CN201435666Y - Electric motor - Google Patents

Abstract

The utility model discloses an electric motor which comprises an electric motor body, a controller and an electromagnetic sensor. The electric motor is characterized in that the electromagnetic sensoris used for sensing the rotation of a motor shaft and transmitting the sensed voltage signals to the controller, and then the rotation angle or position of the motor shaft can be obtained the processing of the controller, thereby realizing the precise control of the electric motor, moreover, the electromagnetic sensor comprises a rotor and a stator which sleeves the rotor inside, wherein the rotor is composed of a first magnetic steel ring and a second magnetic steel ring which are respectively fixed on a shaft of the same electric motor, n magnetic induction elements corresponding to the second magnetic steel ring are evenly distributed on the stator, the magnetizing sequence of the magnetic poles of the second magnetic steel ring leads the outputs of the n magnetic induction elements tobe in Gray code format, in two adjacent outputs, only one can change, and m magnetic induction elements which are distributed in a certain angle are arranged corresponding to the first magnetic steelring. The electric motor is low in cost, the system reliability is high, and the system response speed is fast.

Description

A kind of motor

Technical field

The utility model relates to a kind of motor, especially a kind of control motor that is used for Accurate Position Control.

Background technology

Motor is to use a kind of very widely power source in the industrial circle, and will directly influence the operation of whole system to the control of motor, and therefore, the control system of motor is also by extensive concern.

The kind of motor is very many, according to different criteria for classifications, can be divided into asynchronous motor, synchronous motor to motor; Alternating current motor, DC motor etc.In more existing systems, need accurately control the position of motor, rotating speed etc., therefore, a kind of servomotor has appearred.This motor combines with controller, encoder, can realize the closed-loop control to motor.Because of having high response characteristic, characteristics such as wide speed regulating range are subjected to the extensive concern of industrial and agricultural production.And the employed precision that is used to detect the position detector of motor position directly has influence on the speed control and the positioning accuracy of system on its output shaft.

What at present, position-detection sensor mainly adopted is encoder.Method in common is to install photoelectric encoder on motor at present, and angle information is arrived controller by cable transmission.

Drive the grating disc spins in the time of the rotation of incremental encoder axle, the light that light-emitting component sends is by the grating dish, the slit of indication grating cuts into interrupted light and is received element acceptance, exports corresponding pulse signal, and its direction of rotation and number of pulses need realize by the direction judgment circuit sum counter.The counting starting point can be set arbitrarily, and the output pulse was remembered the position by the memory internal of counting equipment when the increment of rotation encoder rotated, and can not have in the course of work and disturb and pulse-losing, otherwise will be offset the zero point of numeration equipment memory, and be unable to find out.

For head it off, absolute type encoder has appearred.Absolute type encoder output and position be code one to one, can determine direction of rotation and rotor current location from the size variation of code.Anti-interference like this, the reliability of data has improved greatly, and absolute type encoder more and more has been applied to angle, linear measure longimetry and the Position Control of various industrial systems.But there are some shortcomings that are difficult to overcome in photoelectric encoder: photoelectric encoder is formed by groove by glass substance, and its anti-vibration and impact capacity are not strong, are not suitable for dust, adverse circumstances such as dewfall, and structure and location assembling complexity.Ruling span has the limit, improve resolution and must increase code-disc, is difficult to accomplish miniaturization.Must guarantee very high assembly precision aborning, directly have influence on production efficiency, finally influence product cost.

Because the problem that above-mentioned photoelectric encoder exists, the magneto-electric encoder that has occurred on motor, using, this encoder mainly comprises magnet steel, magnetic induction part and signal processing circuit, magnet steel is along with the axle of motor rotates, the magnetic field that changes, magnetic induction part is responded to the magnetic field of this variation, magnetic signal is transformed into the signal of telecommunication outputs to signal processing circuit, and signal processing circuit is processed into angle signal output with this signal of telecommunication.But for DC Brushless Motor, the magnetic pole of the magnet steel that uses in this magneto-electric encoder will adapt with the number of magnet poles of DC Brushless Motor.Will just can use with matching with encoder that it adapts for the DC Brushless Motor of different magnetic poles number, therefore, the versatility of this magneto-electric encoder is very poor.

In addition, present motor generally adopts the cable mode positional information to be transferred to the CPU of controller, but be subject to electromagnetic noise interference in the communication process and cause information errors, and the hysteresis quality that has communication, can not reflect the positional information of current rotor in real time, thereby have influence on the control effect of whole system.

Have, traditional design of electrical motor is pursued is to the finishing and realizing of simple target again, but under needs are finished the work more requirement, corresponding different task will be selected different motors.For example, as requiring the high rotating speed of heavy load in the task one, need to select the high-revolving motor of big torque.Task two requires the less rotating speed of load moderate, like this task once in the motor selected no longer be applicable to and the condition of work of task two need order to select motor, will cause waste like this.

The utility model content

The technical problems to be solved in the utility model is, the utility model proposes a kind of motor with new magnetoelectric sensor, and cost is low, the reliability height of system, and system response time is fast.

The utility model provides a kind of motor, comprise motor body, controller and magnetoelectric sensor, described magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, processing by controller, obtain angle or position that motor shaft rotates, and then realize accurate control motor.

Wherein, described magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator that described rotor comprises first magnetic steel ring, second magnetic steel ring;

Wherein, described first magnetic steel ring and second magnetic steel ring are separately fixed on the same rotation axis;

On stator, corresponding to second magnetic steel ring, with the center of second magnetic steel ring is that the same circumference in the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of described second magnetic steel ring makes n magnetic induction part output be the Gray code form in proper order, and adjacent two outputs have only a variation;

On stator, corresponding to first magnetic steel ring, with the center of first magnetic steel ring is that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple), the total logarithm of the magnetic pole of described first magnetic steel ring equates with the magnetic pole sum of second magnetic steel ring, and the polarity of two neighboring pole is opposite;

When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to signal processing apparatus.

Preferably, on the stator corresponding to the angle between adjacent two magnetic induction parts of first magnetic steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of second magnetic steel ring.

Preferably, the direct Surface Mount of described magnetic induction part is in inner surface of stator.

Described motor also comprises two magnetic guiding loops, and each described magnetic guiding loop is by a plurality of concentrics, constitutes with the segmental arc of radius, and adjacent two segmental arcs leave the space, is located at respectively in this space corresponding to the magnetic induction part of two magnetic steel ring.

Preferably, the segmental arc end of described magnetic guiding loop is provided with chamfering.

Preferably, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.

Preferably, described magnetic induction part is that Hall should be answered element.

Preferably, described motor body and controller integral setting.

Preferably, described controller comprises shell and control module, and described shell covers on control module in the shell, and is fixed together by connector and motor.

Preferably, described magnetoelectric sensor is located in the shell, and between motor and control module or after being positioned at control module.

Described motor also comprises fan, is used for motor and controller are dispelled the heat.

