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WO2010124590A1 - Moteur - Google Patents

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Publication number
WO2010124590A1
WO2010124590A1 PCT/CN2010/072101 CN2010072101W WO2010124590A1 WO 2010124590 A1 WO2010124590 A1 WO 2010124590A1 CN 2010072101 W CN2010072101 W CN 2010072101W WO 2010124590 A1 WO2010124590 A1 WO 2010124590A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
magnetic
motor
angle
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2010/072101
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English (en)
Chinese (zh)
Inventor
郝双晖
郝明晖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Guanxi Electric & Motor Co Ltd
Original Assignee
Zhejiang Guanxi Electric & Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Guanxi Electric & Motor Co Ltd filed Critical Zhejiang Guanxi Electric & Motor Co Ltd
Publication of WO2010124590A1 publication Critical patent/WO2010124590A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

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

Definitions

  • the present invention relates to an electric motor, and more particularly to a control electric motor for precise position control. Background technique
  • the electric motor is a very widely used power source in the industrial field, and the control of the electric motor will directly affect the operation of the entire system. Therefore, the control system of the electric motor has also been widely concerned.
  • motors can be divided into asynchronous motors and synchronous motors; AC motors and DC motors.
  • AC motors and DC motors In some existing systems, it is necessary to precisely control the position, rotation speed, and the like of the motor, and therefore, a servo motor has appeared.
  • This type of motor is combined with a controller and an encoder to achieve closed loop control of the motor. Due to its high response characteristics and wide speed range, it has received extensive attention from industrial and agricultural production. The accuracy of the position detector used on the output shaft for detecting the position of the motor directly affects the speed control and positioning accuracy of the system.
  • the position detecting sensor mainly uses an encoder.
  • the current common method is to install a photoelectric encoder on the motor to transmit the angle information to the controller through the cable.
  • the grating disk rotates, and the light emitted by the light-emitting element is cut by the grating disk, and the slit of the indicating grating is cut into intermittent light to be received by the receiving component, and the corresponding pulse signal is output, and the rotation direction and the number of pulses are required.
  • This is achieved by means of a decision circuit and a counter.
  • the starting point of the counting can be set arbitrarily.
  • the pulse is output. The position is memorized by the internal memory of the counting device, and the pulse cannot be lost during the working process. Otherwise, the zero point of the counting device will be lost. Offset, and nowhere to know.
  • the absolute encoder outputs a code that corresponds to the position one by one.
  • the change in the size of the code can determine the direction of rotation and the current position of the rotor.
  • the reliability of the data is greatly improved, and the absolute encoder has been increasingly applied to various industrial systems for angle, length measurement and position control.
  • the photoelectric encoder is made of glass material through the scribe line, which is not strong against vibration and impact, and is not suitable for harsh environments such as dust and condensation, and has complicated structure and positioning assembly. There is a limit to the line spacing.
  • the code wheel must be increased, making it difficult to miniaturize. High assembly accuracy must be ensured in production, which directly affects production efficiency and ultimately affects product cost.
  • a magnetoelectric encoder for use on a motor which mainly includes a magnetic steel, a magnetic induction element and a signal processing circuit, and the magnetic steel changes with the rotation of the shaft of the motor.
  • the magnetic field, the magnetic induction element senses the changed magnetic field, converts the magnetic signal into an electrical signal output to the signal processing circuit, and the signal processing circuit processes the electrical signal into an angular signal output.
  • the magnetic pole of the magnet used in the magneto-electric encoder is adapted to the number of magnetic poles of the DC brushless motor. DC brushless motors with different pole counts can be used in conjunction with their compatible encoders. Therefore, such magneto-electric encoders have poor versatility.
  • the current motor generally uses the cable method to transmit the position information to the controller's CPU, but the communication process is susceptible to electromagnetic noise and causes information errors, and there is communication lag, which cannot reflect the current motor rotor position information in real time. Thereby affecting the control effect of the entire system.
  • the technical problem to be solved by the present invention is that the present invention proposes an electric motor having a new magnetoelectric sensor, thereby achieving low cost, improving system reliability, and improving system response speed.
  • the present invention provides an electric motor including a motor body, a controller, and a magnetoelectric sensor for sensing rotation of a motor shaft and transmitting the sensed voltage signal to The controller obtains an angle or a position of the rotation of the motor shaft by the processing of the controller, thereby realizing precise control of the motor;
  • the angle between adjacent two magnetic sensing elements on the stator corresponding to the second magnetic steel ring is 360° /N.
  • the angle between each adjacent two magnetic induction elements is 90°/N
  • the angle between each adjacent two magnetic induction elements is 120 N; when m is 6, the angle between each adjacent two magnetic induction elements is 60°/N.
  • the magnetic sensing element is directly attached to the inner surface of the stator.
  • the control motor further includes two magnetically conductive rings, each of which is composed of a plurality of arcs of the same center and the same radius, and adjacent two arcs have a gap, corresponding to two magnetic steel rings.
  • the magnetic sensing elements are respectively disposed in the gap.
  • the end of the arc of the magnetic flux ring is chamfered.
