publication Critical patent/WO2014108096A1/zh

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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
    • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—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 characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2497—Absolute encoders
    • 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
    • G01D5/142—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 using Hall-effect devices
    • G01D5/145—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 using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • 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
    • G01D5/142—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 using Hall-effect devices
    • G01D5/147—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 using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
    • 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
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation

Definitions

  • the invention relates to a magnetic device in the technical field of measurement, in particular to a multi-turn absolute magnetic encoder for measuring the absolute position and the number of revolutions of an input shaft.
  • Encoder technology has a wide range of applications in the fields of motor speed measurement, robot position control and precision instrument control. In these fields, the absolute position of the shaft and the number of revolutions are important control parameters, so accurate measurement is required.
  • the multi-turn coding technique has been widely used because it can simultaneously measure the absolute position and the number of revolutions.
  • photoelectric coding technology generally has the disadvantage of poor anti-interference ability to bubbles, glare, dirt, leakage and other factors, which affects the accuracy of measurement.
  • magnetic absolute coding technology is not affected by these factors, and its resolution is higher, stability is good, it can completely eradicate various bad faults caused by photoelectric technology, and it becomes an alternative.
  • Photocoding technology for optoelectronic coding is not affected by these factors, and its resolution is higher, stability is good, it can completely eradicate various bad faults caused by photoelectric technology, and it becomes an alternative.
  • the gear-based multi-turn coding technology has been widely used due to its simple and intuitive structure.
  • the input shaft is connected to the output shaft via the reduction gear set, and its speed change and the speed of the reduction gear set are transmitted.
  • the ratio is connected to the output shaft, and its absolute position is measured by a magnetic sensor and then converted into the number of turns of the input shaft. Assume that the speed ratio of the reduction gear set is 10:1, the input shaft rotates 10 times, and the output shaft rotates 1 turn. If the code wheel is divided into 10 equal parts along the circumference, each aliquot corresponds to the output shaft 1 Circle, so the number of revolutions of the input shaft can be directly obtained by measuring its absolute position.
  • increasing the gear set takes the output shaft of the previous gear set as the input shaft, and further reduces the rotational speed of its own output shaft, assuming that the gear ratio of the gear set is still increased. 10:1, when the input shaft rotates 100 times, the output shaft of the first gear set rotates 10 times, and the output shaft of the second gear set increases.
  • the circle based on the reading of the absolute position of the code wheel on the output shaft of the second gear set, and the reading of the absolute position of the code wheel on the output shaft of the first gear set, can calculate the total number of revolutions of the input shaft. Therefore, the number of gear sets and the gear ratio of the gear set directly determine the maximum number of turns of the input shaft that the multi-turn encoder can measure.
  • the absolute position measurement accuracy of the magnetic absolute coding technique depends on the performance characteristics of the two components of the magnetoresistive angular displacement sensor and the permanent magnet code wheel.
  • magnetoresistive angular displacement sensors such as tunnel magnetoresistive angular displacement sensors have higher magnetic field sensitivity, and their power consumption and size can be greatly reduced.
  • the reluctance angular displacement sensor comprises two mutually orthogonal single-axis tunnel magnetoresistive sensors, and the two sine and cosine outputs formed during operation are at an angle between the rotating magnetic field of the permanent magnet and the sensitive axes of the two tunnel magnetoresistive sensors.
  • the relationship of ⁇ is as follows:
  • the ⁇ angle can be calculated from OUT1 and OUT2:
  • the rotational phase angle of the permanent magnet code disc during rotation It can be defined as the phase angle of the position vector point r of the permanent magnet body code which passes through the tunnel magnetoresistive sensor in sequence during the rotation, and the magnetic field induces the tunnel magnetoresistive sensor. Only when the permanent magnet rotates the phase angle ⁇ and The linear relationship between the phase angles ⁇ of the rotating magnetic field, when the one-to-one correspondence in the range of 0 ⁇ 360 ° is satisfied, the angle of the rotating magnetic field detected by the resistive angular displacement sensor ⁇ and the rotational phase angle of the permanent magnet code disc ⁇ The positional relationship is correlated to measure the absolute position of the shaft during one revolution.
  • the tunnel magnetoresistive magnetic absolute encoder technology will have special requirements for the design performance of permanent magnet code discs when applied to multi-turn absolute magnetic encoders, and the permanent magnet code discs in the existing multi-turn absolute magnetic encoders. Has the following disadvantages:
  • the existing magnetic absolute encoder technology uses a Hall sensor as a magnetic field angle measuring device, which has high power consumption and low resolution.
  • the existing magnetic absolute encoder mostly uses a Hall sensor as an angle sensor, and the corresponding sensitive magnetic field is a magnetic field component perpendicular to the detecting surface, and the sensitive magnetic field corresponding to the tunnel magnetoresistive sensor is a magnetic field component parallel to the detecting surface, so The permanent magnet code disk of the existing magnetic encoder cannot satisfy the requirements of the magnetic field angle measurement of the tunnel magnetoresistive sensor.
  • the existing magnetic absolute encoder permanent magnets generally adopt a solid cylindrical design, which is directly mounted on the end of the rotating shaft to increase the space, and the circular ring can be directly mounted on the rotating wheel.
  • the object of the present invention is to overcome the above-mentioned shortcomings in the prior art, and to provide a multi-turn absolute magnetic encoder using a tunnel magnetoresistive angular displacement sensor, a specially designed permanent magnet code disk, and a multi-stage gear reduction group. It can simultaneously measure the absolute position and the number of revolutions of the input shaft during one revolution.
  • a multi-turn absolute magnetic encoder comprising:
  • M is an integer greater than or equal to 1
  • each counting unit comprises:
  • a tunnel magnetoresistive angular displacement sensor on the permanent magnet detecting surface for sensing a component of the magnetic field generated by the permanent magnet in the detecting surface and outputting a sensing signal
  • the permanent magnet has a columnar annular structure and includes a first permanent magnet unit and a second permanent magnet unit, the first permanent magnet unit and the second permanent magnet unit being geometrically symmetric with respect to a diameter section of the permanent magnet, the diameter
  • the cross section is a cross section of the outer diameter and the axial length of the permanent magnet
  • the magnetization of the first permanent magnet unit and the magnetization of the second permanent magnet unit are parallel to the axial direction of the cylindrical ring and are opposite in direction, or
  • the magnetization of the first permanent magnet unit and the magnetization of the second permanent magnet unit are perpendicular to the diameter cross section, and the directions are parallel and uniform.
  • the tunnel magnetoresistive angular displacement sensor is located in the detecting surface of the permanent magnet in each counting unit
  • the size of the region of the specific radius is related to the radius of the permanent magnet of the columnar ring structure, and the permanent magnet is in the region of the specific radius
  • the phase angle of the rotating magnetic field of the generated magnetic field in the detecting plane is linearly related to the rotational phase angle of the permanent magnet
  • the single-turn signal processing unit calculates and outputs a table based on the sensing signals of the first counting unit
  • the multi-turn signal processing unit is based on sensing signals from the second to (M+1)th counting units
  • the code wheel of the first counting unit is directly fixed to the input shaft.
  • Each counting unit includes a reduction gear set, the output shaft of each reduction gear set is used as an input shaft of the next reduction gear set, and the code wheel is fixed on the output shaft; the multi-turn signal processing unit tunnels the reluctance angle according to each counting unit Motion detector The sensing signal calculates and outputs the number of revolutions of the input shaft of the counting unit reduction gear set.
  • the M is 1-10.
  • the ratio of the number of revolutions of the code wheel of the mth counting unit to the code wheel of the m+1th counting unit is N:1, m is 1 ⁇ M An integer in , N is an integer greater than 1.
  • the ratio of the number of revolutions of the code wheel of the mth counting unit to the code wheel of the m+1th counting unit is 10:1.