Preferably, described fan is positioned at shell, and places away from the outermost end of the shell of motor or between any two parts of motor, control module and magnetoelectric sensor.

Described control module comprises data processing unit, electric-motor drive unit and current sensor, described data processing unit receives the command signal of input, the motor input current signal of current sensor collection and the information of the representative motor angle that magnetoelectric sensor is exported, through data processing, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

Wherein, described data processing unit comprises machinery ring control sub unit, current loop control subelement, pwm control signal produces subelement and sensor signal is handled subelement;

Described sensor signal is handled the information that subelement receives the representative motor angle of described magnetoelectric sensor output, and the angle of motor is transferred to described machinery ring control sub unit; Described sensor signal is handled the detected current signal that subelement also receives described current sensor, through exporting to described current loop control subelement after the A/D sampling;

Described machinery ring control sub unit obtains current-order through computing, and exports to described current loop control subelement according to the command signal that receives and the rotational angle of motor shaft;

Described current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of the current sensor output of the current-order that receives through computing, and exports to described pwm control signal generation subelement;

Described pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with a definite sequence, acts on electric-motor drive unit respectively.

Wherein, described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

Preferably, described sensor signal is handled the signal processing circuit that also comprises magnetoelectric sensor in subelement or the magnetoelectric sensor, is used for obtaining according to the voltage signal of described magnetoelectric sensor the rotational angle of motor shaft, specifically comprises:

The A/D change-over circuit, the voltage signal that magnetoelectric sensor is sent carries out the A/D conversion, is digital signal with analog signal conversion;

Relativity shift angle θ ₁Counting circuit is used for calculating the relative displacement θ of first voltage signal in the signal period of living in that magnetoelectric sensor sends corresponding to the magnetic induction part of first magnetic steel ring ₁

Absolute offset values θ ₂Counting circuit according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the magnetoelectric sensor, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating ₂

Synthetic and the output circuit of angle is used for above-mentioned relative displacement θ ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative;

Memory circuit is used to store data.

Preferably, above-mentioned signal processing circuit also comprises signal amplification circuit, is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from magnetoelectric sensor being amplified.

In addition, described relativity shift angle θ ₁Counting circuit comprises first combiner circuit and the first angle acquisition cuicuit, and described first combiner circuit is handled a plurality of voltage signals through the A/D conversion that magnetoelectric sensor sends, and obtains a reference signal D; The described first angle acquisition cuicuit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard standard angle kilsyth basalt ₁

Described relativity shift angle θ ₁Counting circuit also comprises temperature-compensation circuit, is used to eliminate the influence of the voltage signal that temperature sends magnetoelectric sensor.

Wherein, the output of described first combiner circuit also comprises signal R; Described temperature compensation unit specifically comprises coefficient rectifier and multiplier, and described coefficient rectifier is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal ₀Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from magnetoelectric sensor, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to first combiner circuit.

Described absolute offset values θ ₂Counting circuit comprises second combiner circuit and the second angle acquisition cuicuit, and described second combiner circuit is used for second voltage signal that the magnetoelectric sensor corresponding to second magnetic steel ring sends is synthesized, and obtains a signal E; The absolute offset values θ that the described second angle acquisition cuicuit selects an angle relative with it to put as the residing signal period first place of first voltage signal in the second standard angle kilsyth basalt according to this signal E ₂

In concrete the application, described data processing unit is MCU, and described electric-motor drive unit is the IPM module.

Further, described motor body comprises three phase windings, and described each phase winding is connected end to end by the multistage winding and constituted, and all connects a control switch between the head of each section winding and the power supply of input.

Wherein, described control switch is the electron electric power switch; Further, described electron electric power switch is thyristor or IGBT.

When described motor body comprises three phase windings, described data processing unit comprises that moment of torsion switches subelement, described square switches the torque of subelement according to the output of motor actual needs, select corresponding winding, and the output control command is controlled the combination of opening and closing of a plurality of control switchs in each winding respectively to the control switch of described motor.

Motor described in the utility model, the number of magnetic poles of the number of magnetic poles of the magnet steel that relates in the magnetoelectric sensor of its use and electronic rotor is irrelevant, make that the coupling of motor and magnetoelectric sensor is flexible, and, motor in the utility model is owing to used the transducer of this structure, when control precision, system response time, reliability are improved greatly, reduce production cost again, therefore improved the cost performance of motor described in the utility model.

Because the winding of the inside of the utility model motor can be in series by multistage, therefore can come motor is controlled by the winding of control motor internal; Because the winding in the utility model is variable,, has so just reduced the operating current of motor, thereby reached purpose of energy saving so under the condition of low load, can select low winding state; The common electric machine winding is fixed, and any phase winding damages then motor can't operate as normal, and each phase winding of the utility model is made of the multistage winding, and therefore, even a winding damages, but other winding utmost points can work, therefore, and by the property raising; Make simply, thereby cost is low.

Description of drawings

Fig. 1 is the exploded view that the utility model is equipped with the motor of fan.

Fig. 2 is the exploded view that the utility model is not installed the motor of fan.

Fig. 3 is the three-dimensional exploded view of the magnetoelectric sensor of the utility model embodiment one.

Fig. 4 is the installation diagram of magnetoelectric sensor shown in Figure 3.

Fig. 5 is another installation diagram of magnetoelectric sensor shown in Figure 3.

Fig. 6 is the structure chart of magnetic guiding loop.

Fig. 7 is another structure chart of magnetic guiding loop.

Fig. 8 is the another structure chart of magnetic guiding loop.

Fig. 9 is another structure chart of magnetic guiding loop.

One of flow chart of the signal processing method of Figure 10 magnetoelectric sensor described in the utility model.

Two of the flow chart of the signal processing method of Figure 11 magnetoelectric sensor described in the utility model.

Three of the flow chart of the signal processing method of Figure 12 magnetoelectric sensor described in the utility model.

Four of the flow chart of the signal processing method of Figure 13 magnetoelectric sensor described in the utility model.

Figure 14 is the coding that the utility model embodiment one obtains when being provided with 3 magnetic induction parts corresponding to second magnetic steel ring.

Figure 15 is the order that magnetizes of the utility model embodiment one second magnetic steel ring when being provided with 3 magnetic induction parts corresponding to second magnetic steel ring.

Figure 16 is the structure chart of second magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment one.

Figure 17 is the layout plan of the first magnetic steel ring uniform magnetization of the utility model embodiment one corresponding 2 magnetic induction parts when being 6 pairs of utmost points.

Figure 18 is the structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment one.

Figure 19 is the circuit block diagram of the signal processing apparatus of the utility model embodiment one.

Figure 20 is the structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment two.

Figure 21 is the circuit block diagram of the signal processing apparatus of the utility model embodiment two.

Figure 22 is the structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment three.

Figure 23 is the circuit block diagram of the signal processing apparatus of the utility model embodiment three.

Figure 24 is the structure chart of first magnetic steel ring, magnetic guiding loop and the magnetic induction part of the utility model embodiment four.

