KR100914521B1 - Motor rotor position measurement method and system using edge magnetic flux, Hall sensor support structure for it - Google Patents

Abstract

The present invention provides a method and system for measuring a motor rotor position using edge magnetic flux generated by attaching a hall sensor to one side of a motor, and a support structure for supporting the hall sensor.

To this end, the motor rotor position measuring system used is a motor consisting of a stator and a rotor having a plurality of permanent magnets, and is spaced apart by a predetermined distance from the rotor to measure edge magnetic flux of the permanent magnets to output an output signal of the motor. And a Hall sensor to be generated, an electric circuit unit for removing noise from the output signal, and an algorithm processing unit for processing the noise-free output signal to calculate a rotor rotation position of the motor.

According to the present invention, by allowing the Hall sensor to measure the edge magnetic flux generated in the permanent magnet, there is no need to consider the signal interference by the winding of the stator, there is no need for a separate magnet or a space for a certain distance Is effective.

Description

Method and system for measuring the position of a motor rotor using fringe field, and Structure for suporting Hall sensors for the same}

The present invention relates to a method and system for measuring a motor position, and more particularly, to a method and system for measuring a motor position using an edge magnetic flux generated by attaching a hall sensor to one side of a motor, and a support structure for supporting the hall sensor. .

In general, the position sensor used in the motor is fixed to the motor shaft to sense the value of the signal change caused by the rotation of the rotor, thereby indirectly knowing the position and speed. In particular, the position sensor may include an encoder or a resolver. In this case, in order to prevent signal loss due to axial vibration, there is a disadvantage in that a predetermined distance, x, should be floated.

In order to solve the disadvantage caused by the use of the position sensor, there is a method using a hall sensor. There are two forms of this approach. In the first form, the magnetic flux is detected by the hall sensor using another permanent magnet without using the magnetic flux of the permanent magnet motor. In this case, there is no need to keep a predetermined distance, thereby creating a space margin.

That is, three Hall sensors are floated at 120 ° each, and one Hall sensor is aligned with the d-axis, and if it exceeds a certain flux, it becomes '1', and if it falls below a certain flux, it becomes '0'. This is to find the position of the rotor. However, it is difficult to match the d-axis, and since the position of the rotor needs to be reconstructed by reconstructing the pulse signal, the resolution is low and a complicated control algorithm is required.

As a second method, a method of controlling the motor by detecting the magnetic flux of the permanent magnet motor is used. In this case, since the Hall sensor is fixed to the stator, there is an advantage of avoiding signal loss due to axial vibration. However, according to the second method, it is difficult to detect the magnitude of the magnetic flux when using a pulsed Hall sensor.

The present invention has been proposed to overcome the problems posed by the prior art, and an object of the present invention is to provide a measuring method and system for accurately measuring the position of a motor rotor without signal loss due to axial vibration generated when using a position sensor. do.

In addition, the present invention to easily match the d-axis when using the Hall sensor, and to easily determine the position of the rotor to improve the resolution, and to provide a measuring method and system to simplify the control algorithm to implement the same for another object do.

Another object of the present invention is to provide a method and system for easily detecting the magnitude of magnetic flux even when using a pulsed Hall sensor.

It is another object of the present invention to provide a support structure for supporting a hall sensor for measuring the position of a motor rotor.

To this end, the present invention, a motor comprising a stator and a rotor having a plurality of permanent magnets, a Hall sensor for generating an output signal of the motor by measuring the edge magnetic flux of the permanent magnet spaced apart from the rotor by a predetermined distance, An electric rotor position measuring system using an edge magnetic flux including an electric circuit unit for removing noise from an output signal and an algorithm processing unit for processing a noise canceled output signal to calculate a rotor rotation position of the motor.
In this case, the hall sensor includes a plurality of holes including a hall sensor for a sine wave or pseudo sine wave and a hall sensor for a cosine wave or pseudo cosine wave to measure the edge magnetic flux of the permanent magnet. It includes a sensor.
In addition, the Hall sensor is attached to the stator by the Hall sensor support, is located above the permanent magnet of the longitudinal section of the rotor, the electrical circuit portion is attached to the stator by the Hall sensor support and the electrical circuit support.
At this time, the hall sensor auxiliary support for varying the electrical circuit support is provided, the height of the hall sensor support is variable, thereby varying the position of the hall sensor, the hall sensor to optimize the measured variation of the magnetic flux intensity of the edge of the permanent magnet It is desirable to.
In addition, the present invention comprises a step of generating an output signal of the motor by measuring the edge magnetic flux of the permanent magnet of the hall sensor configured on one side from the motor consisting of a stator and a rotor provided with a plurality of permanent magnets, and noise from the output signal A method of measuring a motor rotor position using edge magnetic flux is provided that includes removing the noise signal and processing the noise-free output signal to calculate a rotor rotation position of the motor.
In addition, the present invention is an electric motor consisting of a stator and a rotor having a plurality of permanent magnets and the end turn is formed on one side, a hole for fixing by a fixing screw on the upper end of the end turn is formed therein, the upper An end turn to support an electric circuit part receiving a signal from the hall sensor, together with a hall sensor support having a groove formed therein, which is spaced apart from the electron by a predetermined distance, and seats a hall sensor for measuring the edge magnetic flux of the permanent magnet. It provides a hall sensor support structure of the motor rotor position measurement using the edge magnetic flux comprising an electrical circuit support portion formed therein a hole for fixing by a fixing screw on the top of the.