  • the permanent magnet columnar ring structure has an outer diameter of 3-200 mm, an inner diameter of 1-100 mm, and an axial length of 1-50 mm.
  • the tunnel magnetoresistive angular displacement sensor comprises two uniaxial rotation sensors or Wheatstone bridges arranged orthogonally to each other 90 Rotating two-axis rotation sensor.
  • the detecting surface corresponding to the permanent magnet is located in front of and parallel to the annular end surface of the permanent magnet of the cylindrical annular structure.
  • the distance between the detecting surface of the tunnel magnetoresistive angular displacement sensor and the annular end surface of the permanent magnet is 1-5 mm .
  • the magnetization of the first permanent magnet unit and the magnetization of the second permanent magnet unit are the same.
  • the invention adopts a reduction gear set to reduce the input rotation speed, and converts the measurement of the rotation speed into the measurement of the absolute position of the code disc with high precision, simple and intuitive.
  • the invention can simultaneously measure the absolute position and the number of revolutions of the input shaft.
  • the invention adopts a tunnel magnetoresistive angular displacement sensor, so that the sensitivity is greatly improved, the power consumption is greatly reduced, the size position is relatively reduced, and is not affected by environmental dust and oil stains.
  • the permanent magnet of the columnar ring geometry used in the invention has a simple structure and can be directly embedded on the input shaft and the output shaft of the reduction gear to reduce the installation space requirement;
  • the permanent magnet of the columnar ring geometry used in the invention has a good linear relationship between the detected magnetic field component in the specific area of the detecting surface and the angle between the sensitive axis of the sensor and the phase of the rotating angle of the permanent magnet, which satisfies the practical requirements of the tunnel magnetoresistive sensor. .
  • the permanent magnet of the columnar ring geometry used in the invention has a large variation range of the magnetic field detection region in the three-dimensional space, so that the installation space of the magnetoresistive sensor is relatively flexible.
  • Figure 1 is a schematic diagram of a multi-turn absolute magnetic encoder.
  • Figure 2 is a schematic diagram of the structure of a multi-turn absolute magnetic encoder code disk.
  • Figure 3 is a top view of a vertically magnetized cylindrical ring permanent magnet.
  • Figure 4 is a front elevational view of a vertically magnetized cylindrical ring permanent magnet.
  • Figure 5 is a top plan view of a parallel-magnetized cylindrical ring permanent magnet.
  • Figure 6 is a front elevational view of a columnar circular permanent magnet that is magnetized in parallel.
  • Figure 7 is a top view of the cylindrical ring permanent magnet with respect to the installation position of the tunnel magnetoresistive angular displacement sensor.
  • Figure 8 is a front elevational view of the mounting position of the cylindrical ring permanent magnet relative to the tunnel magnetoresistive angular displacement sensor.
  • Figure 9 is a three-dimensional magnetic field vector distribution diagram of a vertically magnetized cylindrical ring permanent magnet on the detection surface.
  • Figure 10 shows the phase angle of the rotating magnetic field ⁇ and the rotational phase angle of the permanent magnet for detecting the magnetic field component in the detection plane of the vertically magnetized cylindrical ring permanent magnet. Typical linear relationship diagram.
  • Figure 11 shows the phase angle of the rotating magnetic field ⁇ and the rotational phase angle of the permanent magnet for detecting the magnetic field component in the detection plane of the vertically magnetized cylindrical ring permanent magnet.
  • Figure 12 shows the phase angle of the rotating magnetic field ⁇ and the rotational phase angle of the permanent magnet for detecting the magnetic field component in the detection plane of the vertically magnetized cylindrical ring permanent magnet.
  • Figure 13 shows the in-plane detection of the magnetic field component magnetic field amplitude Bx-y and the permanent magnet rotation phase angle ⁇ in the vertical direction of the magnetized cylindrical ring permanent magnet. Diagram of the relationship.
  • Figure 14 is a straight line fitting parameter R 2 of the relationship between the phase angle ⁇ of the rotating magnetic field and the rotational phase angle ⁇ of the permanent magnet for detecting the magnetic field component in the vertical direction of the magnetized cylindrical ring permanent magnet.
  • the distance from the axis axis of the tunnel magnetoresistive angular displacement sensor is opposite to that of the tunnel magnetoresistive angular displacement sensor.
  • Figure 15 is a vertical magnetic field cylindrical permanent magnet detection surface detection magnetic field component regular magnetic field amplitude B Regularity and tunnel magnetoresistive angular displacement sensor distance from the axial center r/Ro relationship diagram.
  • Figure 16 is a three-dimensional magnetic field vector distribution diagram of a parallel-magnetized cylindrical ring permanent magnet in the detection plane.
  • Figure 17 shows the phase angle of the rotating magnetic field in the surface of the columnar circular permanent magnet detected parallel to the magnetization.
  • Figure 18 shows the phase angle of the rotating magnetic field ⁇ and the rotational phase angle of the permanent magnet for detecting the magnetic field component in the plane of the parallel magnetized columnar ring permanent magnet.
  • Figure 19 shows the phase angle of the rotating magnetic field ⁇ and the rotational phase angle of the permanent magnet for the in-plane rotating magnetic field component of the parallel-magnetized cylindrical ring permanent magnet.
  • Figure 20 shows the magnetic field amplitude Bx-y of the in-plane magnetic field component detected by the parallel magnetized columnar ring permanent magnet and the rotational phase angle of the permanent magnet. Diagram of the relationship.
  • Figure 21 is a parallel-magnetized cylindrical ring permanent magnet detecting surface, detecting the magnetic field component of the rotating magnetic field phase angle ⁇ and the permanent magnet rotating phase angle ⁇ of the straight line fitting parameter R 2 and the tunnel magnetoresistive angular displacement sensor distance axis A diagram of the relative position r/Ro.
  • Figure 22 shows the regular magnetic field amplitude of the magnetic field component detected in the parallel-magnetized cylindrical ring permanent magnet detection plane.
  • Figure 23 shows the relationship between the angle of the encoder and the sensor signal when the encoder with the permanent magnet is detected by the tunnel magnetoresistive angular displacement sensor.
  • FIG. 1 is a schematic structural view of a multi-turn absolute magnetic encoder of the present invention, comprising a single-turn unit 1 and a multi-turn unit 2, 3
  • the absolute position and the number of turns of the rotating process are the parameters to be tested.
  • the single-turn unit 1 includes a code wheel 4 (also referred to as a permanent magnet code wheel) to which a permanent magnet is fixed, and a tunnel magnetoresistive angular displacement sensor 5 And a single-turn signal processing unit 6 , the code wheel 4 is directly mounted on the input shaft 3, and the tunnel magnetoresistive angular displacement sensor 5 is used to measure the code wheel by measuring the rotational phase angle of the permanent magnet on the code wheel 4 The absolute position during one revolution, the result is the absolute position of the input shaft 3.
  • a code wheel 4 also referred to as a permanent magnet code wheel
  • a tunnel magnetoresistive angular displacement sensor 5 is used to measure the code wheel by measuring the rotational phase angle of the permanent magnet on the code wheel 4 The absolute position during one revolution, the result is the absolute position of the input shaft 3.
  • Multi-turn unit 2 includes M-stage reduction gear set 7 for decelerating the input shaft, M is greater than or equal to 1 The integer.
  • M is greater than or equal to 1 The integer.
  • Each stage of the reduction gear set corresponds to an input shaft 8, an output shaft 9 and a code wheel 10 to which a permanent magnet is coaxially fixed, and a tunnel magnetoresistive angular displacement sensor 11 .
  • Multi-turn unit 2 Further comprising a multi-turn signal processing unit 12 coupled to each of the tunnel magnetoresistive angular displacement sensors of the multi-turn unit for outputting the input shaft 3 based on the sensing signals from each of the multi-turn unit magnetoresistive angular displacement sensors The number of rotations.