The circuit block diagram of the signal processing apparatus of Figure 25 the utility model embodiment four.

Figure 26 is the three-dimensional exploded view of another kind of structure of the magnetoelectric sensor of embodiment one to embodiment four of the present utility model.

Figure 27 is the electric system structure diagram.

Figure 28 is the electric system structure principle chart.

Figure 29 is the block diagram of machinery ring.

Figure 30 is the block diagram that has only the machinery ring under the situation of speed ring.

Figure 31 is the block diagram of electric current loop.

Figure 32 is the block diagram of pwm signal generation module.

Figure 33 is the IPM schematic diagram.

Figure 34 is another kind of electric system structure principle chart.

Figure 35 is the winding connection figure of motor body inside.

Figure 36 is the control structure schematic diagram that motor body inside has the multistage winding

Embodiment

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in detail.

Fig. 1 is the exploded view that the utility model is equipped with the motor of fan.Fig. 2 is the exploded view that the utility model is not installed the motor of fan.As depicted in figs. 1 and 2, motor of the present utility model comprises motor body 601, controller and magnetoelectric sensor.Controller comprises controller housing 607 and control module 602.Magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, by the processing of controller, obtains angle or position that motor shaft rotates, and then realizes the accurate control to motor.Motor body and controller integral setting.

Motor of the present utility model can also be equipped with fan 608, is used for motor and controller are dispelled the heat.Fan 608 is positioned at fan guard 609, and places away from the outermost end of the shell of motor or between any two parts of motor body 601, control module 602 and magnetoelectric sensor.

Motor body in the utility model and controller can integrated setting, by integrated setting, shortened the transmission path of magnetoelectric sensor signal, reduced the signal interference, therefore, improved the reliability of control.

Magnetoelectric sensor

With reference to accompanying drawing, Fig. 3 is the three-dimensional exploded view of the magnetoelectric sensor of the utility model embodiment one.As Fig. 3～shown in Figure 5, this magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator, rotor comprises the first magnetic steel ring 201a and the second magnetic steel ring 201b and the first magnetic guiding loop 205a and the second magnetic guiding loop 205b, the first magnetic steel ring 201a and the second magnetic steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is a support 203.

As Fig. 3 and shown in Figure 5, the first magnetic guiding loop 205a and the second magnetic guiding loop 205b leave the space respectively by a plurality of concentrics, constitute with the segmental arc of radius between adjacent two segmental arcs, are located at respectively in this space corresponding to the magnetic induction part 204 of two magnetic steel ring.As Fig. 6～shown in Figure 9, the segmental arc end of two magnetic guiding loops is provided with chamfering, and described chamfering is vertically 251 or radially 252 or the chamfering that forms of 252, radially 252 cuttings vertically simultaneously.

According to magnetic Migong formula

Can know, when φ is certain, can increase B by reducing S.

Because the magnetic flux that permanent magnet produces is certain, S is bigger in magnetic guiding loop, so B is smaller, therefore can reduce the heating that causes because of the magnetic field alternation.And can increase the magnetic field intensity of end by reducing magnetic guiding loop end area, make the output signal of magnetic induction part strengthen.Such picking up signal structure manufacturing process is simple, and the signal noise of picking up is little, and production cost is low, the reliability height, and also size is little.

Corresponding to the second magnetic steel ring 201b, with the center of the second magnetic steel ring 201b is that the same circumference in the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of second magnetic steel ring make n magnetic induction original paper output be the Gray code form in proper order.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.

The first magnetic steel ring 201a is magnetized to g (value of g equals the magnetic pole sum in second magnetic steel ring) uniformly to the utmost point (the N utmost point and the S utmost point are alternately arranged), and when the magnetic pole in second magnetic steel ring add up to 6, the number of pole-pairs of the first magnetic steel ring 201a was 6 pairs.Center with the first magnetic steel ring 201a is on the same circumference in the center of circle, is provided with m magnetic induction part, as 2, as shown in figure 18, two magnetic induction part H ₁, H ₂Between angle be 90 °/6.The layout of magnetic induction part as shown in figure 16 when first magnetic steel ring was magnetized to 6 pairs of utmost points equably.When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to a signal processing apparatus.

Define that adjacent a pair of " N-S " is a signal period in first magnetic steel ring, therefore, the mechanical angle that arbitrary " N-S " is corresponding is 360 °/g (g be " N-S " number), supposes that rotor is positioned at n at t moment anglec of rotation θ ^ThIn signal period, then this constantly angular displacement can think and constitute by two parts: 1. at n ^ThRelative displacement in signal period, magnetic induction part H ₁And H ₂Respond to the magnetic field of first magnetic steel ring and determine " N-S " side-play amount θ in the signal period at this ₁(value greater than 0 less than 360 °/g); 2. n ^ThThe absolute offset values θ that put the signal period first place ₂, determine with the magnetic field of sensor sensing second magnetic steel ring this moment, rotor was to be in which " N-S " to obtain θ actually ₂

Signal processing apparatus based on this magnetoelectric sensor and principle comprises: A/D modular converter, relative displacement θ ₁Computing module, absolute offset values θ ₂Computing module and memory module.Its signal processing flow is shown in Figure 10-13, and the voltage signal that first magnetic steel ring in the magnetoelectric sensor and second magnetic steel ring are sent carries out the A/D conversion, is digital signal with analog signal conversion; By relative displacement θ ₁Computing module carries out angle θ to first voltage signal corresponding to first magnetic steel ring that magnetoelectric sensor sends ₁Find the solution, calculate the relative displacement θ of signal in the signal period of living in corresponding to first magnetic steel ring ₁By absolute offset values θ ₂Computing module carries out angle θ to first voltage signal corresponding to second magnetic steel ring that magnetoelectric sensor sends ₂Find the solution, determine the absolute offset values θ that put the residing signal period first place of first voltage signal ₂Synthetic and output module is used for above-mentioned relative displacement θ as adder by angle ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative.For Figure 11, be the signal amplification module that on the basis of Figure 10, increases, concrete as amplifier, be used for before the A/D modular converter carries out the A/D conversion, the voltage signal that comes from magnetoelectric sensor being amplified.Figure 12 is the signal processing flow figure that comprises temperature-compensating, is carrying out angle θ ₁Before finding the solution, also comprise the process of temperature-compensating; Figure 13 is the detailed process based on the temperature-compensating of Figure 12, when promptly carrying out temperature-compensating, advanced row coefficient to correct, and the output of again signal and the coefficient of A/D converter output being corrected is then carried out temperature-compensating by the concrete mode that multiplier multiplies each other.Certainly, the concrete mode of temperature-compensating is a variety of in addition, does not just introduce one by one at this.