  • the chamfer is a chamfer formed by cutting axially or radially or simultaneously in the axial direction and in the radial direction.
  • the magnetic sensing element is a Hall sensing element.
  • the motor body and the controller are integrally provided.
  • the controller includes a housing and a control module, the housing enclosing the control module within the housing and secured to the motor by a connector.
  • the magnetoelectric sensor is disposed within the housing and between the motor and the control module or behind the control module.
  • the control motor further includes a fan for dissipating heat from the motor and the controller.
  • the fan is located within the housing and is placed between the outermost end of the housing remote from the motor or between any two of the motor, control module and magnetoelectric sensor.
  • control module comprises a data processing unit, a motor driving unit and a current sensor
  • data processing unit receives the input command signal, the motor input current signal collected by the current sensor, and the information representing the motor angle output by the magnetoelectric sensor.
  • control signal is output to the motor driving unit, and the motor driving unit outputs an appropriate voltage to the motor according to the control signal, thereby achieving precise control of the motor.
  • the data processing unit comprises a mechanical loop control subunit, a current loop control subunit, a PWM control signal generating subunit, and a sensor signal processing subunit.
  • the sensor signal processing subunit receives the generation of the magnetoelectric sensor output The information of the angle of the motor is obtained by A/D sampling and angle solving, and the rotation angle of the motor shaft is obtained, and the angle is transmitted to the mechanical ring control subunit; the sensor signal processing subunit further receives the current sensor The detected current signal is sampled by A/D and output to the current loop control subunit.
  • the mechanical ring control subunit obtains a current command through operation according to the received command signal and the rotation angle of the motor shaft, and outputs the current command to the current loop control subunit.
  • the current loop control subunit obtains a duty control signal of the three-phase voltage through operation according to the current signal output by the current sensor of the received current command, and outputs the duty control signal to the PWM control signal generating subunit.
  • the PWM control signal generating sub-unit generates six PWM signals having a certain order according to the received duty control signal of the three-phase voltage, and respectively acts on the motor driving unit.
  • the motor driving unit comprises six power switching tubes, the switching tubes are connected in series in two groups, three groups are connected in parallel between the DC power supply lines, and the control end of each switching tube is generated by a PWM control signal.
  • the control of the PWM signal output by the unit, the two switching tubes in each group are time-divisionally turned on.
  • the sensor signal processing subunit includes a signal processing circuit of the magnetoelectric sensor, and is configured to obtain a rotation angle of the motor shaft according to the voltage signal of the magnetoelectric sensor, and specifically includes: an A/D conversion circuit, and a relative bias Shift angle calculation circuit, absolute offset calculation circuit, angle synthesis and output module and storage module.
  • the A/D conversion circuit performs A/D conversion on the voltage signal sent by the magnetoelectric sensor to convert the analog signal into a digital signal; and the relative offset angle calculation circuit is used to calculate the corresponding value in the magnetoelectric sensor.
  • the absolute offset calculation circuit is configured according to the second magnetic steel ring of the magnetoelectric sensor a second voltage signal sent by the magnetic sensing element, the absolute offset of the first position of the signal period at which the first voltage signal is located is determined by calculation;
  • the angle synthesis and output module is configured to use the relative offset and the absolute offset The shift amount is added to synthesize a rotation angle represented by the first voltage signal at the moment;
  • the storage module is configured to store data.
  • the signal processing circuit of the magnetoelectric sensor further includes a signal amplifying circuit for amplifying the voltage signal from the magnetoelectric sensor before the A/D conversion module performs A/D conversion.
  • the relative offset angle calculation circuit includes a first synthesis circuit and a first angle acquisition circuit, and the synthesis circuit processes the A/D-converted voltage signals sent by the magnetoelectric sensor to obtain a The reference signal D; the first angle acquisition circuit selects an angle opposite thereto as the offset angle in the first angle storage table according to the reference signal D.
  • the relative offset angle calculation circuit further includes a temperature compensation circuit for eliminating the influence of temperature on the voltage signal transmitted by the magnetoelectric sensor.
  • the relative offset angle calculating circuit further comprises a coefficient correcting circuit that performs an operation according to an output of the synthesizing circuit to obtain an output signal 1 ⁇ .
  • the temperature compensation circuit includes a plurality of multipliers, each of the multipliers multiplying a voltage signal sent by the A/D converted magnetoelectric sensor by the output signal K, and multiplying the multiplied signal The result is output to the first synthesis circuit.
  • the absolute offset calculation circuit includes a second synthesis circuit and a second angle acquisition circuit, and the decoder is configured to perform a second voltage signal sent by the magnetoelectric sensor corresponding to the second magnetic steel ring. Processing, a signal E is obtained; the second angle acquiring circuit selects an angle opposite to the signal in the second standard angle table as the absolute offset of the first position of the signal period in which the first voltage signal is located.
  • the data processing unit is an MCU
  • the motor driving unit is an IPM module.
  • the motor body includes three-phase windings, and each of the phase windings is composed of a plurality of winding heads and tails connected in series, and a control switch is connected between each of the winding heads and the input power source.
  • the control switch is an electronic power switch. Further, the electronic power switch is a thyristor or an IGBT.