  • Each stage gear set decelerates the speed of its input shaft 8 by a certain gear ratio N:1 and outputs it on the output shaft 9, that is, the number of revolutions of the code wheel on the M-stage gear set and the M+1.
  • the number of revolutions of the code wheel on the stage gear set is N:1, and N is an integer greater than 1.
  • N is equal to 10.
  • the output shaft of the primary reduction gear set above each reduction gear set is used as the input shaft.
  • a permanent magnet code wheel 10 is mounted on it and rotates with the output shaft.
  • Tunnel magnetoresistive angular displacement sensor 11 Measuring permanent magnet code wheel 10 The absolute position during one revolution, and the sensing signal is sent to the multi-turn signal processing unit 12 .
  • the multi-turn signal processing unit converts the absolute rotational position of its corresponding code wheel measured by each sensor into a corresponding number of turns of the input shaft.
  • the output shaft 9 rotates 1 turn corresponding to the input shaft 8 turns N
  • the permanent magnet code wheel on the output shaft 9 after the Mth stage input shaft 8 is rotated N times It has not been able to meet the recording requirements of the number of turns, and it is necessary to add a first-stage reduction gear set and rely on a similar deceleration method to achieve a higher number of lap recording requirements.
  • the maximum number of turns that can be recorded by a multi-turn unit is related to the number of gear sets and the gear ratio.
  • the gear ratio N is N-ary, and the number of reduction gear sets M represents the number of digits that can be recorded, M
  • the group gear represents the Mth bit of the number of recording turns. Therefore, the absolute position signal measured by each tunnel magnetoresistive angular displacement sensor in the multi-turn unit is converted into 10 according to the N-digit number of N-digits.
  • Figure 2 shows the structure of the code disks 4 and 10.
  • the code wheel is a columnar ring structure in which a columnar ring permanent magnet 14 Mounted on the non-magnetic turntable 13 and rotates with the dial 4,10. Cylindrical ring permanent magnets 14
  • Permanent magnet 100 The cylindrical ring geometry includes a permanent magnet unit 101 and a permanent magnet unit 102, and the permanent magnet unit 101 and the permanent magnet unit 102 are geometrically symmetric with a diameter section 110.
  • Permanent magnet unit 101 The magnetization 103 and the magnetization 104 of the permanent magnet unit 102 are anti-parallel in the direction of the axis.
  • the magnetization 103 of the permanent magnet 101 and the magnetization of the permanent magnet unit 102 104 is the same size.
  • the size of the permanent magnet 100 can design the size of the permanent magnet 100 as needed.
  • the inner diameter of the permanent magnet 100 is 1-100 mm.
  • the outer diameter is 3-200 mm and the axial length is 1-50 mm.
  • the detecting surface 120 corresponding to the permanent magnet 100 is located in front of and parallel to the annular end surface of the permanent magnet 100.
  • the detection surface The distance between the 120 and the end face of the ring is 1-5 mm.
  • the detected magnetic field component 121 corresponding to the permanent magnet 100 is a component of the magnetic field generated by the permanent magnet in the detecting surface 120.
  • the specific detection area 122 corresponding to 120 is located in a region of a specific radius from the axis of the cylindrical ring, in which the rotational phase angle of the magnetic field component 121 and the permanent magnet 100 are detected.
  • the rotational phase angle has a linear variation characteristic, which will be described in detail below.
  • the constituent material of the permanent magnet 100 is Alnico.
  • the constituent material of the permanent magnet 100 is a ferrite ceramic material MO ⁇ 6Fe 2 O 3 , M is Ba, Sr or a combination of both.
  • the constituent material of the permanent magnet 100 is FeCrCo alloy or NbFeB alloy.
  • the permanent magnet 100 is a composite of a powder of the above permanent magnet material and a plastic, rubber or resin.
  • FIGS 5 and 6 schematically show schematic views of a permanent magnet 300 in accordance with the present invention.
  • Permanent magnet 300 It is a cylindrical ring geometry comprising a permanent magnet unit 301 and a permanent magnet unit 302, and the permanent magnet unit 301 and the permanent magnet unit 302 are geometrically symmetric with a diameter section 310.
  • Permanent magnet unit 301 The magnetization 303 and the magnetization 304 of the permanent magnet unit 302 are parallel in a direction perpendicular to the diameter cross section.
  • the magnetization 304 is the same size.
  • the size of the permanent magnet 300 can design the size of the permanent magnet 300 as needed.
  • the inner diameter of the permanent magnet 300 is 1-100 mm
  • the outer diameter is 3-200 mm and the axial length is 1-50 mm.
  • the detecting surface 320 corresponding to the permanent magnet 300 is located in front of and parallel to the annular end surface of the permanent magnet 300.
  • the detection surface The distance between 320 and the end face of the ring is 1-5 mm.
  • the detected magnetic field component 321 corresponding to the permanent magnet 300 is a component of the magnetic field generated by the permanent magnet in the detecting surface 320.
  • Detection surface The specific detection area 322 corresponding to 320 is located in a region of a specific radius from the axis of the cylindrical ring, in which the rotational phase angle of the magnetic field component 321 and the permanent magnet 300 are detected.
  • the rotational phase angle has a linear variation characteristic, which will be described in detail below.
  • the constituent material of the permanent magnet 300 is Alnico.
  • the constituent material of the permanent magnet 300 is a ferrite ceramic material MO ⁇ 6Fe 2 O 3 , M is Ba, Sr or a combination of both.
  • the constituent material of the permanent magnet 300 is a FeCrCo alloy or an NbFeB alloy.
  • the permanent magnet 300 is a composite of a powder of the above-described permanent magnet constituent material and a plastic, a rubber or a resin.
  • Embodiment 3 is a permanent magnet 100, 300 and a tunnel magnetoresistive angular displacement sensor 5 , 11 Instance of relative positional relationship .
  • the tunnel magnetoresistive angular displacement sensor is located on the permanent magnet detecting surface for sensing a component of the magnetic field generated by the permanent magnet in the detecting surface and outputting a sensing signal.
  • the tunnel magnetoresistive angular displacement sensor is disposed in a region of the detection surface of the permanent magnet within a certain radius of the permanent magnet columnar ring axis, and the magnetic field generated by the permanent magnet is in the detection surface in the region of the specific radius Phase angle of the rotating magnetic field of the component ⁇ has a linear relationship with the rotational phase angle ⁇ of the permanent magnet.
  • Figures 7 and 8 are columnar ring permanent magnets 14 and tunnel magnetoresistive angular displacement sensors 5 , 11 respectively The distance between the detection surface and the end face of the permanent magnet is d in relation to the top and side views of the mounting position.
  • the X-Y coordinate system is established in the detection plane with the permanent magnet axis as the origin, as shown in Figure 5.
  • permanent magnet 14 The inner radius of the cylindrical ring is Ri, the outer radius is Ro, and the thickness is t.
  • the position vector of the tunnel magnetoresistive angular displacement sensor 5.11 in the detection plane is r(x, y), which is relative to X.
  • the azimuth of the axis is ⁇ .
  • the detected magnetic field component Bx-y(Bx, By) at r is azimuth angle ⁇ .
  • the relationship between angle ⁇ and angle ⁇ is as follows:
  • ⁇ and ⁇ vary between (-180 0 , 180 0 ).
  • the tunnel magnetoresistive angular displacement sensors 5, 11 remain fixed while the cylindrical ring permanent magnets 14 Rotating around the axis, the detection surface is centered on the origin, and the points on the circle where r is the radius pass through the tunnel magnetoresistive angular displacement sensors 5, 11 in sequence, and generate a rotating magnetic field whose phase and amplitude are displaced by the tunnel magnetoresistive angular displacement sensor 5 , 11 measurements.