Relative displacement θ ₁Computing module comprises signal synthesis unit, first angle acquiring unit and the temperature compensation unit, and signal synthesis unit is handled the voltage signal through the A/D conversion that different magnetoelectric sensors send, and obtains a reference signal D; The described first angle acquiring unit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard angle kilsyth basalt ₁Wherein, before obtaining reference signal D, earlier the signal that inputs to signal synthesis unit is carried out temperature-compensating by temperature compensation unit, the signal after the temperature-compensating is handled obtaining signal D again.Processing described here will describe in detail in the back.Absolute offset values θ ₂Computing module comprises second synthesizer and the described second angle acquiring unit, be used for second voltage signal that the magnetoelectric sensor corresponding to second magnetic steel ring sends is synthesized, obtain axle and turn over the signal period number, thereby determine the absolute offset values θ that put the residing signal period first place of first voltage signal ₂, specific implementation is that described second synthesizer synthesizes second voltage signal that the magnetoelectric sensor corresponding to second magnetic steel ring sends, and obtains a signal E; The absolute offset values θ that the described second angle acquiring unit selects an angle relative with it to put as the residing signal period first place of first voltage signal in the second standard angle kilsyth basalt according to this signal E ₂

Embodiment one

In embodiment one, be provided with 3 magnetic induction parts corresponding to second magnetic steel ring, be provided with 2 magnetic induction parts corresponding to first magnetic steel ring.

Because the magnetic pole magnetization of second magnetic steel ring makes n magnetic induction original paper output be the Gray code form in proper order.The polarity of magnetic pole be Gray code the first place for " 0 " corresponding to " N/S " utmost point, the first place is that " 1 " is corresponding to " S/N " utmost point.Therefore, in the present embodiment,, obtain coding as shown in figure 14 at 3 o'clock, obtain 6 sign indicating numbers, promptly obtain 6 utmost points, magnetize order as shown in figure 15, carry out reading around individual magnetic induction part is uniform because n is.The position relation of second magnetic steel ring, magnetic guiding loop and magnetic induction part as shown in figure 16.

Because the magnetic pole of second magnetic steel ring adds up to 6, therefore, first magnetic steel ring is magnetized to 6 pairs of utmost points uniformly, the layout plan of itself and 2 magnetic induction parts and magnetic order as shown in figure 17, the position of first magnetic steel ring, magnetic guiding loop and magnetic induction part concerns as shown in figure 18.

Figure 19 show in the present embodiment corresponding to first magnetic steel ring be provided with 2 magnetic induction parts, the circuit block diagram of signal processing apparatus when second magnetic steel ring is provided with 3 magnetic induction parts.The output signal of transducer 1_1a and 1_2a meets amplifier 2_1a, 2_2a amplifies, meet A/D converter 3_1a then, 3_2a, after analog-to-digital conversion, obtain output signal and meet multiplier 4_1a, 5_1a, coefficient rectifier 10_1a output signal meets multiplier 4_1a, the input of 5_1a, multiplier 4_1a, the output signal A of 5_1a, B connects the input of the first synthesizer 6_1a, the first synthesizer 6_1a is to signal A, B handles, obtain signal D, R selects an angle relative with it as deviation angle θ in the standard angle kilsyth basalt of storing from memory 8_1a according to signal D ₁Wherein, the output signal R of the first synthesizer 6_1a flows to coefficient rectifier 10_1a, and coefficient rectifier 10_1a tables look-up according to signal R with from memory 9_1a and obtains signal R ₀Obtain signal K, this signal K is as another input of multiplier 4_1a, 5_1a, obtains signal A, the B input as the first synthesizer 6_1a though divide to multiply each other with signal C1, C2 from amplifier 2_1a, 2_2a output.

Transducer 1_3a, 1_4a ... the output signal of 1_na connect respectively amplifier 2_3a, 2_4a ... 2_na amplifies, connect then A/D converter 3_3a, 3_4a ... 3_na carries out synthesizing by the second synthesizer 7_1a after the analog-to-digital conversion, obtains a signal E; According to the absolute offset values θ that selects an angle relative to put in the second standard angle kilsyth basalt of this signal E in memory 11_1a as the residing signal period first place of first voltage signal with it ₂, θ ₁And θ ₂Export θ by the absolute angle displacement that adder 12_1a obtains measuring.

Wherein, the function of the second synthesizer 7_1a is, by to transducer 1_3a, 1_4a ... the signal of 1_na synthesizes, obtain this constantly rotor be in which " N-S " in the signal period.

The processing of the second synthesizer 7_1a is: when data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.Also, be output as X_0=0, otherwise be X_0=1 promptly when the magnetic field of induction when being N.

Then for present embodiment, E={C3_0; C4_0; Cn_0}.

Wherein, the first synthesizer 6_1a to Signal Processing is: the size of the numerical value of two signals relatively, the signal D that is used to export that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, than the value bit of the signal of fractional value }.Specific as follows:

Here agreement (hereinafter each synthesizer all uses this agreement), when data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.X_D represents the value bit (absolute values of data) of data X, promptly removes the remaining data bit of sign bit.

If A_D＞=B_D

D＝{A_0；B_0；B_D}

$R=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="Y2009201500530032H1.png,Y2009201500530037H2.png"\; state="\{\{state\}\}">A</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="Y2009201500530032H1.png,Y2009201500530037H2.png"\; state="\{\{state\}\}">B</figure-callout>}}^2};$

Otherwise:

D＝{A_0；B_0；A_D}

$R=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="Y2009201500530032H1.png,Y2009201500530037H2.png"\; state="\{\{state\}\}">A</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="Y2009201500530032H1.png,Y2009201500530037H2.png"\; state="\{\{state\}\}">B</figure-callout>}}^2};$

Signal K generally is by with signal R ₀Carrying out division arithmetic with R obtains.

For first and second standard angle kilsyth basalt, in memory, stored two tables, each table is corresponding to a series of sign indicating number, and each sign indicating number is corresponding to an angle.This table obtains by demarcation, scaling method is, utilize a checkout gear and a high precision position transducer of originally executing example, carry out correspondence one by one with originally executing the signal of the magnetic induction part output in the example and the angle of this high precision position transducer output, set up out the signal of magnetic induction part output and the relation table between the angle with this.Just, stored one first standard angle kilsyth basalt corresponding to signal D, each signal D represents a relative displacement θ ₁Corresponding to signal E, stored one second standard angle kilsyth basalt, each signal E represents an absolute offset values θ ₂

Embodiment two

Different with embodiment one, in the present embodiment, be provided with 4 magnetic induction parts, four magnetic induction part H corresponding to first magnetic steel ring ₁, H ₂, H ₃, H ₄Between angle be 90 °/6, the first magnetic steel ring, magnetic guiding loop and magnetic induction part structural relation as shown in figure 20.

The circuit block diagram of signal processing apparatus when Figure 21 shows and is provided with 4 magnetic induction parts corresponding to first magnetic steel ring.The output signal of transducer 1_1c and 1_2c meets amplifying circuit 2_1c and carries out differential amplification, the output signal of transducer 1_3c and 1_4c meets amplifying circuit 2_2c and carries out differential amplification, meet A/D converter 3_1c, 3_2c then, subsequent treatment is similar to the situation when being provided with 2 magnetic induction parts.