  • the data processing unit further includes a torque switching subunit, the torque switching subunit selects a corresponding winding according to the torque required to be output by the motor, and outputs a control command to the control switch of the motor to respectively control each item. A combination of on and off of a plurality of control switches in the winding.
  • the number of magnetic poles of the magnetic steel involved in the magnetoelectric sensor is independent of the number of magnetic poles of the rotor of the motor, so that the matching of the motor and the magnetoelectric sensor is flexible, and the motor of the present invention Since the sensor of such a structure is used, the control accuracy, the system response speed, and the reliability are greatly improved, and the production cost is lowered, thereby improving the cost performance of the motor described in the present invention.
  • the motor can be controlled by controlling the winding inside the motor; since the winding in the present invention is variable, the low winding can be selected under low load conditions. State, thus reducing the operating current of the motor, thereby achieving the purpose of energy saving; the common motor winding is fixed, and the motor cannot be operated normally when any phase winding is damaged, and the phase winding of the present invention is composed of a plurality of windings, so even One winding is damaged, but the other windings can also work, so the reliability is improved, the fabrication is simple, and the cost is low.
  • Fig. 1 is an exploded view of a control motor to which a fan is attached according to the present invention.
  • Fig. 2 is an exploded view of the control motor in which the fan is not mounted in the present invention.
  • 3A, 3B and 3C are respectively an exploded perspective view, a schematic view and a structural view of an electromagnetic sensor structure provided with a magnetically permeable ring of the present invention.
  • 4A-4D are chamfering designs of the magnetically permeable ring of the present invention.
  • FIG. 5 is a flow chart of a signal processing method of the electromagnetic sensor according to the present invention.
  • FIG. 6 is a second flowchart of a signal processing method of the electromagnetic sensor according to the present invention.
  • FIG. 7 is a third flowchart of a signal processing method of the electromagnetic sensor according to the present invention.
  • FIG. 8 is a fourth flowchart of a signal processing method of the electromagnetic sensor according to the present invention.
  • Figure 9 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of Embodiment 1 of the present invention.
  • Fig. 10 is a view showing the positional relationship between the magnetization magnetic sequence of the first magnetic steel ring and the magnetic induction element according to the first embodiment of the present invention.
  • Figure 11 is a flow chart of the algorithm for the magnetization magnetic sequence of the second magnetic steel ring.
  • Figs. 12A to 12B are views showing the positional relationship between the magnetization magnetic sequence of the second magnetic steel ring and the magnetic induction element according to the first embodiment of the present invention.
  • Figure 13 is a block diagram of a signal processing device according to Embodiment 1 of the present invention.
  • Fig. 14 is a view showing the configuration of a first magnetic steel ring Hall element, a magnetic conducting ring, and a magnetic sensing element in the electromagnetic sensor of the second embodiment of the present invention.
  • Figure 15 is a view showing the positional relationship between the magnetization magnetic sequence of the first magnetic steel ring and the magnetic induction element according to the second embodiment of the present invention.
  • Figure 16 is a block diagram of a signal processing device according to a second embodiment of the present invention.
  • Figure 17 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to Embodiment 3 of the present invention.
  • Figure 18 is a view showing the positional relationship between the magnetization magnetic sequence of the first magnetic steel ring and the magnetic induction element in the third embodiment of the present invention.
  • Figure 19 is a block diagram of a signal processing device according to a third embodiment of the present invention.
  • Figure 20 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to Embodiment 4 of the present invention.
  • Figure 21 is a view showing the positional relationship between the magnetization magnetic sequence of the first magnetic steel ring and the magnetic induction element in the fourth embodiment of the present invention.
  • Figure 22 is a block diagram of a signal processing device according to a fourth embodiment of the present invention.
  • FIG. 23A-23B are distribution diagrams of a magnetic induction element, a magnetically permeable ring, and a stator corresponding to a second magnetic steel ring according to the present invention.
  • Figure 24 is an exploded perspective view showing the structure of an electromagnetic sensor in which the magnetic induction element of the present invention is directly attached to an electromagnetic sensor.
  • 25A-25D are schematic views showing the structure of the magnetic induction element directly on the first magnetic steel ring directly attached to the electromagnetic sensor.
  • Figure 26 is a simplified diagram of the control structure of the motor system.
  • Figure 27 is a schematic diagram of the control structure of the motor system.
  • Figure 28 is a schematic diagram of another motor system control structure.
  • Figure 29 is a block diagram of a mechanical ring.
  • Figure 30 is a block diagram of the mechanical ring with only the speed loop.
  • Figure 31 is a block diagram of the current loop.
  • Figure 32 is a block diagram of the PWM signal generation module.
  • Figure 33 is a schematic diagram of the IPM.
  • Figure 34 is a wiring diagram of the winding inside the motor body.
  • Figure 35 is a schematic diagram of a control structure having a plurality of windings inside the motor body. detailed description
  • Fig. 1 is an exploded view of a control motor to which a fan is attached according to the present invention.
  • Fig. 2 is an exploded view of the control motor in which the fan is not mounted in the present invention.
  • the control motor of the present invention includes a motor body 501, a controller, and a magnetoelectric sensor.