  • This is equivalent to the cylindrical ring permanent magnet 14 remaining fixed, tunnel magnetoresistive angular displacement sensor 5 , 11 Shift to different points on the circumference and measure the detected magnetic field.
  • the rotation phase angle of the permanent magnet is ⁇
  • the phase angle of the rotating magnetic field is ⁇ .
  • FIG. 9 is a three-dimensional magnetic field vector diagram of the vertically magnetized columnar ring permanent magnet 100 on the detecting surface 120.
  • r is obtained in the range of (0, Ro).
  • the relationship between the phase angle ⁇ of the rotating magnetic field and the rotational phase angle ⁇ of the permanent magnet may be a linear relationship, a nonlinear relationship or a relationship between linear and nonlinear.
  • the curve 23 shown in Figure 10 is a typical linear relationship
  • the curve 24 shown in Figure 11 is a typical nonlinear relationship
  • the curve 25 shown in Figure 12 is a relationship between linear and nonlinear.
  • Figure 13 is a graph showing the relationship between the detected magnetic field component Bx-y and the rotation angle ⁇ .
  • the amplitude of the rotating magnetic field is a periodic W-shaped change, and the corresponding maximum and minimum values are B H , B L .
  • the fluctuation of the magnetic field amplitude of the permanent magnet during rotation is as small as possible to ensure that the sensor signal is not affected.
  • a linear function is used to fit the relationship between the angle ⁇ and the angle ⁇ as shown in Figs. 10, 11, and 12, and the linear fitting parameter R 2 is calculated. The closer the R 2 is to 1, the better the linearity.
  • the degree of magnetic field fluctuations shown by curve 26 can be characterized by a regular magnetic field relationship:
  • Figure 14 is a plot of the linear fitting parameters R 2 and r/Ro. From the curve 27, the value is close to 1 in the region 28, indicating that the angle ⁇ and the angle ⁇ are close to a linear relationship in this region, so
  • the region 28 is a specific detection region corresponding to the tunnel magnetoresistive angular displacement sensor in the detecting surface 18, and is suitable for placing the tunnel magnetoresistive angular displacement sensors 5, 11 , and is not suitable for the tunnel magnetoresistive angular displacement in the region 29 range. Placement of sensors 5, 11.
  • Figure 15 shows the normalized B and tunnel reluctance angular displacement sensor 5 , 11 in the detection surface 120
  • the relationship between the relative position r/Ro and the curve 30 shows that the amplitude of the magnetic field variation in the specific detection area 28 is suitable for the signal detection of the tunnel magnetoresistive angular displacement sensors 5, 11.
  • Figure 16 is a three-dimensional magnetic field vector of a parallel magnetized columnar ring permanent magnet 300 in the detection surface 320, through the detection surface
  • the distribution of the magnetic field component Bx-y in the 320 is calculated to obtain the phase angle ⁇ of the rotating magnetic field and the rotational phase angle of the permanent magnet in the detecting surface 320 as shown in Figs. 17, 18 and 19.
  • the linear relationship between the curve 31, the nonlinear relationship curve 32 and the relationship between the linear nonlinearities 33 The presence of a linear relationship curve 31 indicates a parallel magnetized columnar ring permanent magnet 300 Can be applied to magnetic encoders.
  • Figure 20 is a graph showing the relationship between the detected magnetic field component Bx-y and the rotational phase angle ⁇ of the permanent magnet. It can be seen that the detected magnetic field component Bx-y has a periodic M-shaped fluctuation relationship with the rotational phase angle ⁇ .
  • the ⁇ - ⁇ relationship curves of the different relative position r/Ro values are fitted, and the linear fitting parameter R 2 curve shown in Fig. 21 is obtained, which can be obtained by the curve 35.
  • the specific detection area 36 in the detection surface 22 is a working area suitable for the tunnel magnetoresistive angular displacement sensors 5, 11, and is not suitable for operation in the area 37.
  • the normalized B varies with the tunnel magnetoresistive angular displacement sensor 5, 11 relative position r/Ro relationship 38 within the specific detection region 36 with respect to the non-working region 37.
  • the tunnel magnetoresistive angular displacement sensor rotates the magnetic field phase angle ⁇ and the permanent magnet rotation phase angle in this region. There is a linear relationship between them, and the amplitude of the magnetic field fluctuations satisfies the requirements of the sensor.
  • the tunnel magnetoresistive angular displacement sensor can convert the measured angle of the rotating magnetic field into a permanent magnet rotation angle to encode the code wheel including the permanent magnet it senses.
  • Tunnel magnetoresistive angular displacement sensor 5 , 11 A half bridge formed by two orthogonal single-axis tunnel magnetoresistive sensors, or a full bridge formed by two half bridges, wherein the corresponding sensors on the two half bridges have opposite phases.
  • the external magnetic field is at an angle to the sensitive axis of one of the single-axis tunnel magnetoresistive sensors
  • ⁇ the angle between the axis of the other single-axis tunnel magnetoresistive sensor is p /2- ⁇ .
  • Figure 23 shows the tunnel magnetoresistive angular displacement sensor 5 during the rotation of the code wheel 4, 10;
  • the relationship between the voltage signal outputted by the two orthogonal single-axis tunnel magnetoresistive sensors at 11 is a function of the rotation angle ⁇ of the code wheel.
  • the phase difference between the two signals is 90.
  • One is a sinusoidal curve and one is a cosine curve whose magnetic field angle can be obtained by an arctangent function. Therefore, the above analysis can be seen that the tunnel magnetoresistive angular displacement sensor 5, 11 is on the code wheel 4, 10 During the rotation process, the angle between the magnetic field above the sensor position and the uniaxial angle of the sensor, and the rotational phase angle ⁇ of the permanent magnet in the code wheel satisfy the linear one-to-one correspondence, which satisfies the requirements of the absolute position encoder measurement.