Wherein, the function of second synthesizer 7 is, by to transducer 1_5c, 1_6c ... the signal of 1_nc synthesizes, obtain this constantly rotor be in which " N-S " in the signal period.

Signal processing method based on the magnetoelectric sensor of present embodiment is identical with the method for embodiment one.

Embodiment three

What present embodiment was different with embodiment one and two is to be provided with 3 magnetic induction parts corresponding to first magnetic steel ring, three magnetic induction part H ₁, H ₂, H ₃Between angle be 120 °/6, as shown in figure 22.

The circuit block diagram of signal processing apparatus when Figure 23 shows and is provided with 3 magnetic induction parts corresponding to first magnetic steel ring.Processing procedure and preceding two embodiment are basic identical, and different is that because the input signal of the first synthesizer 7_1b is 3, therefore, the processing of signal D, R is slightly different with preceding two embodiment.In the present embodiment, the first synthesizer 71b to the Signal Processing principle is: the position that meets of judging three signals earlier, and relatively meet the size of the numerical value of the identical signal in position, the signal D that is used to export that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position, the 3rd signal meet the position, than the value bit of the signal of fractional value }.With the present embodiment is example:

Agreement:

When data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 represents data X for bearing, and X_0=0 represents that data X is for just.

X_D represents the value bit (absolute values of data) of data X, promptly removes sign bit data left position.

If { A_0; B_0; C_0}=010 and A_D＞=C_D

D＝{A_0；B_0；C_0；C_D}

If { A_0; B_0; C_0}=010 and A_D＜C_D

D＝{A_0；B_0；C_0；A_D}；

If { A_0; B_0; C_0}=101 and A_D＞=C_D

D＝{A_0；B_0；C_0；C_D}；

If { A_0; B_0; C_0}=101 and A_D＜C_D

D＝{A_0；B_0；C_0；A_D}；

If { A_0; B_0; C_0}=011 and B_D＞=C_D

D＝{A_0；B_0；C_0；C_D}；

If { A_0; B_0; C_0}=011 and B_D＜C_D

D＝{A_0；B_0；C_0；B_D}；

If { A_0; B_0; C_0}=100 and B_D＞=C_D

D＝{A_0；B_0；C_0；C_D}；

If { A_0; B_0; C_0}=100 and B_D＜C_D

D＝{A_0；B_0；C_0；B_D}；

If { A_0; B_0; C_0}=001 and B_D＞=A_D

D＝{A_0；B_0；C_0；A_D}；

If { A_0; B_0; C_0}=001 and B_D＜A_D

D＝{A_0；B_0；C_0；B_D}；

If { A_0; B_0; C_0}=110 and B_D＞=A_D

D＝{A_0；B_0；C_0；A_D}；

If { A_0; B_0; C_0}=110 and B_D＜A_D

D＝{A_0；B_0；C_0；B_D}；

$\mathrm{\&alpha;}=A-B\&times;\cos \left(\frac{\mathrm{\&pi;}}{3}\right)-C\&times;\cos \left(\frac{\mathrm{\&pi;}}{3}\right)$

$\mathrm{\&beta;}=B\&times;\sin \left(\frac{\mathrm{\&pi;}}{3}\right)-C\&times;\sin \left(\frac{\mathrm{\&pi;}}{3}\right)$

$R=\sqrt{{\mathrm{\&alpha;}}^2+{\mathrm{\&beta;}}^2}$

$K=\frac{R_0}{R}$

Signal processing method based on the magnetoelectric sensor of present embodiment is identical with the method for embodiment one.

Embodiment four

Present embodiment is different with embodiment three, is provided with 6 magnetic induction parts corresponding to first magnetic steel ring, the angle between six magnetic induction parts be 60 °/6, the first magnetic steel ring, magnetic guiding loop and magnetic induction part structural relation as shown in figure 24.

The circuit block diagram of signal processing apparatus when Figure 25 shows and is provided with 6 magnetic induction parts corresponding to first magnetic steel ring.Its detailed process illustrates at first three embodiment, in these different repeat specifications.

Signal processing method based on the magnetoelectric sensor of present embodiment is identical with the method for implementing one.

Figure 26 is the three-dimensional exploded view of another kind of structure of the magnetoelectric sensor of embodiment one to embodiment four of the present utility model.This magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator, and rotor comprises the first magnetic steel ring 201a and the second magnetic steel ring 201b, and the first magnetic steel ring 201a and the second magnetic steel ring 201b are separately fixed on the motor shaft 200, and wherein stator is a support 203.Magnetic induction part 204 direct Surface Mounts are at the inner surface of support 203.

Similar with embodiment one to four, first magnetic steel ring in the magnetoelectric sensor among Figure 26 can be provided with 2,4,3,6 magnetic induction parts.Method with embodiment one to four is identical respectively with signal processing method based on the signal processing apparatus of the magnetoelectric sensor of the magnetic induction part of different numbers.

Controller

Controller comprises controller housing 607 and control module 602, and controller housing 607 covers control module 602 within it, and is fixed together by connector and motor body 601.

Figure 27 is the electric system structure diagram.Electric system is made up of servo controller, motor and encoder.Control module comprises data processing unit, motor power control unit and current sensor.Described data processing unit is MCU, and described motor power control unit is the IPM module.MCU receives the command signal of input, the motor input current signal of current sensor collection and the voltage signal of magnetoelectric sensor output, through data processing, output pwm signal is given IPM, and IPM gives motor according to pwm signal output three-phase voltage, thereby realizes the accurate control to motor.Whole system is the control system of a closed loop, control cycle short (control cycle has only tens microseconds), and response is fast, the precision height.

Figure 28 is the electric system structure principle chart.As shown in figure 28, CPU, A/D, synchronous communication mouth and pwm signal generation module etc. are arranged in the inside of MCU, A/D is a digital signal with the analog signal conversion that current sensor is input to MCU, thereby obtains current feedback.Encoder passes to MCU with the motor angle positional information by synchronous mouthful of communication.CPU among the MCU is according to current feedback and angle back-to-back running control program.Control program mainly comprises machinery ring and electric current loop, and the machinery ring calculates current-order according to setting command and angle feedback, and electric current loop calculates the three-phase voltage duty ratio according to current-order and current feedback.The pwm signal generation module produces pwm signal according to the three-phase voltage duty ratio, passes to IPM.IPM produces three-phase voltage and gives motor according to pwm signal.

Figure 29 is the block diagram of machinery ring.As shown in figure 29, the machinery ring calculates through control according to the angle feedback of angle instruction and encoder, calculates current-order, passes to electric current loop.The machinery ring comprises position ring and speed ring, the instruction of position ring output speed, the instruction of speed ring output current.