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According to the present invention, by allowing the Hall sensor to measure the edge magnetic flux generated in the permanent magnet, there is no need to consider the signal interference by the winding of the stator, there is no need for a separate magnet or a space for a certain distance Is effective.

In addition, by using a look-up table that removes a plurality of Hall sensors, nonlinear components, and interpolation, the d-axis is always matched to return the rotor position, thereby simplifying the control algorithm. .

In addition, by using the linear Hall sensor, there is another effect of achieving a d-axis matching problem, a signal distortion problem due to motor shaft transmission, space saving, simplifying circuits and algorithms, and cost reduction.

In addition, since the Hall sensor is fixed to the stator, there is another effect that the bearing design is easy because the motor is not greatly affected by the vibration of the motor shaft.

In addition, the Hall sensor and the electric circuit is configured near the end turn, there is another effect that can be made densely motor because no special space is required.

In addition, by using the auxiliary support for the Hall sensor, it is possible to simply measure the amount of change of the Hall sensor between the bulbs, there is another effect of increasing the accuracy of the control.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram of a hall sensor hardware according to an embodiment of the present invention. Usually, in the case of an electric motor, it consists of a rotor (5) and a stator (4) which rotates this rotor.

The stator 4 is formed with a winding slot 1 and a copper wire 2: coil wound around the winding slot to generate torque for rotating the rotor 5. The rotor 5 The N-pole permanent magnet 3a and the S-pole permanent magnet 3b which are rotated by this stator are alternately formed. Of course, an air gap 7 is formed between the stator 4 and the rotor 5, so that the rotor 5 can stably rotate between the stators 4.
Here, the PCB electrical circuit portion 16 for determining the exact position of the rotor 5 is configured on one side of the stator 4, and the electrical circuit portion 16 senses the position of the rotor 5 and informs it. The plurality of Hall sensors (11, 12) is installed on the stator (4). Of course, in order to stably attach the plurality of Hall sensors 11 and 12 to the stator 4 at regular intervals from the rotor 5, a supporting structure is required, which will be described later with reference to FIG. 9.
Here, the plurality of Hall sensors 11 and 12 include a Hall sensor for a sine wave or pseudo sine wave, and a Hall sensor for a cosine wave or pseudo cosine wave.

2 is a view illustrating a principle in which the plurality of Hall sensors 11 and 12 accurately sense the position of the rotor according to the present invention. That is, the edge magnetic flux and the magnetic flux direction are formed from the permanent magnet. In other words, the radial magnetic field 9 from the N-pole permanent magnet 3a to the S-pole permanent magnet 3b and the edge magnetic flux from the N-pole permanent magnet 3a to the S-pole permanent magnet 3b. 2 shows the formation of the (10: fringe field).

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For the sake of understanding, in more detail, FIG. 2 shows the direction of the permanent magnetic flux of the axial permanent magnet motor. Since the N pole and the S pole are 90 degrees apart from each other at an electric angle, and the magnet seating is perpendicular to the motor shaft 6 where the slot 1 and the magnetic flux intersect (xy plane), The magnetic flux mostly comes out of the N pole 3a and is formed most strongly by the S pole 3b. Of course, although smaller than the plane of the electric motor, the magnetic flux is also formed in the direction of the axis 6 of the electric motor.

Among them, the magnetic flux in the center of the permanent magnet is close to the fundamental wave. Accordingly, since the hall sensors 11 and 12 generate the output wave signal as shown in FIG. 4 according to the applied magnetic flux, the output wave signals generated at the edge magnetic flux of the center portion of the permanent magnet in the plurality of hall sensors 11 and 12 are generated. By measuring with the signal, it becomes possible to determine the position value of the rotor. Here, the plurality of Hall sensors 11 and 12 may be linear Hall sensors, but the present invention is not limited thereto.

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4 is a view illustrating an output signal in which a hall sensor shows a measurement result of a position of a rotor using the hall sensor configuration. In detail, this is a view showing an output signal of the Hall sensor measuring the N pole permanent magnet and the S pole permanent magnet as the rotor rotates. That is, as shown in FIG. 3, as the rotor 5 rotates by the stator 4, the hall sensor 11 outputs the edge magnetic flux measured by the hall sensor 11.