Abstract

一种多圈绝对磁编码器，包括第一至第M+1计数单元，单圈信号处理单元（6）和多圈信号处理单元（12）。每一计数单元包括其上固定有永磁体（14）的码盘（4，10），和隧道磁阻角位移传感器（11）。隧道磁阻角位移传感器（11）位于所述永磁体（14）的检测面内距离永磁体（14）柱状圆环轴心一特定半径范围的区域内，使得永磁体（14）产生的磁场在检测面内的分量的旋转磁场相位角与永磁体旋转相位角呈线性变化关系。单圈信号处理单元（6）基于第一计数单元的感测信号计算并输出表征输入转轴（3）在一转内绝对位置的代码，多圈信号处理单元（12）基于第二至第M+1计数单元的感测信号计算并输出所述输入转轴（3）的旋转圈数。

Description

一种多圈绝对磁编码器
技术领域
本发明涉及的是一种测量技术领域的磁器件，具体是指一种用于测量输入转轴绝对位置和转动圈数的多圈绝对磁编码器。
背景技术
编码器技术在电机转速测量、机器人位置控制以及精密仪器的控制等领域有广泛的应用，在这些领域，转轴的绝对位置和转动圈数都是很重要的控制参数，因此需要实现对其精确测量，而多圈编码技术由于可以同时实现绝对位置和旋转圈数的测量因此得到了广泛的应用。
目前两种类型的编码器技术得到了广泛的应用，即光电编码技术以及磁绝对编码技术。但光电编码技术普遍存在对气泡、强光、污垢、渗漏等因素的抗干扰能力差的缺点，影响测量的精度。与光电编码技术相比，磁绝对编码技术则不受这些因素的影响，而且其分辨率更高，稳定性好，可以完全根除光电技术引起的各种不良故障，成为一种可替代 光电编码的编码 技术。
齿轮基的多圈编码技术因其结构简单直观而得到了广泛的应用，在齿轮基的多圈编码器中，输入轴经减速齿轮组与输出轴连接，其转速变化与减速齿轮组的转速传动比有关，码盘与输出轴相连，其绝对位置通过磁传感器进行测量，然后换算成输入轴的圈数。假定减速齿轮组的转速传动比为 10:1 ，则输入轴旋转 10 圈，输出轴旋转 1 圈，如将码盘沿圆周分成 10 等分，每一等分对应输出轴 1 圈，因此通过对其绝对位置的测量可以直接得到输入轴的旋转圈数。同样的，增加齿轮组将前一齿轮组的输出轴作为输入轴，在其自身输出轴得到进一步减少的转速，假定增加齿轮组的转速传动比仍为 10:1 ，则当输入轴旋转 100 圈时，第一齿轮组输出轴转动 10 圈，增加的第二齿轮组输出轴转动 1 圈，则依靠对第二齿轮组输出轴上码盘绝对位置的读数，以及第一齿轮组输出轴上码盘绝对位置的读数，就可以计算出输入轴的总转数。因此，齿轮组的数量以及齿轮组的传动比直接决定着多圈编码器所能测量的输入转轴的最大圈数。
另一方面，磁绝对编码技术的绝对位置测量精度取决于磁阻角位移传感器和永磁体码盘两个组成部分的性能特征。与霍尔传感器相比，磁阻角位移传感器如隧道磁阻角位移传感器具有更高的磁场灵敏度，其功耗和尺寸也可大大降低。磁阻角位移传感器包含两种相互正交的单轴隧道磁阻传感器，工作时形成的两个正余弦输出与永磁体旋转磁场和两种隧道磁阻传感器敏感轴之间夹角 φ 的关系如下：
OUT1=COS （ φ ）
OUT2=SIN （ φ ）
利用反正切函数，就能根据 OUT1 和 OUT2 计算出 φ 角度：
φ=ATAN （ OUT2/OUT1 ）
永磁体码盘在旋转过程中其旋转相位角 α ，可以定义为永磁体码盘上在旋转过程中依次经过隧道磁阻传感器的位置矢量点 r 的相位角，其磁场对隧道磁阻传感器产生感应。只有当 永磁体旋转相位角 α 和 旋转磁场相位角 φ 之间形成线性关系，满足在 0~360 °范围内一一对应时，就可以将磁阻角位移传感器所探测旋转磁场角度 φ 和永磁体码盘的旋转相位角 α 位置关系对应起来，从而测量出转轴在一圈过程中的绝对位置。
因此，隧道磁阻磁绝对编码器技术在应用于多圈绝对磁编码器时对于永磁体码盘的设计性能将具有特殊的要求，而现有的多圈绝对磁编码器中的永磁体码盘具有如下缺点：
（ 1 ）现有磁绝对编码器技术采用霍尔传感器作为磁场角度测量器件，功耗高，而且分辨率较低。
（ 2 ）现有的磁绝对编码器大都采用霍尔传感器作为角度传感器，其对应的敏感磁场为垂直于检测面的磁场分量，而隧道磁阻传感器对应的敏感磁场为平行于检测面的磁场分量，因此现有磁性编码器的永磁体码盘不能满足于隧道磁阻传感器磁场角度测量的要求。
（ 3 ）现有的磁绝对编码器永磁体一般采用的是实心圆柱设计，直接安装于转轴的端部，增加了空间，而圆环形则可以直接安装在转轮上。
发明内容
本发明的目的在于克服现有技术中存在的上述缺点，提供一种采用隧道磁阻角位移传感器、特殊设计的永磁体码盘、并采用多级齿轮减速组的多圈绝对磁编码器，使之能够同时测量输入转轴在转动一圈过程中的绝对位置和转动圈数。
根据发明，提供一种多圈绝对磁编码器，包括：
第一至第 M+1 计数单元， M 为大于等于 1 的整数，
单圈信号处理单元，和
多圈信号处理单元，
其中，每一计数单元包括：
同轴地固定有永磁体的码盘，和
隧道磁阻角位移传感器，位于所述永磁体检测面上用于感测所述永磁体产生的磁场在该检测面内的分量并输出感测信号 ，
所述永磁体具有柱状圆环结构，并包含第一永磁单元和第二永磁单元，所述第一永磁单元和第二永磁单元相对于永磁体的直径截面几何对称，所述直径截面为永磁体的外直径与轴向长度所构成的截面，
所述第一永磁单元的 磁化强度 和第二永磁单元的磁化强度平行于柱状圆环的轴向，且方向相反，或
所述第一永磁单元的 磁化强度 和第二永磁单元的磁化强度垂直于所述直径截面，方向平行且一致，
每一计数单元内，所述隧道磁阻角位移传感器位于所述永磁体的检测面内
距离永磁体柱状圆环轴心一特定半径范围的区域内，所述特定半径范围的区域大小和柱状圆环结构的永磁体的半径大小有关，在该特定半径范围的区域内，所述永磁体产生的磁场在检测面内的分量的旋转磁场相位角与永磁体旋转相位角呈线性变化关系，并且
所述单圈信号处理单元基于所述第一计数单元的感测信号计算并输出表
征输入转轴在一转内绝对位置的代码，
所述多圈信号处理单元基于来自所述第二至第 M+1 计数单元的感测信号
计算并输出所述输入转轴的旋转圈数。
优选地，第一计数单元的码盘直接固定在输入转轴上。
优选地，第二至第 M 计数单元中， 每一计数单元包括减速齿轮组，每一减速齿轮组的输出轴作为下一减速齿轮组的输入轴，且码盘固定在输出轴上; 多圈信号处理单元根据每一计数单元 隧道磁阻角位移传感器 的感测信号计算并输出该计数单元减速齿轮组输入轴的旋转圈数。
优选地，所述 M 为 1-10 。
优选地，第 m 计数单元的码盘与第 m+1 计数单元的码盘的转数比为 N:1 ， m 为 1 ~ M 中的整数， N 为大于 1 的整数。
优选地，第 m 计数单元的码盘与第 m+1 计数单元的码盘的转数比为 10:1 。
优选地， 所述永磁体柱状圆环结构的外径为 3-200mm ，内径为 1-100 mm ，轴向长度为 1-50 mm 。
优选地，所述隧道磁阻角位移传感器包括两个彼此正交设置的单轴旋转传感器或惠斯通桥相对彼此 90 度旋转的双轴旋转传感器 。
优选地， 所述永磁体所对应的检测面位于柱状圆环结构的永磁体的呈圆环形的端面前方且平行于该端面。
优选地， 所述隧道磁阻角位移传感器所在检测面与所述永磁体的呈圆环形的端面之间的距离为 1-5 mm 。
优选地， 所述第一永磁单元的 磁化强度 和第二永磁单元的磁化强度大小相同。
优选地， 永磁体 (100 ， 300) 的组成材料为选自 RECo5 ，其中 RE=Sm 和 / 或 Pr ； RE2TM17 ，其中 RE=Sm ， TM=Fe ， Cu ， Co ， Zr 和 / 或 Hf ； RE2TM14B ，其中 RE=Nd ， Pr 和 / 或 Dy ， TM=Fe 和 / 或 Co ； FeCrCo 合金； NbFeB 合金中的一种或多种，或永磁体 (100 ， 300) 为所述永磁体组成材料的粉末和塑料，橡胶或树脂形成的复合体 。
本发明具有如下有益效果：