The angle instruction is calculated for the instruction of control program setting or according to setting command.Encoder detects the angle position signal of machine shaft, and angle signal is passed to MCU by synchronous mouthful of communication, and MCU obtains the angle feedback.The angle instruction deducts the angle feedback, obtains angular error, by the PID controller angle is carried out PID control, obtains speed command, and the PID control of angle is called position ring, and what position ring was exported is speed command, passes to speed ring.The angle feedback obtains speed feedback by differentiator, and speed command deducts speed feedback, obtains velocity error, by the PID controller speed is carried out PID control, obtains current-order I _{Q_ref}The PID control of speed is called speed ring.Current-order is the output of speed ring, also is the output of machinery ring, and machinery changes output current instruction I _{Q_ref}Give electric current loop.

Figure 30 is the block diagram that has only the machinery ring under the situation of speed ring.In some cases, do not need motor is carried out Position Control, only need carry out speed control, therefore there is not position ring in the machinery ring, have only speed ring.Speed command is the instruction that control program is set.Encoder detects the angle position signal of machine shaft, and angle signal is passed to MCU by synchronous mouthful of communication, and MCU obtains the angle feedback, and the angle feedback obtains speed feedback by differentiator.Speed command deducts speed feedback, obtains velocity error, by the PID controller speed is carried out PID control, obtains current-order I _{Q_ref}The PID control of speed is called speed ring.Current-order is the output of speed ring, also is the output of machinery ring, and machinery changes output current instruction I _{Q_ref}Give electric current loop.

Figure 31 is the block diagram of electric current loop.Electric current loop calculates through control according to the current-order of machinery ring output and the current feedback of current sensor, produces the three-phase voltage duty ratio that adds to the pwm signal generation module.

Current sensor can be 3 or 2.When current sensor was 3, each current sensor detected the size of a phase current in motor U, V, the W three-phase respectively.Current sensor passes to CPU with the three-phase current signal that detects, and CPU is digital signal through the A/D sampling with analog signal conversion, thereby obtains the three-phase current size of motor.The three-phase current sum of motor is zero under the normal condition, and when motor some occurs when unusual, as the motor electric leakage, the three-phase current sum is non-vanishing.When current sensor breaks down or during electric current A/D sampling fault, the three-phase electricity flow valuve sum that also may cause CPU to obtain is non-vanishing, can detect foundation as an item system with this, in time report to the police when above-mentioned fault occurring.

When current sensor is 2, detect the size of biphase current in motor U, V, the W three-phase.Current sensor passes to CPU with the biphase current signal that detects, and CPU is digital signal through the A/D sampling with analog signal conversion, obtains the biphase current size of motor.Because the three-phase current sum of motor is zero, so according to the biphase current size, can calculate the third phase size of current.So only just can satisfy the needs of electric system, reduce cost with two current sensors.

The current-order of machinery output is I _{Q_ref}, be the current-order of q axle.The signal of current sensor output passes to MCU, through the A/D sampling, obtains current feedback.If current sensor is three, then directly obtain three-phase current feedback I _{A_fb}, I _{B_fb}, I _{C_fb}If current sensor is two, then directly obtained the biphase current feedback, another phase current feedback is zero according to the three-phase current feedback sum, calculates.Three-phase current feedback I _{A_fb}, I _{B_fb}, I _{C_fb}Through 3-＞2 conversion, obtain d, the current feedback I of q axle _{D_fb}, I _{Q_fb}General current-order I with the d axle _{D_ref}Be controlled to be 0.With d, the current-order of q axle deducts d respectively, and the current feedback of q axle obtains d, the current error I of q axle _{D_err}And I _{Q_err}, respectively to d, the q shaft current is carried out PID control, obtains d, the command voltage U of q axle by the PID controller _{D_ref}, U _{Q_ref}Command voltage U _{D_ref}, U _{Q_ref}Through 2-＞3 conversion, obtain the three-phase command voltage, be three-phase voltage duty ratio U _{The a_ duty ratio}, U _{The b_ duty ratio}, U _{The c_ duty ratio}The three-phase duty ratio is the output of electric current loop, passes to the pwm signal generation module.

The formula of above-mentioned 3-＞2 conversion is:

$\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_e& \cos ({\mathrm{\&theta;}}_e-\frac{2}{3}\mathrm{\&pi;})& \cos ({\mathrm{\&theta;}}_e+\frac{2}{3}\mathrm{\&pi;})\\ -\sin {\mathrm{\&theta;}}_e& -\sin ({\mathrm{\&theta;}}_e-\frac{2}{3}\mathrm{\&pi;})& -\sin ({\mathrm{\&theta;}}_e+\frac{2}{e}\mathrm{\&pi;})\end{array}\right]\left[\begin{array}{c}{I}_a\\ I_b\\ I_c\end{array}\right]$

3-＞2 conversion through coordinate transform, are transformed to d, the q shaft current with the motor three-phase current of current sensor feedback.I in the formula _a, I _b, I _cThree-phase current for feedback corresponds to I in the electric current loop block diagram _{A_fb}, I _{B_fb}, I _{C_fb}I in the formula _d, I _qBe the d after the conversion, the q shaft current corresponds to I in the electric current loop block diagram _{D_fb}, I _{Q_fb}θ in the formula _eBe the electrical degree of motor, wherein: θ _e=p * θ _r, p is the number of pole-pairs of motor, θ _rBe the mechanical angle of motor, θ _rAngle feedback in the control block diagram obtains by the angle derivation algorithm.

The formula of 2-＞3 conversion is:

$\left[\begin{array}{c}{U}_a\\ U_b\\ U_c\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\&theta;}}_e& -\sin {\mathrm{\&theta;}}_e\\ \cos ({\mathrm{\&theta;}}_e-\frac{2}{3}\mathrm{\&pi;})& -\sin ({\mathrm{\&theta;}}_e-\frac{2}{3}\mathrm{\&pi;})\\ \cos ({\mathrm{\&theta;}}_e+\frac{2}{3}\mathrm{\&pi;})& -\sin ({\mathrm{\&theta;}}_e+\frac{2}{3}\mathrm{\&pi;})\end{array}\right]\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]$

3-＞2 conversion are with d, and the q shaft voltage is converted to the three-phase voltage of motor.U in the formula _d, U _qBe d, the q shaft voltage corresponds to U in the electric current loop block diagram _{D_ref}, U _{Q_ref}U in the formula _a, U _b, U _cFor the need that calculate add to the three-phase voltage of motor, in the electric current loop block diagram, correspond to U _{The a_ duty ratio}, U _{The b_ duty ratio}, U _{The c_ duty ratio}θ in the formula _eElectrical degree for motor.

Figure 32 is the block diagram of pwm signal generation module.The three-phase voltage duty ratio that the pwm signal generation module calculates according to electric current loop, and the control cycle and the Dead Time of control program setting produce six road pwm signals, pass to IPM, six IGBT of control IPM inside.Control cycle and Dead Time are to configure when writing control program, generally do not change in running program running process.The reason that the dead band is set is the inner same phase upper and lower bridge arm IGBT of IPM conducting simultaneously, and conducting simultaneously then can damage IGBT, therefore must have one to turn-off the dead band, guarantees not conducting simultaneously of same phase upper and lower bridge arm IGBT.