  • the controller includes a controller housing 507 and a control module 502.
  • the magnetoelectric sensor is used to sense the rotation of the motor shaft, and transmits the sensed voltage signal to the controller. Through the processing of the controller, the angle or position of the motor shaft rotation is obtained, thereby achieving precise control of the motor.
  • the motor body and the controller in the invention can be integrally arranged, and the integrated transmission arrangement shortens the transmission path of the magnetoelectric sensor signal and reduces signal interference, thereby improving the reliability of the control.
  • the control motor of the present invention may also be equipped with a fan 508 for dissipating heat from the motor and the controller.
  • Fan 508 is located within fan shroud 509 and is placed between the outermost end of the housing remote from the motor or between any two of the motor body 501, control module 502, and magnetoelectric sensor.
  • the magnetoelectric sensor used in the present invention may or may not include a signal processing circuit, and if it does not include a signal processing circuit, the circuit is located in the controller.
  • the signal processing circuit described in the following description of the magnetoelectric sensor is the same as the processing when the circuit is located in the control, and therefore, the description of the processing module of the controller will not be repeated.
  • FIGS. 3A, 3B and 3C are respectively an exploded perspective view, a schematic view and a structural view of an electromagnetic sensor structure provided with a magnetically permeable ring of the present invention.
  • the electromagnetic sensor of the present invention is composed of a magnetic steel ring 302, a magnetic steel ring 303, a magnetic conducting ring 304, a magnetic conducting ring 305, a bracket 306, and a plurality of magnetic sensing elements.
  • the diameters of the magnetic steel rings 302 and 303 are smaller than the diameters of the magnetic conductive rings 304 and 305, so that the magnetic conductive rings 304 and 305 are respectively sleeved outside the magnetic steel rings 302 and 303, and the magnetic steel rings 302 and 303 are fixed to the rotating shaft 301.
  • Upper, and the magnetic flux rings 304, 305 and the magnetic steel rings 302, 303 are relatively rotatable such that the plurality of sensor elements 307 disposed on the inner surface of the bracket 306 are within the gaps of the magnetic steel ring.
  • FIG. 3C is a plan view showing the components of the electromagnetic sensor provided with the magnetically permeable ring of the present invention.
  • FIG. 3C shows that the magnetic steel ring 302 and the magnetic steel ring 303 are arranged in parallel on the shaft 301, corresponding to Two rows of magnetic sensing elements 308 and 309 are respectively disposed on the magnetic steel ring 302 and the magnetic steel ring 303.
  • the first column of magnetic induction elements that is, the corresponding magnetic steel ring 302
  • the plurality of magnetic sensing elements of the magnetically conductive ring 304 are represented by a magnetic sensing element 308, and the magnetic sensing elements 309 of the second magnetic sensing element, i.e., the corresponding magnetic steel ring 303 and the magnetically conductive ring 305, are represented by a magnetic sensing element 309.
  • the magnetic steel ring 302 is defined as a first magnetic steel ring
  • the magnetic steel ring 303 is defined as a second magnetic steel ring
  • the magnetic conductive ring 304 is defined to correspond to the first magnetic steel ring
  • the magnetic conductive ring is to be 305 is defined to correspond to the second magnetic steel ring 303, and then the invention is not limited to the above definition.
  • the magnetic flux ring is composed of two or more segments of the same radius and the same center, and the end of the arc is chamfered, and the chamfer is along the axial or radial or simultaneous edges.
  • Chamfer formed by axial and radial cutting.
  • the chamfer is a chamfer formed by cutting in the axial direction 351 or the radial direction 352 or simultaneously in the axial direction 354 and the radial direction 353.
  • the enthalpy is relatively small, so that the heat generation due to the alternating magnetic field can be reduced.
  • the magnetic field strength of the end portion can be increased, so that the output signal of the magnetic induction element is enhanced.
  • Such a signal pickup structure has a simple manufacturing process, low signal noise picked up, low production cost, high reliability, and small size.
  • a gap is left between two adjacent arc segments, and a magnetic induction element is placed in the gap.
  • the magnetic induction element converts the sensed magnetic signal into a voltage signal, and This voltage signal is transmitted to the corresponding controller.
  • Such a signal pickup structure has a simple manufacturing process, low signal noise picked up, low production cost, high reliability, and small size.
  • the total number is N, and the magnetic order is determined by a magnetic order algorithm; on the bracket 306, corresponding to the first magnetic steel ring 302, m (m is 2 or 2) on the same circumference centered on the center of the first magnetic steel ring 302.
  • a magnetic sensing element 309 distributed at an angle of 360° / N.
  • the magnetic field sensor may further include a signal processing device, including an A/D conversion module, a relative offset angle calculation module, an absolute offset calculation module, an angle synthesis and output module, and a storage module, where the A The /D conversion module performs A/D conversion on the voltage signal sent from the electromagnetic sensor, and converts the analog signal into a digital signal; the relative offset angle calculation module is used to calculate the first magnetic steel ring in the electromagnetic sensor a relative offset of the first voltage signal sent by the magnetic sensing element during the signal period; the absolute offset calculating module sends a second according to the magnetic sensing element corresponding to the second magnetic steel ring of the electromagnetic sensor a voltage signal, the absolute offset of the first position of the signal period at which the first voltage signal is located is determined by calculation; the angle synthesis and output module is configured to add the relative offset and the absolute offset, and synthesize the a rotation angle represented by the first voltage signal at the moment; the storage module is configured to store an angle obtained during the calibration process and Coefficient K correction data.
