CN105490596B - A kind of embedded position detecting system of permanent-magnet alternating current servo motor - Google Patents
A kind of embedded position detecting system of permanent-magnet alternating current servo motor Download PDFInfo
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- CN105490596B CN105490596B CN201610070876.2A CN201610070876A CN105490596B CN 105490596 B CN105490596 B CN 105490596B CN 201610070876 A CN201610070876 A CN 201610070876A CN 105490596 B CN105490596 B CN 105490596B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
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Abstract
The present invention protects a kind of embedded position detecting system of permanent-magnet alternating current servo motor, including one group just, cosine pumping signal load-on module, at least one pair of tunnel magneto TMR chips, when gate signal processing system.On the basis of electric machine structure is not destroyed, TMR chips are embedded in motor internal, loaded respectively on each pair TMR chips just, cosine excitation, and TMR chips are placed on the position of orthogonal space two-by-two, when motor rotates, it can be reflected the signal of motor rotation position all the way on every piece of TMR chip, gate signal processing system when inputting a signal into, the turned position of motor can be obtained after treatment.The present invention by when grid position measurement principle, TMR chips and decile PM rotor be combined, the embedded detection of permanent-magnet alternating current servo motor turned position is realized, has and the runnability of motor is substantially improved, tightens electric machine structure size, reduce cost, enhancing interference free performance and adapts to the advantages such as the ability of harsh environments.
Description
Technical field
The invention belongs to serve motor control technology field, and in particular to motor rotation position detection technique.
Background technology
Permanent-magnet alternating current servo motor is the crucial element in servo-control system, the accurate detection of its turned position with
Be precisely controlled is to realize really servo-controlled important foundation.
The turned position detection method of current most widely used permanent-magnet alternating current servo motor is to utilize external position sensing
Device, such as photoelectric encoder, magnetism encoder, rotary transformer, inductosyn realization detection.Although measurement accuracy is high,
On the one hand it destroys the original compact structure of motor, makes the runnability of motor by the shadow of position sensor installation effect
Ring；On the other hand above-mentioned several method is dependent on the precision in space etc. and divides groove, and measurement accuracy will be by the shadow of machining accuracy
Ring.Therefore, " sensorless detection technology " turns into the focus of recent researches, mainly there is following several implementation methods at present：One
Kind is the correlation technique using control theory, builds preferable motor mathematical model, realizes the estimation to motor speed.Such as patent
Document CN103560725A discloses a kind of brushless direct current motor sensorless control method for detecting position, utilizes motor control
Make the theoretical knowledge architecture preferable motors Based on Flux Linkage model of motor and use it to the estimation for carrying out rotor-position.This method
The complicated mathematical modeling of structure is needed, and only can just be modeled, estimate on the basis of abundant observation, measurement result is easy
It is interfered, precision is difficult to ensure that, and the partial parameters of motor are idealized, and is only used for estimating and can not really realizing essence
Really, actual measurement.Another kind is injection high-frequency excitation signal, carrys out reality by detecting in motor corresponding voltage (electric current) signal
Now to the detection of motor position, it is saliency that this method requires that motor rotor construction has, and application is narrow, realizes difficult.
Actual working environment, which is difficult to use in, existing for above-mentioned " sensorless detection technology " realizes motor rotor position
The problem of accurate measurement, " embedded sensor detecting " turn into the new approaches of detection motor angular displacement, patent document
CN103490682A discloses a kind of AC servo motor rotor position detecting system, using motor operation principle and field formula when
The similitude of the measuring principle of displacement transducer, using the stator winding of motor as when grid location survey head, rotor is had
Winding or grid move gauge head when the mode of coiling is formed again, and realize rotor using the rotating excitation field between rotor
The measurement of position.But toroidal transformer etc. is also needed in addition, it is necessary to destroy electric machine structure coiling again during for rotor without coiling
Induced signal is exported, the system still has the defects of certain.
Therefore, how on the premise of the compact structure of permanent-magnet alternating current servo motor is not destroyed, the essence of its displacement is realized
True Detection ＆ Controling are urgent problems.
The content of the invention
Grid position measurement principle and TMR chip functions when the present invention is based on, and PM rotor structure is combined, do not destroying
On the basis of motor original structure, a kind of embedded position detecting system in the turned position of permanent-magnet alternating current servo motor is proposed, should
System can make permanent-magnet alternating current servo motor not only be adapted to severe work while external position sensor is thoroughly removed
Make bad border, and accurate measurement can be realized in wider velocity interval, there is higher measurement accuracy and relatively low detection
Cost.
The concrete technical scheme of the present invention is as follows：
A kind of embedded position detecting system of permanent-magnet alternating current servo motor, it include one group just, cosine pumping signal adds
Carry module, at least one pair of orthogonal space TMR chips, when gate signal processing system.