Figure 33 is the IPM schematic diagram.There are six power switch pipes (IGBT) IPM inside, and six IGBT can be divided into three groups, difference corresponding U, V, W three-phase, and each has two IGBT mutually, is referred to as upper and lower brachium pontis respectively.Voltage between the PN is the busbar voltage of controller, is input to the alternating current of controller, is direct current through over commutation, filtering transformation, and P, N are respectively galvanic both positive and negative polarity.Six road pwm signals that the pwm signal generation module produces are controlled six IGBT of IPM inside respectively.With U is example mutually, if PWM_U is a Continuity signal, then U goes up the brachium pontis conducting mutually, and the electromotive force that U exports mutually is the P electrode potential, if PWM_U (with what upward rule) is a Continuity signal, then U descends the brachium pontis conducting mutually, and the electromotive force that U exports mutually is the N electrode potential.When PWM_U and PWM_U (with going up line) be when turn-offing, electric current is mobile by fly-wheel diode.When the current direction motor, the fly-wheel diode of brachium pontis was from N utmost point flow direction motor under electric current passed through, and this moment, the electromotive force of U phase electromotive force output was the N electrode potential; When electric current when motor flows out, electric current flows to the P utmost point by the fly-wheel diode of last brachium pontis from motor, the electromotive force that this moment, U exported mutually is the P electrode potential.

Figure 34 is another electric system control structure schematic diagram, at this moment, comprises the signal processing circuit that is used to handle the voltage signal that comes from magnetoelectric sensor in the controller, and this part is with aforementioned identical in the signal processing circuit described in the explanation of magnetoelectric sensor; Other parts are identical with Figure 27, therefore, and in this no longer repeat specification.

Motor body and fan adopt of the prior art anyly all can.Do not repeat them here.

In addition, the utility model motor body inside comprises three phase windings, and described each phase winding is connected end to end by the multistage winding and constituted, and all connects a control switch between the head of each section winding and the power supply of input.As 35 figure, be installation and the control schematic diagram of motor windings one embodiment.In this embodiment, each phase motor windings is made up of two sections windings, is composed in series one end to end mutually as L11 and L12, the head of L11 and L12 is connected control switch K3, K4 respectively, the other end of K3, K4 is connected in parallel, and links with V, in like manner, L21 is composed in series one mutually end to end with L22, the head of L21 and L22 is connected control switch K1, K2 respectively, and the other end of K1, K2 is connected in parallel, and links with U, L31 is composed in series one mutually end to end with L32, end to end series connection.The head of L31 and L32 is connected control switch K5, K6 respectively, and the other end of K5, K6 is connected in parallel, and links with W.

Have this multistage winding motor control as shown in figure 36, this figure only is a kind of situations of other parts of motor controller, certainly also comprises the various variant of aforesaid other parts of controller.

IPM receives behind the signal after the PWM modulation and exports U, V, and the W three-phase voltage is because voltage is to determine through the therefore amplitude of voltage of PMW modulation back output.

When load big to the bigger situation of torque request occasion under, (N is a coil turn because the big or small T of moment of torsion is proportional to NI, I is the electric current of flowing through coil) if N is less, to need a bigger electric current to satisfy the requirement of torque so, but be subjected to the restriction of the maximum current that machine winding coil can flow through, so this method may not reach the requirement of torque, the mode that therefore need take to increase coil turn satisfies the requirement of torque, switches subelement control switch K1 by the moment of torsion in the controller, K3, K5 makes them be in closure state, control switch K2, K4, K6 makes them be in off-state, this moment machine winding coil L11, L12, L21, L22, L31, L32 are the energising operating state, and motor is in the back electromotive force of high winding state motor

(N is the number of turn of coil, and f is a rotor frequency,

Magnetic flux) increase, and U-E=IR+IX _lReduce, because current of electric I becomes positive correlation with (U-E),, can make the electric current that flows through winding coil maximum current like this less than machine winding coil so electric current reduces in the motor, and simultaneously because coil turn has obtained significant increase, so torque T increases the requirement that can reach load.

When not quite still requiring in the occasion of high speed in load, because speed is higher to be that frequency is bigger, therefore having produced bigger back electromotive force diminishes the difference of (U-E), so just caused electric current I in the motor reduce caused the decline of motor torque to suppress the high speed of motor, can take to reduce the mode of umber of turn in order better to guarantee the high speed of motor, switch the control of subelement by moment of torsion, make K switch 1, K3, K5 is in off-state, K switch 2, K4, K6 is in closure state, this moment motor windings L11, L21, in running order and the winding L 12 of L31, L22, L32 are not access in the machine operation circuit, by formula

As seen after coil turn reduces 1/2, reaching that same back electromotive force frequency f can double is that speed can increase on former basis and is twice, can have littler back electromotive force so under the condition of identical operating rate, reduce the control mode of coil turn, make Motor torque increase high speed performance better reach job requirement thereby obtain bigger electric current.

Control switch among Figure 35 can adopt the electron electric power switch, as forms such as thyristor or IGBT.

Below only be a motor winding embodiment, the number of each phase winding is not limited to two, can be for a plurality of, because principle is identical, in this no longer repeat specification.

Above embodiment is only unrestricted in order to the explanation the technical solution of the utility model.Although the utility model is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that, still can make amendment and be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of the technical program, it all should be encompassed in the middle of the claim scope of the present utility model.

Claims (26)

1. motor, comprise motor body, controller and magnetoelectric sensor, it is characterized in that, described magnetoelectric sensor is used for the rotation of detection-sensitive motor axle, and the voltage signal that senses is transferred to controller, by the processing of controller, obtain angle or position that motor shaft rotates, and then realize accurate control motor;

Wherein, described magnetoelectric sensor comprises rotor and rotor is enclosed within inner stator that described rotor comprises first magnetic steel ring, second magnetic steel ring;

Wherein, described first magnetic steel ring and second magnetic steel ring are separately fixed on the same motor shaft;

On stator, corresponding to second magnetic steel ring, with the center of second magnetic steel ring is that the same circumference in the center of circle is provided with n (n=1,2 ... n) individual equally distributed magnetic induction part, the magnetic pole magnetization of described second magnetic steel ring makes n magnetic induction part output be the Gray code form in proper order, and adjacent two outputs have only a variation;

On stator, corresponding to first magnetic steel ring, with the center of first magnetic steel ring is that the same circumference in the center of circle is provided with the individual magnetic induction part that distributes at an angle of m (m is 2 or 3 integral multiple), the total logarithm of the magnetic pole of described first magnetic steel ring equates with the magnetic pole sum of second magnetic steel ring, and the polarity of two neighboring pole is opposite;

When rotor during with respect to stator generation relative rotary motion, described magnetic induction part changes the magnetic signal that senses into voltage signal, and this voltage signal is exported to controller.