1 ）本发明采用减速齿轮组来降低输入转速，并将转速的测量转变成码盘绝对位置的测量，精度高，简单直观。
2 ）本发明可以同时测量输入转轴的绝对位置和转动圈数。
3 ）本发明采用的为隧道磁阻角位移传感器，使得灵敏度大为提高，而功耗大为降低，尺寸位置也相对减少，不受环境尘埃、油污等的影响。
4 ）本发明采用的柱状圆环几何结构的永磁体，结构简单，能够直接镶嵌在输入轴和减速齿轮输出轴上，减小安装空间的要求；
5 ）本发明采用的柱状圆环几何结构的永磁体，检测面特定区域内的检测磁场分量和传感器敏感轴夹角和永磁体旋转角相位之间具有良好线性关系，满足隧道磁阻传感器的实用要求。
6 ）本发明采用的柱状圆环几何结构的永磁体，磁场探测区域在三维空间内变化范围较大，使得磁阻传感器的安装空间较为灵活。
附图说明
图 1 为多圈绝对磁编码器的示意图。
图 2 为多圈绝对磁编码器码盘的结构示意图。
图 3 为垂直向充磁的柱状圆环永磁体的顶视图。
图 4 为垂直向充磁的柱状圆环永磁体的前视图。
图 5 为平行向充磁的柱状圆环永磁体的顶视图。
图 6 为平行向充磁的柱状圆环永磁体的前视图。
图 7 为柱状圆环永磁体相对于隧道磁阻角位移传感器安装位置的顶视图。
图 8 为柱状圆环永磁体相对于隧道磁阻角位移传感器安装位置的前视图。
图 9 为垂直向充磁柱状圆环永磁体在检测面上的三维磁场矢量分布图。
图 10 为垂直向充磁柱状圆环永磁体在检测面内检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的典型线性关系图。
图 11 为垂直向充磁柱状圆环永磁体在检测面内检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的非线性关系曲线图。
图 12 为垂直向充磁柱状圆环永磁体在检测面内检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的介于线性和非线性之间的关系图。
图 13 为垂直向充磁柱状圆环永磁体检测面内检测磁场分量磁场幅度 Bx-y 和永磁体旋转相位角度 α 的关系图。
图 14 为垂直向充磁柱状圆环永磁体检测面内检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 关系的直线拟合参数 R2 与隧道磁阻角位移传感器距离轴心相对位置 r/Ro 的关系图。
图 15 为垂直向充磁柱状圆环永磁体检测面内检测磁场分量正则磁场幅度 B 正则与隧道磁阻角位移传感器距离轴心相对位置 r/Ro 关系图。
图 16 为平行向充磁的柱状圆环永磁体在检测面内的三维磁场矢量分布图。
图 17 为平行向充磁的柱状圆环永磁体检测面内检测磁场分量的旋转磁场相位角 φ 和柱状圆环永磁体旋转相位角 α 的典型线性关系图。
图 18 为平行向充磁的柱状圆环永磁体检测面内检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的非线性关系图。
图 19 为平行向充磁的柱状圆环永磁体检测面内旋转磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的介于线性和非线性之间的关系图。
图 20 为平行向充磁的柱状圆环永磁体检测面内检测磁场分量的磁场幅度 Bx-y 与永磁体旋转相位角度 α 的关系图。
图 21 为平行向充磁的柱状圆环永磁体检测面内，检测磁场分量的旋转磁场相位角 φ 和永磁体旋转相位角 α 的直线拟合参数 R2 与隧道磁阻角位移传感器距离轴心相对位置 r/Ro 的关系图。
图 22 为平行向充磁的柱状圆环永磁体检测面内，检测磁场分量的正则磁场幅度 B 正则与隧道磁阻角位移传感器距离轴心相对位置 r/Ro 的关系图。
图 23 为隧道磁阻角位移传感器探测到安装有永磁体的码盘在转动过程中的角度和传感器信号的关系。
具体实施方式
下面将参照附图来描述本发明以下几个优选实施例。
实施例 1
图 1 是本发明多圈绝对磁编码器结构示意图，包含单圈单元 1 和多圈单元 2 ， 3 为输入转轴，其旋转过程的绝对位置和圈数为待测参数。单圈单元 1 包含固定有永磁体的码盘 4 （也称为永磁体码盘）、隧道磁阻角位移传感器 5 以及单圈信号处理单元 6 ，码盘 4 直接安装在输入转轴 3 上，隧道磁阻角位移传感器 5 用于通过测量码盘上永磁体的旋转相位角来测量码盘 4 转动一圈过程中的绝对位置，所测结果即为输入转轴 3 的绝对位置。
多圈单元 2 包括 M 级减速齿轮组 7 用于对输入转轴减速， M 为大于等于 1 的整数。每级减速齿轮组对应有输入轴 8 ，输出轴 9 以及同轴地固定有永磁体的码盘 10 、隧道磁阻角位移传感器 11 。多圈单元 2 进一步包括与多圈单元中每一隧道磁阻角位移传感器连接的多圈信号处理单元 12 ，用于基于来自多圈单元中每一隧道磁阻角位移传感器的感测信号输出输入转轴 3 的旋转圈数。每级齿轮组将其输入轴 8 的速度按一定的传动比 N:1 减速，并在输出轴 9 上输出，也即第 M 级齿轮组上的码盘的转数与第 M+1 级齿轮组上码盘的转数比为 N:1 ， N 为大于 1 的整数。优选地， N 等于 10 。每级减速齿轮组以上一级减速齿轮组的输出轴作为输入轴。在每一输出轴 9 上安装有一个永磁体码盘 10 随输出轴一起转动。隧道磁阻角位移传感器 11 测量永磁体码盘 10 的转动一圈过程中的绝对位置，并将感测信号输送到多圈信号处理单元 12 。多圈信号处理单元将各传感器所测量的其对应码盘的绝对旋转位置转变成输入轴的对应圈数。根据传动比，输出轴 9 转动 1 圈对应于输入轴 8 转动了 N 圈，则圈数与绝对位置的转换关系为 T1=α/360*N 。当第 M 级输入转轴 8 转动 N 圈之后，位于输出轴 9 上的永磁体码盘 10 已经满足不了圈数的记录要求，需要增加一级减速齿轮组，依靠类似的减速方法来实现更高圈数的记录要求。这种方式类似于数字的进位，当第 M 个减速齿轮组转动 N 圈后，向第 M+1 个齿轮组进位，第 M+1 个齿轮组转动 N 圈后，再向第 M+2 个齿轮组进位。多圈单元所能记录的最大圈数与齿轮组的数量和传动比相关，传动比 N 即 N 进制，而减速齿轮组数量 M 代表所能记录圈数的数字位数，第 M 组齿轮表示记录圈数的第 M 位。因此，将多圈单元中的每一隧道磁阻角位移传感器测量的绝对位置信号按照 N 进制 M 位数转变成 10 进制数字，即可以得到记录输入转轴 3 的实际圈数。例如， N 为 10 时，当多圈单元中第一减速齿轮组上的码盘对应的绝对位置为 3 ，第二减速齿轮上的码盘对应的绝对位置为 2 ，则输入转轴 3 的旋转圈数为 23 圈。
实施例 2
图 2 为码盘 4 和 10 的结构示意图。码盘为柱状圆环结构，其中柱状圆环永磁体 14 安装在非磁性转盘 13 上随码盘 4,10 一同旋转。柱状圆环永磁体 14 可能有两种充磁方式永磁体 100 和 300 。下面将参照图 3 和图 4 示出的永磁体 100 以及图 5 和图 6 时示出的永磁体 300 进行具体描述。
图 3 和图 4 示意性示出根据本发明的永磁体 100 的示意图。永磁体 100 为柱状圆环几何结构，包含永磁单元 101 和永磁单元 102 ，永磁单元 101 和永磁单元 102 以直径截面 110 几何对称。永磁单元 101 的磁化强度 103 和永磁单元 102 的磁化强度 104 沿轴心方向反平行。优选的，永磁体 101 的磁化强度 103 和永磁单元 102 的磁化强度 104 大小相同。
本领域技术人员可以根据需要设计永磁体 100 的尺寸。优选的，永磁体 100 的内径为 1-100mm ，外径为 3-200 mm ，轴向长度为 1-50 mm 。