  • A/D conversion module perform
  • the flow corresponding to the above processing device is as shown in FIG. 5-8.
  • the voltage signal sent from the first magnetic steel ring and the second magnetic steel ring in the electromagnetic sensor is A/D converted, and the analog signal is obtained. Converting to a digital signal; performing an angle solution on the first voltage signal corresponding to the first magnetic steel ring sent by the electromagnetic sensor by the relative offset calculation module, and calculating a signal period corresponding to the signal of the first magnetic steel ring
  • the relative offset of the signal; the absolute offset calculation module performs an angle solution on the first voltage signal corresponding to the second magnetic steel ring sent by the electromagnetic sensor to determine the first position of the signal period where the first voltage signal is located Absolute offset; through the angle synthesis and output module, such as an adder for adding the relative offset and the absolute offset, synthesizing the rotation angle represented by the first voltage signal at the moment.
  • FIG. 6 a signal amplifying module added on the basis of FIG. 5, specifically as an amplifier, is used to amplify a voltage signal from the electromagnetic sensor before the A/D conversion module performs A/D conversion.
  • Figure 7 is a flow chart of signal processing including temperature compensation. Before the angle is solved, the process of temperature compensation is also included.
  • Figure 8 is a specific process based on the temperature compensation of Figure 7, that is, when performing temperature compensation, The coefficient is corrected, and then the temperature of the signal output from the A/D converter and the coefficient corrected output are multiplied by a multiplier to perform temperature compensation.
  • a multiplier to perform temperature compensation.
  • Embodiment 1 of the present invention provides an electromagnetic sensor in which a first column of magnetic sensing elements is provided with two magnetic sensing elements 308 and a second column of sensing elements is provided with three magnetic sensing elements 309.
  • FIG. 9 is a structural view of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element according to Embodiment 1 of the present invention
  • FIG. 10 is a magnetic magnetic sequence of a first magnetic steel ring and a magnetic induction element according to Embodiment 1 of the present invention
  • the angle between adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 90°/8.
  • Figure 13 is a block diagram of a signal processing apparatus according to Embodiment 1 of the present invention, in which an output signal of a magnetic induction element of a first magnetic steel ring is connected to an amplifier 2_la, 2_2a, an output signal of an amplifier 2_la, 2_2a is input to an A/D converter 3_la, 3_2a
  • the input port is subjected to analog-to-digital conversion to obtain an output signal multiplier 4_la, 5_la
  • the output signal of the coefficient aligner 10_la is connected to the input terminals of the multipliers 4_la, 5_la
  • the output signals A, B of the multipliers 4_la, 5_la are connected to the first synthesis.
  • the input signal of the first synthesizer 6_la is the input signal of the memory 8_la and the memory 9_la, and the output signal of the memory 9_la is connected to the coefficient corrector 10_la, and the output signal of the memory 8_la is used as the input terminal of the adder 12_la.
  • the output signals of the sensors l_3a, l_4a, ... l_na are respectively amplified by three amplifiers 2_3a, 2_4a, ... 2_na, and then connected to the AD converters 3_3a, 3_4a, ... 3_na for analog-to-digital conversion and then passed through the second device.
  • 7_la is decoded, and then obtained by the memory l l_la.
  • the measured absolute angular displacement output is obtained by the adder 12_la.
  • the output of the first synthesizer 6_la is performed as follows:
  • _0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.
  • the structure of the signal D is ⁇ the coincidence of the first signal, the coincidence of the second signal, the numerical value of the signal of the smaller value ⁇ . details as follows:
  • the signal K is generally passed by the signal R. And R is divided.
  • first and second standard angle tables two tables are stored in the memory, each table corresponding to a series of codes, each code corresponding to an angle.
  • the table is obtained by calibration, and the calibration method is: using the detecting device of the embodiment and a high-precision position sensor, the signals output by the magnetic sensing element in the embodiment and the angle of the high-precision position sensor output are in one-to-one correspondence.
  • a first standard angle table is stored corresponding to the signal D, and each signal D represents a relative offset.
  • a second standard angle table is stored, and each signal ⁇ represents an absolute offset.
  • a second embodiment of the present invention provides a schematic view in which four magnetic induction elements are provided corresponding to the first magnetic steel ring 302.
  • FIG. 14 is a schematic structural view of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element in the electromagnetic sensor according to Embodiment 2 of the present invention
  • FIG. 15 is a magnetic magnetic field of the first magnetic steel ring according to Embodiment 2 of the present invention; Sequence and positional relationship with the magnetic sensing element.
  • FIG 16 is a block diagram of a signal processing device according to a second embodiment of the present invention.
  • the signal processing device and the processing method are similar to those of Embodiment 1, except that since there are four magnetic sensing elements in the second embodiment, the output signals of the magnetic sensing elements l_lc (H and l_2c (H 2 ) of the first magnetic steel ring are amplified.