2. motor as claimed in claim 1 is characterized in that, on the stator corresponding to the angle between adjacent two magnetic induction parts of first magnetic steel ring, when m was 2 or 4, this angle was 90 °/g; When m was 3, this angle was 120 °/g; When m was 6, this angle was 60 °/g, and wherein, g is the magnetic pole sum of second magnetic steel ring.

3. motor as claimed in claim 1 is characterized in that, the direct Surface Mount of described magnetic induction part is in inner surface of stator.

4. motor as claimed in claim 1, it is characterized in that, also comprise two magnetic guiding loops, each described magnetic guiding loop is by a plurality of concentrics, constitutes with the segmental arc of radius, adjacent two segmental arcs leave the space, are located at respectively in this space corresponding to the magnetic induction part of two magnetic steel ring.

5. motor as claimed in claim 4 is characterized in that, the segmental arc end of described magnetic guiding loop is provided with chamfering.

6. motor as claimed in claim 5 is characterized in that, described chamfering for vertically or radially or vertically simultaneously, the chamfering that forms of radial cutting.

7. motor as claimed in claim 1 is characterized in that, described magnetic induction part is the hall sensing element.

8. motor as claimed in claim 1 is characterized in that, described motor body and controller integral setting.

9. motor as claimed in claim 1 is characterized in that described controller comprises shell and control module, and described shell covers on control module in the shell, and is fixed together by connector and motor.

10. motor as claimed in claim 9 is characterized in that described magnetoelectric sensor is located in the shell, and between motor and control module or after being positioned at control module.

11., it is characterized in that as claim 1 or 8 or 9 described motor, also comprise fan, be used for motor and controller are dispelled the heat.

12. motor as claimed in claim 11 is characterized in that, described fan is positioned at shell, and places away from the outermost end of the shell of motor or between any two parts of motor, control module and magnetoelectric sensor.

13. motor as claimed in claim 9, it is characterized in that, described control module comprises data processing unit, electric-motor drive unit and current sensor, described data processing unit receives the command signal of input, the motor input current signal of current sensor collection and the information of the representative motor angle that magnetoelectric sensor is exported, through data processing, the output control signal is given described electric-motor drive unit, described electric-motor drive unit is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.

14. motor as claimed in claim 13 is characterized in that, described data processing unit comprises machinery ring control sub unit, current loop control subelement, pwm control signal produces subelement and sensor signal is handled subelement;

Described sensor signal is handled the information that subelement receives the representative motor angle of described magnetoelectric sensor output, and the angle of motor is transferred to described machinery ring control sub unit; Described sensor signal is handled the detected current signal that subelement also receives described current sensor, through exporting to described current loop control subelement after the A/D sampling;

Described machinery ring control sub unit obtains current-order through computing, and exports to described current loop control subelement according to the command signal that receives and the rotational angle of motor shaft;

Described current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of the current sensor output of the current-order that receives through computing, and exports to described pwm control signal generation subelement;

Described pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with a definite sequence, acts on electric-motor drive unit respectively.

15. motor as claimed in claim 13, it is characterized in that, described electric-motor drive unit comprises six power switch pipes, per two of described switching tube is connected into one group, three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube is subjected to pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.

16. motor as claimed in claim 14, it is characterized in that, described sensor signal is handled the signal processing circuit that comprises magnetoelectric sensor in subelement or the magnetoelectric sensor, is used for obtaining according to the voltage signal of described magnetoelectric sensor the rotational angle of motor shaft, specifically comprises:

The A/D change-over circuit, the voltage signal that magnetoelectric sensor is sent carries out the A/D conversion, is digital signal with analog signal conversion;

Relativity shift angle θ ₁Counting circuit is used for calculating the relative displacement θ of first voltage signal in the signal period of living in that magnetoelectric sensor sends corresponding to the magnetic induction part of first magnetic steel ring ₁

Absolute offset values θ ₂Counting circuit according to second voltage signal that sends corresponding to the magnetic induction part of second magnetic steel ring in the magnetoelectric sensor, is determined the absolute offset values θ that put the residing signal period first place of first voltage signal by calculating ₂

Synthetic and the output module of angle is used for above-mentioned relative displacement θ ₁With absolute offset values θ ₂Addition, the anglec of rotation θ in this moment of the synthetic described first voltage signal representative;

Memory module is used to store data.

17. motor according to claim 16 is characterized in that, also comprises:

Signal amplification circuit is used for before the A/D modular converter carries out the A/D conversion voltage signal that comes from magnetoelectric sensor being amplified.

18. according to claim 16 or 17 described motor, it is characterized in that,

Described relativity shift angle θ ₁Counting circuit comprises first combiner circuit and the first angle acquisition cuicuit, and described first combiner circuit is handled a plurality of voltage signals through the A/D conversion that magnetoelectric sensor sends, and obtains a reference signal D; The described first angle acquisition cuicuit is according to this reference signal D, selects an angle relative with it as deviation angle θ in the first standard standard angle kilsyth basalt ₁

19. motor as claimed in claim 18 is characterized in that, described relativity shift angle θ ₁Counting circuit also comprises temperature-compensation circuit, is used to eliminate the influence of the voltage signal that temperature sends magnetoelectric sensor.

20. motor as claimed in claim 19 is characterized in that, the output of described first combiner circuit also comprises signal R;

Described temperature compensation unit comprises coefficient rectifier and multiplier, and described coefficient rectifier is to the signal R of the output of described synthesis module with to the signal R under should the standard state of signal ₀Compare and obtain output signal K; Described multiplier is a plurality of, and the voltage signal that each described multiplier will send from magnetoelectric sensor, that process A/D changes and the output signal K of described coefficient rectification module multiply each other, and the result after will multiplying each other exports to first combiner circuit.

21., it is characterized in that described absolute offset values θ according to claim 16 or 17 described motor ₂Counting circuit comprises second combiner circuit and the second angle acquisition cuicuit, and described second combiner circuit is used for second voltage signal that the magnetoelectric sensor corresponding to second magnetic steel ring sends is synthesized, and obtains a signal E; The absolute offset values θ that the described second angle acquisition cuicuit selects an angle relative with it to put as the residing signal period first place of first voltage signal in the second standard angle kilsyth basalt according to this signal E ₂

22. motor as claimed in claim 13 is characterized in that, described data processing unit is MCU, and described electric-motor drive unit is the IPM module.

23. as claim 1 or 13 described motor, it is characterized in that described motor body comprises three phase windings, described each phase winding is connected end to end by the multistage winding and is constituted, and all connects a control switch between the head of each section winding and the power supply of input.

24. motor as claimed in claim 23 is characterized in that, described control switch is the electron electric power switch.

25. motor as claimed in claim 24 is characterized in that, described electron electric power switch is thyristor or IGBT.

26. motor as claimed in claim 23, it is characterized in that, described data processing unit comprises that moment of torsion switches subelement, described square switches the torque of subelement according to the output of motor actual needs, select corresponding winding, and the output control command is controlled the combination of opening and closing of a plurality of control switchs in each winding respectively to the control switch of described motor.

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