永磁体 100 对应的检测面 120 位于永磁体 100 的圆环端面前方且平行于该端面。优选的，该检测面 120 与圆环端面之间的距离为 1-5 mm 。本文中，永磁体 100 所对应的检测磁场分量 121 为永磁体产生的磁场在检测面 120 内的分量。检测面 120 内所对应的特定检测区域 122 位于距离柱状圆环轴心一特定半径范围的区域内，在该特定检测区域内，检测磁场分量 121 的旋转相位角和永磁体 100 旋转相位角具有线性变化特征，这将在下文具体描述。
优选的，永磁体 100 的组成材料为 Alnico 。可替换地，永磁体 100 的组成材料为铁氧体陶瓷材料 MO·6Fe2O3 ， M 为 Ba ， Sr 或者两者的组合。可替换地，永磁体 100 的组成材料为 RECo5 ， RE=Sm 和 / 或 Pr ； RE2TM17 ， RE=Sm ， TM=Fe ， Cu ， Co ， Zr 和 / 或 Hf 以及 RE2TM14B ， RE=Nd ， Pr 和 / 或 Dy ， TM=Fe 和 / 或 Co 。可替换地，永磁体 100 的组成材料为 FeCrCo 合金或 NbFeB 合金。优选的，永磁体 100 为上述永磁体材料的粉末和塑料、橡胶或树脂等形成的复合体。
图 5 和图 6 示意性示出根据本发明的永磁体 300 的示意图。永磁体 300 为柱状圆环几何结构，包含永磁单元 301 和永磁单元 302 ，永磁单元 301 和永磁单元 302 以直径截面 310 几何对称。永磁单元 301 的磁化强度 303 和永磁单元 302 的磁化强度 304 沿垂直于直径截面方向平行一致。优选的，永磁单元 301 的磁化强度 303 和永磁单元 302 的磁化强度 304 大小相同。
本领域技术人员可以根据需要设计永磁体 300 的尺寸。优选的，永磁体 300 的内径为 1-100mm ，外径为 3-200 mm ，轴向长度为 1-50 mm 。
永磁体 300 对应的检测面 320 位于永磁体 300 的圆环端面前方且平行于该端面。优选的，该检测面 320 与圆环端面之间的距离为 1-5 mm 。本文中，永磁体 300 所对应的检测磁场分量 321 为永磁体产生的磁场在检测面 320 内的分量。检测面 320 内所对应的特定检测区域 322 位于距离柱状圆环轴心一特定半径范围的区域内，在该特定检测区域内，检测磁场分量 321 的旋转相位角和永磁体 300 旋转相位角具有线性变化特征，这将在下文具体描述。
优选的，永磁体 300 的组成材料为 Alnico 。可替换地，永磁体 300 的组成材料为铁氧体陶瓷材料 MO·6Fe2O3 ， M 为 Ba ， Sr 或者两者的组合。可替换地，永磁体 300 的组成材料为 RECo5 ， RE=Sm ， Pr ，或 RE2TM17 ， RE=Sm ， TM=Fe ， Cu ， Co ， Zr ， Hf 以及 RE2TM14B ， RE=Nd ， Pr ， Dy ， TM=Fe ， Co 。可替换地，永磁体 300 的组成材料为 FeCrCo 合金或 NbFeB 合金。优选的，永磁体 300 为上述永磁体组成材料的粉末和塑料、橡胶或树脂等形成的复合体。
实施例 3
实施例 3 为码盘中永磁体 100 ， 300 与隧道磁阻角位移传感器 5 ， 11 的相对位置关系的实例 。隧道磁阻角位移传感器位于永磁体检测面上，用于感测所述永磁体产生的磁场在该检测面内的分量并输出感测信号。隧道磁阻角位移传感器被布置在永磁体的检测面内距离永磁体柱状圆环轴心一特定半径范围的区域内，在该特定半径范围的区域内，所述永磁体产生的磁场在检测面内的分量的旋转磁场相位角 φ 与永磁体旋转相位角 α 呈线性变化关系。
图 7 和 8 分别为柱状圆环永磁体 14 和隧道磁阻角位移传感器 5 ， 11 相对安装位置顶视图和侧视图， 检测面距离永磁体端面距离为 d 。以永磁体轴心为原点在检测面内建立 X-Y 坐标系统，如图 5 所示。假定永磁体 14 的柱状圆环内半径为 Ri ，外半径为 Ro ，厚度为 t ，隧道磁阻角位移传感器 5.11 在检测面内的位置矢量为 r(x ， y) ，其相对于 X 轴的方位角为 α 。假定 r 处的检测磁场分量 Bx-y(Bx ， By) 方位角度为 β 。角度 α 和角度 β 的计算关系如下：
Figure PCTCN2014070472-appb-I000001
， (x>0) ，
Figure PCTCN2014070472-appb-I000002
， (x<0 ， y>0) ，
Figure PCTCN2014070472-appb-I000003
， (x<0 ， y<0) ，
Figure PCTCN2014070472-appb-I000004
， (Bx>0) ，
Figure PCTCN2014070472-appb-I000005
， (Bx<0 ， By>0) ，
Figure PCTCN2014070472-appb-I000006
， (Bx<0 ， By<0) ，
α 和 β 在 (-1800 ， 1800) 之间变化。
隧道磁阻角位移传感器 5 或 11 所测量的为检测磁场分量 Bx-y 与其敏感轴的夹角 φ=β-α 。
当角度磁编码器工作时，隧道磁阻角位移传感器 5 ， 11 保持固定，而柱状圆环永磁体 14 围绕轴心旋转，则检测面以原点为圆心， r 为半径的圆上各点依次经过隧道磁阻角位移传感器 5 ， 11 ，并产生旋转磁场，其相位和幅度被隧道磁阻角位移传感器 5 ， 11 所测量。这等效于柱状圆环永磁体 14 保持固定，隧道磁阻角位移传感器 5 ， 11 依次平移到圆周上不同位置点并测量检测磁场。则此时，永磁体旋转相位角为 α ，而旋转磁场相位角为 φ 。
实施例 4
图 9 为垂直充磁的柱状圆环永磁体 100 在检测面 120 上的三维磁场矢量图，通过对检测面 120 内检测磁场分量 Bx-y 分布特征进行计算，得到 r 在 (0, Ro) 范围内变化时旋转磁场相位角 φ 和永磁体旋转相位角 α 的关系， 其关系可以是线性关系，非线性关系或介于线性和非线性之间的关系特征。例如， 图 10 所示曲线 23 为典型的线性关系，图 11 所示曲线 24 为典型非线性关系，图 12 所示曲线 25 为介于线性和非线性之间关系特征。图 13 为检测磁场分量 Bx-y 和旋转角度 α 关系图，由曲线 26 看出，旋转磁场幅度是周期 W 形变化，其对应的最大值和最小值为 BH, BL 。对于隧道磁阻角位移传感器而言，希望永磁体在旋转过程中磁场幅度的波动尽可能小，以保证传感器信号不受影响。
采用直线函数来拟合如图 10 ， 11 ， 12 所示的角度 φ 和角度 α 之间关系，并计算其线性拟合参数 R2 ， R2 越接近 1 表示线性越好。
曲线 26 所示的磁场波动程度可以采用正则磁场关系式进行表征：
Figure PCTCN2014070472-appb-I000007
normalized B 数值越小，表明磁场波动越小。
为了确定检测面 120 内 旋转磁场相位 角 φ 和永磁体旋转相位 角 α 之间 线性区域，非线性区域的范围，对 r 在（ 0 ， Ro ）之间取不同值时的角度 φ 和角度 α 关系 曲线进行了拟合，并计算磁场波动关系 normalized B 与永磁体旋转相位角 α 关系曲线。
图 14 为线性拟合参数 R2 与 r/Ro 的关系图，从曲线 27 可以看出，在区域 28 内，其值接近于 1 ，表明在此区域内角度 φ 和角度 α 接近线性关系，因此区域 28 即为隧道磁阻角位移传感器在检测面 18 内所对应的特定探测区域，适合于放置隧道磁阻角位移传感器 5 ， 11 ，而在区域 29 范围内则不适合于隧道磁阻角位移传感器 5 ， 11 的放置。
图 15 为检测面 120 内， normalized B 与隧道磁阻角位移传感器 5 ， 11 相对位置 r/Ro 的关系曲线，从曲线 30 可以看出，在特定探测区域 28 内磁场变化幅度适合于隧道磁阻角位移传感器 5 ， 11 的信号探测。