  • the circuit 2-lc performs differential amplification, and the output signals of the magnetic induction elements l_3c (H 3 ) and l_4c (H 4 ) of the first magnetic steel ring are differentially amplified by the amplifying circuit 2-2c, and finally the signal output to the synthesizer is still
  • the processing procedure and the method are the same as those in Embodiment 1. Therefore, details are not described herein again.
  • a third embodiment of the present invention provides a structural view in which three magnetic induction elements are provided corresponding to the first magnetic steel ring.
  • FIG. 17 is a schematic structural view of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to Embodiment 3 of the present invention
  • FIG. 18 is a first magnetic steel ring magnetic charging magnetic sequence and magnetic induction element according to Embodiment 3 of the present invention
  • Location map ;
  • the angle between the adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 120°/8.
  • the magnetization sequence of the magnetic steel ring 302 and the magnetic pole arrangement of 3 ⁇ 4 and 3 ⁇ 4 can be seen from Fig. 18.
  • the magnetization structure and algorithm flow of the second magnet ring 303 are the same as those of the first embodiment, and the description thereof will be omitted herein.
  • Figure 19 is a block diagram of a signal processing device according to a third embodiment of the present invention. Different from the first embodiment, there are three magnetic induction elements and three signals output to the synthesizer. The synthesizer is different from the first embodiment in processing signals, and the rest is the same as the first embodiment. Here, only the synthesizer is processed to get 0 and .
  • the processing of the signal that is, the output principle of the first synthesizer 7_lb is: first, the coincidence bits of the three signals are judged, and the magnitudes of the values of the signals conforming to the same bit are compared, and the value is small for output.
  • Signal D the structure of signal D is ⁇ the coincidence of the first signal, the coincidence of the second signal, the coincidence of the third signal, the value of the signal of the smaller value ⁇ .
  • _0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.
  • FIG. 20 is a schematic structural view of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to Embodiment 4 of the present invention
  • FIG. 21 is a magnetic magnetic flux and magnetic induction element of a first magnetic steel ring according to Embodiment 4 of the present invention
  • H 3 , H 4 , H 5 and H 6 indicate that the two magnetic induction elements ⁇ 2 , ⁇ 3 , ⁇ 4 , ⁇ 5 and ⁇ 6 are respectively placed in the six nips corresponding to the first magnetically conductive ring 304.
  • the angle between adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 60 8 .
  • the magnetization sequence of the magnetic steel ring 302 and the arrangement of ⁇ 2 , ⁇ 3 , ⁇ 4 , ⁇ 5 and ⁇ 6 can be seen from Fig. 21 .
  • the magnetization structure and algorithm flow of the first magnetic steel ring 302 are the same as those of the first embodiment, and the description thereof will be omitted herein.
  • Figure 22 is a block diagram of a signal processing device according to a fourth embodiment of the present invention. Different from the third embodiment, there are six magnetic induction elements. Therefore, the output signals of the magnetic induction elements l_3c (H 3 ) and l_4c (H 4 ) of the first magnetic steel ring are differentially amplified by the amplification circuit 2-ld.
  • the output signal of the magnetic induction element l_3d(H 3 ) l_4d(H 4 ) of a magnetic steel ring is differentially amplified by the amplifying circuit 2-2d, and the magnetic sensing element l_5d(H 5 ) l_6d(H 6 ) of the first magnetic steel ring
  • the output signal is amplified by the amplifier circuit 2-3d, and the signal output to the synthesizer is still three.
  • the processing and method are the same as in the third embodiment.
  • the respective magnetization sequences and algorithm flows are similar to those of Figs. 10 and 11, respectively, and a detailed description thereof will be omitted herein.
  • Figure 24 is an exploded perspective view showing the structure of an electromagnetic sensor in which the magnetic induction element of the present invention is directly attached to an electromagnetic sensor.
  • 25A-25D are schematic structural views of a magnetic induction element corresponding to a first magnetic steel ring directly attached to an electromagnetic sensor, respectively.
  • the order of arrangement of the magnetic induction elements is the same as that of the above-described magnetically conductive ring, and the signal processing apparatus and method are also the same, and detailed description thereof will be omitted.
  • the controller includes a controller housing 507 and a control module 502 that houses the control module 502 therein and is secured to the motor body 501 by a connector.
  • FIG. 26 is a block diagram showing the structure of the motor system.
  • the motor system consists of a servo controller, a motor and an encoder.
  • the encoder described herein and the encoder referred to in the following figures are the magnetoelectric sensors described in the present invention.
  • the control module includes a data processing unit, a motor drive unit, and a current sensor.
  • the data processing unit is an MCU
  • the motor driving unit is an IPM module.
  • the MCU receives the input command signal, the motor input current signal collected by the current sensor, and the voltage signal output by the magnetoelectric sensor.
  • the PWM signal is output to the IPM, and the IPM outputs a three-phase voltage to the motor according to the PWM signal, thereby realizing the motor. Precise control.
  • FIG. 27 is a schematic diagram of the control structure of the motor system.