The embedded position detecting device is directly to utilize machinery etc. possessed by motor internal PM rotor structure
Divide property, fixed in motor internal insertion TMR chips as sensing unit, each pair TMR chips along the circumferential orthogonal space of motor shaft
Arrangement, and in same sagittal plane；If the angle of circumference corresponding to the monopole permanent magnet of motor is set as θ, then each pair TMR cores
Corresponding angle of circumference is between piece centerThe TMR chips sensing permanent magnet produces as motor shaft rotates
Alternating magnetic field, output with its with frequency change voltage signal, the voltage signal be reflect motor corner signal；
It is described just, cosine pumping signal load-on module be connected with TMR chips, loaded respectively on each pair TMR chips just, it is remaining
String encourages；
Gate signal processing system connects TMR chips when described, obtains the motor angular signal exported on TMR chips, through place
The angular displacement of motor, i.e. turned position are obtained after reason.
The present invention is grid position measurement principle and TMR chip functions when being based on, and combines PM rotor structure, is realized forever
The embedded detection of magnetic AC servo motor turned position.Permanent magnet with alternating magnetic field can be produced while motor shaft rotates,
The TMR chips of embedded motor internal utilize tunnel magneto effect, and the change of the sensitive induced field of energy, it senses this alternating magnetic field
And export the voltage signal with it with frequency change.If loaded respectively on each pair TMR chips just, cosine excitation, i.e. time quadrature
Pumping signal, and TMR chips are placed on the position of orthogonal space two-by-two, will be obtained on every piece of TMR chip anti-all the way
The signal of motor corner is reflected, gate signal processing system when inputting a signal into, can be obtained by the angular displacement of motor after treatment,
That is turned position.
The present invention is applied to the existing various PM rotor structures with dividing property such as machineries, and it is breached in the past in electricity
The technology limitation of the additional independent position sensor in machine rear end, before without destroying the compact structure of permanent-magnet alternating current servo motor
Put, realize the embedded measurement of permanent-magnet alternating current servo motor turned position, have and the runnability of motor is substantially improved, tightens
Electric machine structure size, reduce cost, enhancing interference free performance and adapt to the advantages such as the ability of harsh environments.
Brief description of the drawings
Fig. 1 is permanent-magnet alternating current servo motor structured flowchart；
Fig. 2 is the theory diagram of permanent-magnet alternating current servo motor turned position embedded measurement system；
Fig. 3 a are the orthogonally located schematic diagrames of TMR chip spaces；
Fig. 3 b are TMR chip scheme of installations；
Gate signal processing system block diagram when Fig. 4 is.
Embodiment
Below in conjunction with the accompanying drawings to set a pair of TMR chips as the present invention is described in detail.
It is of the present invention based on when grid position measurement principle and TMR chips realize permanent-magnet alternating current servo motor angular displacement survey
The principle of amount is as shown in Figure 2.
Reference picture 1, the concrete structure of permanent-magnet alternating current servo motor in the present invention include Conventional permanent magnet AC servo motor
All parts, such as back end cover for motor 1, bearing of rear end cover 2, motor housing 3, motor stator 4, permanent magnet 5 (rotor), motor
Drive end bearing bracket 7, drive end bearing bracket bearing 8, motor shaft 9 etc..On this basis, embedded position detecting system is added, system is with motor
Based on the permanent magnet 5 itself having, increase TMR chip a6a, TMR chips b6b, sine and cosine excitation 10a-b and when Gate signals at
Reason system 11, using TMR chips to the very sensitive characteristic of changes of magnetic field, directly TMR chip a6a and TMR chips b6b is embedded in
Motor internal sensing permanent magnet nearby with alternating magnetic field when motor shaft rotates, and when combining Gate displacement transducers thought it is former
Reason, realizes the measurement of permanent-magnet alternating current servo motor angular displacement on the basis of the original cramped construction of motor is not destroyed.
Reference picture 2, the sine and cosine pumping signal load-on module of detecting system are connected with TMR chips, in TMR chips a6a and
Loaded respectively on TMR chips b6b just, cosine excitation 10a-b, and the position of orthogonal space is placed it in, when permanent magnet is with electricity
Arbor can produce the magnetic field of alternation when rotating, TMR chips sense caused alternating magnetic field in permanent magnet, and in every piece of TMR chip
On reflected the signal of motor corner all the way, TMR chips with when gate signal processing system be connected, grid when two paths of signals is inputted
Signal processing system, the angular displacement i.e. turned position of permanent magnet AC motor is can be obtained by after a series of processing,
As shown in Figure 3 a, 9 motor shaft is represented, 3 motor housing is represented, 4 represents stator, 6a and 6b and represent TMR chips a respectively
Permanent magnet is represented with TMR chips b, 5, that is, need the center of chip a center face permanent magnet, then chip b
Two pieces of gap TMR chips between the face adjacent permanent magnet of center are in the range of linearity of chip output characteristic curve, output
The change in signal and magnetic field is linear.
Due to realizing the measurement of displacement it is contemplated that not destroying on the basis of motor original structure, therefore in installation TMR
Consider to be installed on motor front end cover 7 during chip a6a and TMR chip b6b, as shown in Figure 3 b, in one piece of face permanent magnet
The heart, the gap between another piece of face adjacent permanent magnet.