实施例 5
图 16 为平行充磁的柱状圆环永磁体 300 在检测面 320 内的三维磁场矢量图，通过对检测面 320 内检测磁场分量 Bx-y 分布特征进行计算，得到如图 17 ， 18 ， 19 所示的检测面 320 内旋转磁场相位角 φ 和永磁体旋转相位角 α 之间线性关系曲线 31 ，非线性关系曲线 32 和介于线性非线性之间的关系曲线 33 。线性关系曲线 31 的存在表明平行充磁的柱状圆环永磁体 300 可以应用于磁编码器。
图 20 为检测磁场分量 Bx-y 与永磁体旋转相位角 α 关系图，从曲线 34 可以看出，检测磁场分量 Bx-y 随旋转相位角 α 为周期性 M 形波动关系。
同样，为了确定线性区域在检测面 22 内的范围，对不同相对位置 r/Ro 数值的 φ-α 关系曲线进行拟合，得到图 21 所示的线性拟合参数 R2 曲线，由曲线 35 可以看出，检测面 22 内的特定检测区域 36 为适合于隧道磁阻角位移传感器 5 ， 11 的工作区域，而在区域 37 内则不适合于工作。进一步，由图 22 可以看出， normalized B 随隧道磁阻角位移传感器 5 ， 11 相对位置 r/Ro 关系曲线 38 在特定检测区域 36 内变化幅度相对于非工作区域 37 变化较小。
以上实施例 3,4,5 可以看出，对于柱状圆环永磁体 14 在其检测平面内，存在着特定检测区域 28 和 36 ，使得隧道磁阻角位移传感器在该区域内旋转磁场相位角 φ 与永磁体旋转相位角 α 之间存在线性关系，并且其磁场波动幅度满足传感器的要求。这样，隧道磁阻角位移传感器可以将所测量的旋转磁场角度转变化成永磁体旋转角度，从而对包括其所感测的永磁体的码盘进行编码。
实施例 6
隧道磁阻角位移传感器 5 ， 11 包括两个正交的单轴隧道磁阻传感器形成的半桥，或者两个半桥形成的全桥，其中两个半桥上的所对应的传感器具有相反相位。当外磁场与其中一个单轴隧道磁阻传感器敏感轴夹角为 φ 时，则与另一个单轴隧道磁阻传感器敏感轴之间的夹角为 p /2-φ 。图 23 为码盘 4 ， 10 旋转 1 圈过程中，构成隧道磁阻角位移传感器 5 ， 11 的两个正交的单轴隧道磁阻传感器两端输出的电压信号随码盘旋转角度 α 变化的关系曲线。可以看出两个信号之间相位差为 90 ，一个为正弦曲线，一个余弦曲线，其磁场角度可以通过反正切函数得到。因此，以上分析可以看出，隧道磁阻角位移传感器 5 ， 11 在码盘 4 ， 10 旋转过程中经过传感器位置上方的磁场和传感器单轴的夹角 φ ，和码盘中的永磁体旋转相位角 α 满足线性的一一对应关系，满足绝对位置编码器测量的要求。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。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。

Claims (12)

1 ．一种多圈绝对磁编码器，包括：
第一至第 M+1 计数单元， M 为大于等于 1 的整数;
单圈信号处理单元;和
多圈信号处理单元，其特征在于，
每一计数单元包括：
同轴地固定有永磁体的码盘;和
隧道磁阻角位移传感器，位于所述永磁体的检测面上用于感测所述永磁体产生的磁场在该检测面内的分量并输出感测信号 ，
所述永磁体 (100 ， 300) 具有柱状圆环结构，并包含第一永磁单元 (101 ， 301) 和第二永磁单元 (102 ， 302) ，所述第一永磁单元 (101 ， 301) 和第二永磁单元 (102 ， 302) 相对于永磁体 (100 ， 300) 的直径截面 (110 ， 310) 几何对称，
所述第一永磁单元 (101 ， 301) 的 磁化强度 (103 ， 303) 和第二永磁单元 (102 ， 302) 的磁化强度 (104 ， 304) 平行于柱状圆环结构的永磁体 (100 ， 300) 的轴向，且方向相反，或
所述第一永磁单元 (101 ， 301) 的 磁化强度 (103 ， 303) 和第二永磁单元 (102 ， 302) 的磁化强度 (104 ， 304) 垂直于所述直径截面 (110 ， 310) ，方向平行且一致，
每一计数单元内，所述隧道磁阻角位移传感器位于所述永磁体的检测面内距离永磁体柱状圆环轴心一特定半径范围的区域内，在该特定半径范围的区域内，所述永磁体产生的磁场在检测面内的分量的旋转磁场相位角与永磁体旋转相位角呈线性变化关系，并且
所述单圈信号处理单元基于来自所述第一计数单元的感测信号计算并输出表征输入转轴在一转内绝对位置的代码，
所述多圈信号处理单元基于来自所述第二至第 M+1 计数单元的感测信号计算并输出所述输入转轴的旋转圈数。
2 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于，第一计数单元的码盘直接固定在输入转轴上。
3 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于，第二至第 M 计数单元中，
每一计数单元包括减速齿轮组，每一减速齿轮组的输出轴作为下一减速齿轮组的输入轴，且每一计数单元的码盘固定在输出轴上，
多圈信号处理单元根据每一计数单元中 隧道磁阻角位移传感器 的感测信号计算并输出该计数单元减速齿轮组输入轴的旋转圈数。
4 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于，所述 M 为 1-10 。
5 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于，第 m 计数单元的码盘与第 m+1 计数单元的码盘的转数比为 N:1 ， m 为 1 ~ M 中的整数， N 为大于 1 的整数。
6 ．根据权利要求 5 所述的一种多圈绝对磁编码器，其特征在于，第 m 计数单元的码盘与第 m+1 计数单元的码盘的转数比为 10:1 。
7 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于， 所述永磁体（ 100 ， 300 ）的外径为 3-200mm ，内径为 1-100 mm ，轴向长度为 1-50 mm 。
8 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于，所述隧道磁阻角位移传感器包括两个彼此正交设置的单轴旋转传感器或惠斯通桥相对彼此 90 度旋转的双轴旋转传感器 。
9 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于， 所述永磁体所对应的检测面位于永磁体的呈圆环形的端面的前方且平行于该端面。
10 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于， 所述隧道磁阻角位移传感器所在检测面与所述永磁体的呈圆环形的端面之间的距离为 1-5 mm 。
11 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于， 所述第一永磁单元的 磁化强度 和第二永磁单元的磁化强度大小相同。
12 ．根据权利要求 1 所述的一种多圈绝对磁编码器，其特征在于， 永磁体 (100 ， 300) 的组成材料为选自 RECo5 ，其中 RE=Sm 和 / 或 Pr ； RE2TM17 ，其中 RE=Sm ， TM=Fe ， Cu ， Co ， Zr 和 / 或 Hf ； RE2TM14B ，其中 RE=Nd ， Pr 和 / 或 Dy ， TM=Fe 和 / 或 Co ； FeCrCo 合金； NbFeB 合金中的一种或多种，或永磁体 (100 ， 300) 为所述永磁体组成材料的粉末和塑料，橡胶或树脂形成的复合体 。
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