  • the signal processing circuit of the magnetoelectric sensor is located in the sensor, and the controller only needs to receive the signal of the sensor through the synchronous communication interface.
  • inside the MCU there are CPU, A/D, synchronous communication port and PWM signal generation module, etc.
  • the A/D converts the analog signal input from the current sensor to the MCU into a digital signal, thereby obtaining current feedback.
  • the encoder transmits the motor angular position information to the MCU via the synchronous port communication.
  • the CPU in the MCU runs the control program based on current feedback and angle feedback.
  • the control program mainly includes a mechanical ring and a current loop.
  • the mechanical loop calculates a current command according to the set command and the angle feedback, and the current loop calculates a three-phase voltage duty ratio according to the current command and the current feedback.
  • the PWM signal generation module generates a PWM signal according to the three-phase voltage duty ratio and transmits it to the IPM.
  • the IPM generates a three-phase voltage to the motor based on the PWM signal.
  • a controller includes a signal processing circuit for processing a voltage signal from a magnetoelectric sensor, the portion being the same as described above in the description of the magnetoelectric sensor.
  • the signal processing circuit is the same; the other portions are the same as those of FIG. 27, and therefore, the description will not be repeated here.
  • Figure 29 is a block diagram of a mechanical ring. As shown in Figure 29, the mechanical loop calculates the current command and transmits it to the current loop based on the angle command and the angle feedback of the encoder.
  • the mechanical ring consists of a position loop and speed loop, a position loop output speed command, and a speed loop output current command.
  • the angle command is an instruction set by the control program or calculated according to the set command.
  • the encoder detects the angular position signal of the motor shaft, and transmits the angle signal to the MCU through the synchronous port communication, and the MCU obtains angle feedback.
  • the angle command is subtracted from the angle feedback to obtain the angle error.
  • the PID controller controls the angle to obtain the speed command.
  • the PID control of the angle is called the position loop, and the position loop outputs the speed command, which is transmitted to the speed loop.
  • the angle feedback is obtained by the differentiator, the speed command is subtracted from the speed feedback, and the speed error is obtained.
  • the PID controller controls the speed to obtain the current command K.
  • the PID control of speed is called the speed loop.
  • the current command is the output of the speed loop, also the output of the mechanical loop, and the mechanically commutated output current command ⁇ -w/ is given to the current loop.
  • Figure 30 is a block diagram of the mechanical ring with only the speed loop.
  • the speed command is an instruction set by the control program.
  • the encoder detects the angular position signal of the motor shaft, and transmits the angle signal to the MCU through the synchronous port communication.
  • the MCU obtains the angle feedback, and the angle feedback obtains the speed feedback through the differentiator.
  • the speed command is subtracted from the speed feedback to obtain the speed error.
  • the PID controller controls the speed to obtain the current command K.
  • the PID control of speed is called the speed loop.
  • the current command is the output of the speed loop, also the output of the mechanical loop, and the mechanical output current command is given to the current loop.
  • Figure 31 is a block diagram of the current loop.
  • the current loop generates a three-phase voltage duty cycle applied to the PWM signal generation module based on the current command output from the mechanical ring and the current feedback of the current sensor.
  • the current sensor can be three or two. When there are three current sensors, each current sensor detects the motor U,
  • the current sensor transmits the detected three-phase current signal to the CPU, and the CPU performs A/D sampling to convert the analog signal into a digital signal to obtain the three-phase current of the motor. Under normal circumstances, the sum of the three-phase currents of the motor is zero. When there is some abnormality in the motor, such as motor leakage, the sum of the three-phase currents is not zero. When the current sensor fails or the current A/D sampling fault occurs, the sum of the three-phase current values obtained by the CPU may not be zero. It can be used as a basis for system detection, and the alarm will be issued in time when the above fault occurs.
  • the magnitude of the two-phase current in the three phases of the motor U, V, W is detected.
  • the current sensor transmits the detected two-phase current signal to the CPU, and the CPU performs A/D sampling to convert the analog signal into a digital signal to obtain the two-phase current of the motor. Since the sum of the three-phase currents of the motor is zero, the magnitude of the third phase current can be calculated according to the magnitude of the two-phase current. In this way, only two current sensors can meet the needs of the motor system and reduce the cost.
  • the current command for the mechanical output is -re/ , which is the current command for the q-axis.
  • the signal output from the current sensor is transmitted to the MCU, and is sampled by A/D to obtain current feedback. If the current sensor is three, the three-phase current feedback ⁇ - ⁇ , J, /c is obtained directly.
  • a module is generated for the PWM signal.
  • FIG 32 is a block diagram of the PWM signal generation module.
  • the PWM signal generation module generates six PWM signals according to the three-phase voltage duty ratio calculated by the current loop, and the control period and dead time set by the control program, and transmits the six PWM signals to the IGBT, and controls the six IGBTs inside the ⁇ .
  • the control cycle and dead time are set when the control program is written, and generally do not change during the program run.
  • the reason for setting the dead zone is that the IGBTs of the same phase of the upper and lower legs of the IPM cannot be turned on at the same time. At the same time, the IGBT will be damaged when it is turned on. Therefore, there must be a turn-off dead zone to ensure that the IGBTs of the upper and lower arms of the same phase are not turned on at the same time.