Reference picture 4, gate signal processing system when the signal of the reflection motor variation in angular displacement of two pieces of TMR chips output is sent into
System 22 is handled, when gate signal processing system 22 specifically included during signal transacting：Amplification, filtering and shaping, signal solution
The processes such as tune, angular displacement calculating, finally obtain required motor rotation position information, reach same with electric machine external angular encoder
The Detection results of sample.
Claims (3)
- A kind of 1. embedded position detecting system of permanent-magnet alternating current servo motor, it is characterised in that：Including one group just, cosine excitation Signal loading module, at least one pair of orthogonal space TMR chips, when gate signal processing system, embedded position detecting device It is directly to utilize machinery etc. point property possessed by motor internal PM rotor structure, makees in motor internal insertion TMR chips For sensing unit, each pair TMR chips include two panels TMR chips, they along motor shaft circumferential orthogonal space fixed and arranged, And in same sagittal plane；TMR chips sensing permanent magnet with motor shaft rotate caused by alternating magnetic field, output Voltage signal with it with frequency change, the voltage signal are the signal for reflecting motor corner；It is described just, cosine pumping signal Load-on module is connected with TMR chips, loaded respectively on each pair TMR chips just, cosine excitation；Gate signal is handled when described System connects TMR chips, obtains the motor angular signal exported on TMR chips, the angular displacement of motor is obtained after processing, that is, is turned Dynamic position.
- 2. the embedded position detecting system of the permanent-magnet alternating current servo motor according to claim 1, it is characterised in that：If If the angle of circumference corresponding to the monopole permanent magnet of motor is, then corresponding circle between each pair TMR chip center position Round angle is, n 0,1,2,3 ....
- 3. the embedded position detecting system of the permanent-magnet alternating current servo motor according to claim 1, it is characterised in that：Institute Axial direction of the TMR chips along motor shaft is stated on the inside of the drive end bearing bracket of motor.
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| CN201610070876.2A CN105490596B (en) | 2016-02-01 | 2016-02-01 | A kind of embedded position detecting system of permanent-magnet alternating current servo motor |
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| CN201610070876.2A CN105490596B (en) | 2016-02-01 | 2016-02-01 | A kind of embedded position detecting system of permanent-magnet alternating current servo motor |
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| CN105490596B true CN105490596B (en) | 2017-12-08 |
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| CN108111084B (en) * | 2016-11-24 | 2024-07-16 | 北京大豪科技股份有限公司 | AC servo motor control system and control method |
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| US6522130B1 (en) * | 1998-07-20 | 2003-02-18 | Uqm Technologies, Inc. | Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor |
| CN102549386A (en) * | 2009-09-24 | 2012-07-04 | 大陆汽车有限责任公司 | Method for analyzing signals from an angle sensor |
| CN103256883A (en) * | 2012-02-16 | 2013-08-21 | 英飞凌科技股份有限公司 | Rotation angle sensor for absolute rotation angle determination even upon multiple revolutions |
| CN103528602A (en) * | 2012-07-02 | 2014-01-22 | 莱纳林德有限公司 | Encoder |
| CN103913183A (en) * | 2013-01-09 | 2014-07-09 | 江苏多维科技有限公司 | Magnetic angle encoder and electronic water meter |
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| JP6056482B2 (en) * | 2013-01-08 | 2017-01-11 | 株式会社ジェイテクト | Abnormality detection device for rotation angle sensor |
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2016
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|---|---|---|---|---|
| US6522130B1 (en) * | 1998-07-20 | 2003-02-18 | Uqm Technologies, Inc. | Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor |
| CN102549386A (en) * | 2009-09-24 | 2012-07-04 | 大陆汽车有限责任公司 | Method for analyzing signals from an angle sensor |
| CN103256883A (en) * | 2012-02-16 | 2013-08-21 | 英飞凌科技股份有限公司 | Rotation angle sensor for absolute rotation angle determination even upon multiple revolutions |
| CN103528602A (en) * | 2012-07-02 | 2014-01-22 | 莱纳林德有限公司 | Encoder |
| CN103913183A (en) * | 2013-01-09 | 2014-07-09 | 江苏多维科技有限公司 | Magnetic angle encoder and electronic water meter |
| CN103925933A (en) * | 2013-01-11 | 2014-07-16 | 江苏多维科技有限公司 | Multi-circle absolute magnetic encoder |
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| 吕华等.隧道磁电阻(TMR)磁传感器的特性与应用.《磁性材料及器件》.2012,第43卷(第3期),第1-4、15页. * |
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Application publication date: 20160413 Assignee: Chongqing Han's Shizha Technology Co.,Ltd. Assignor: Chongqing University of Technology Contract record no.: X2022500000007 Denomination of invention: An Embedded Position Detection System for Permanent Magnet AC Servo Motor Granted publication date: 20171208 License type: Exclusive License Record date: 20220926 |
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