  • FIG 33 is a schematic diagram of the IPM.
  • IGBTs power switching tubes
  • the six IGBTs can be divided into three groups, which correspond to U, V, and W three phases. Each phase has two IGBTs, which are called upper and lower arms.
  • the voltage between the PN is the bus voltage of the controller, and the AC power input to the controller is rectified and filtered to be converted into direct current.
  • P and N are the positive and negative poles of the direct current.
  • the PWM signal generation module generates six PWM signals to control the six IGBTs inside the IPM. Taking the U phase as an example, if PWM_U is a turn-on signal, the U-phase upper arm is turned on, and the U-phase output potential is P-pole potential. If PWM_U (overlined) is a turn-on signal, then U-phase The bridge arm is turned on, and the potential of the U phase output is the N pole potential. When both PWM_U and PWM_U (overlined) are off, current flows through the freewheeling diode.
  • the motor body and the fan can be any of the prior art. I will not repeat them here.
  • the motor body of the present invention comprises three-phase windings, and each of the phase windings is composed of a plurality of winding heads and tails connected in series, and a control switch is connected between the head of each of the windings and the input power source.
  • Fig. 34 it is a schematic diagram of the installation and control of an embodiment of the motor winding.
  • each phase of the motor winding is composed of two windings, for example, L11 and L12 head and tail are connected in series to form one phase, and the heads of L11 and L12 are respectively connected to control switches K3, ⁇ 4, ⁇ 3, and ⁇ 4 are connected in parallel at the other end.
  • L21 and L22 head and tail are connected in series to form one phase, and the heads of L21 and L22 are respectively connected to control switches K1, ⁇ 2, Kl, ⁇ 2 and the other ends are connected in parallel, connected with U phase.
  • L31 and L32 head and tail are connected in series to form one phase.
  • the heads of L31 and L32 are respectively connected to the control switches ⁇ 5, ⁇ 6, and the other ends of ⁇ 5 and ⁇ 6 are connected in parallel to be connected to W.
  • Fig. 35 The control of the motor having the multi-segment winding is as shown in Fig. 35. This figure is only one of the other parts of the motor controller, and of course includes various modifications of the other parts of the controller described above.
  • the U, V, W three-phase voltage is output. Since the voltage is output after PMW modulation, the amplitude of the voltage is determined.
  • the load is not large but high speed is required, since the speed is high, that is, the frequency is large, a large back electromotive force is generated to make the difference of the (UE) small, which causes the current I in the motor to be reduced.
  • the small motor torque is reduced, which suppresses the high speed of the motor.
  • the method of reducing the number of winding turns can be adopted.
  • the same back-EMF frequency f can be doubled, that is, the speed can be doubled on the original basis, so the control method for reducing the number of turns of the coil can be made smaller under the same working speed.
  • the back electromotive force thereby obtaining a larger current, makes the motor torque increase and the high speed performance better meets the working requirements.
  • the control switch in Figure 34 can be in the form of an electronic power switch, such as a thyristor or IGBT.
  • the above is only one embodiment of the motor winding.
  • the number of windings of each phase is not limited to two, and may be plural. Since the principle is the same, the description will not be repeated here.

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

Abstract

L'invention concerne un moteur qui comprend un corps de moteur (501), un contrôleur et un capteur électromagnétique. Ce capteur détecte la rotation d'un arbre de moteur et fournit des signaux de tension détectés au contrôleur. Le contrôleur indique l'angle de rotation ou la position de l'arbre du moteur. On peut ainsi contrôler le moteur avec précision. Le nombre de pôles magnétiques intervenant dans le capteur du moteur est indépendant du nombre de pôles magnétiques du rotor du moteur. Ainsi, la correspondance entre le moteur et le capteur électromagnétique est flexible. Le fait que le capteur soit appliqué au moteur permet d'améliorer la précision du contrôle, la vitesse de réaction du système et la fiabilité, et de réduire les coûts de production.
PCT/CN2010/072101 2009-04-30 2010-04-23 Moteur Ceased WO2010124590A1 (fr)

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CN102769368B (zh) * 2012-07-31 2015-10-14 上海交通大学 闭合绕组永磁无刷直流电机的扩速方法
CN102933065A (zh) * 2012-11-16 2013-02-13 山西天脊山电动车船有限公司 一种电机控制器散热装置
CN105186787B (zh) * 2015-08-18 2018-09-25 常州格力博有限公司 无刷电机的散热结构
CN107421430A (zh) * 2017-06-21 2017-12-01 宁波杜亚机电技术有限公司 带记忆功能的手动管状电机
CN111750903B (zh) * 2020-07-07 2022-02-01 哈尔滨理工大学 一种绕组集成磁电编码器及其独立标定方法
CN114513063A (zh) * 2020-10-29 2022-05-17 上海安浦鸣志自动化设备有限公司 一种基于整体式绕组的无槽伺服电机
CN112637451A (zh) * 2020-12-09 2021-04-09 武汉茂格科技有限公司 一种基于ai图像识别传感器探头补边控制系统

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