3 illustrates edge magnetic flux measurement positions of the Hall sensors 11 and 12 according to an exemplary embodiment of the present invention. In the present embodiment, the hall sensor 12 for cosine waves or pseudo cosine waves at the center of the S pole permanent magnet 3b includes the S pole permanent magnet 3b and the N pole permanent magnet 3a. It is installed so that the Hall sensor 11 for the sine wave or pseudo sine wave is placed in the vicinity. That is, the hall sensors 11 and 12 float on the rotor 5 at a predetermined interval from the S pole permanent magnet 3b and the N pole permanent magnet 3a.

Figure 5 shows the cross-sectional view for easy understanding. 5 is a cross-sectional view of the electric motor according to the embodiment of the present invention in the y-y 'axis direction in FIG. In other words, the hall sensor 18 (which represents one of 11 or 12 of FIG. 3) is supported by the end turn 13 hall sensor support 14 and spaced apart from the rotor 5 by a certain distance.
Of course, the Hall sensor 18 must measure the edge magnetic flux of the permanent magnet (3: either the N-pole permanent magnet (3a) or the S-pole permanent magnet (3b)), so that the Hall sensor support 14 It is attached to the stator 4 and is positioned above the permanent magnet 3 in the longitudinal section of the rotor 5 and is fixed by the fixing screw 17.
In addition, the electric circuit portion 16 is also supported by the electric circuit portion supporter 15 and fixed by the fixing screw 17. Here, the permanent magnet 3 may be a film permanent magnet to be in close contact with the rotor 5 of the circumferential surface.
Here, the electrical circuit portion 16 uses the edge magnetic flux that is attached to and supported by the stator 4 by the hall sensor support 14 and the electrical circuit support 15.

At this time, since the Hall sensor auxiliary support 31 which makes the electric circuit part support 15 variable is provided, the height of the Hall sensor support 14 can be changed, and the position of the Hall sensor 18 is changed, and a permanent magnet It is possible to optimize the measured variation of the edge magnetic flux intensity of (3).

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As described above, depending on the distance between the Hall sensor 18 and the rotor 5, i.e. the distance between the Hall sensor 18 and the permanent magnet 3, the accuracy of the measured value for the edge magnetic flux will also vary. do.

Figure 6 is shown in the drawings for ease of understanding. For example, as shown in FIG. 6A, when the hall sensors 11 and 12 are spaced apart from the rotor 5 by a predetermined distance 28a, harmonic components are reduced, and a sinusoidal wave (cosine wave ( Magnetic flux close to 1 ') and sine wave (2') can be obtained.

According to this, it is possible to obtain a value of the correct position to represent all the points of the rotor, which enables precise control.

On the other hand, as shown in (b) of FIG. 6, when the hall sensors 11 and 12 are spaced apart by a distance 28b too close to the rotor 5, the fifth and seventh harmonic components at the edge magnetic flux. Since a large amount is included, errors 60 and 61 due to nonlinear distortion are generated. Therefore, a large error may occur when measuring the speed.

Of course, this error can be corrected in most cases using separate electrical circuits. However, when precise control is required, since the strength of the magnetic flux is very large, the calibration may not be performed. For this purpose, the hall sensor auxiliary support shown in FIG. 9 is used. This will be described later with reference to FIG. 9.

Now, the process of processing the edge flux of the measured permanent magnet is described. First, a diagram showing the concept of this process is shown in FIG. 7. That is, Figure 7 is a conceptual system diagram for implementing a position measurement of the motor according to an embodiment of the present invention.

To explain this, the edge magnetic flux of the permanent magnets 3a and 3b is measured by the hall sensors 11 and 12, and the measured information is transmitted to the electric circuit unit 16 as an output signal, which is then supplied to the electric circuit unit 16. The low pass filter 70 is comprised. Therefore, the noise of this output signal is removed and transmitted to the algorithm processing section 71 for identifying and controlling the position of the rotor.

If the output signal transmitted to the algorithm processing unit 71 is shown in order to easily understand the process to be processed as follows.

1) The noise-free output signal is sized within the range available to the processor (not shown), and the offset is removed.

2) Make the size of output signal output from several Hall sensors the same.

3) After filtering the signal again through the low pass filter, using the signal close to the fundamental wave, the angle is obtained by using a look-up table and interpolation method.

4) In order to correct the phase accompanied by the filter, using each lookup table and interpolation method, the angle obtained is measured over a certain time, and the speed is divided by a constant time, and the phase is calculated according to the calculated speed. Correct.

Now, this algorithm processing will be described in detail with reference to FIG. 8.

Hall sensors 11 and 12, i.e., signals from sin Hall sensor 11 and cos Hall sensor 12 of FIG. 1 are not exactly the same size of two signals, so the sizes of the two signals are adjusted according to the processor. Adjust 800 (800).

Since these signals contain various noises, the noises are removed as shown in the following equation (810).

→ 일반적인 이산형(discrete type) 필터

¡Æ typical discrete type filters

→

로 두면,

→

If you leave it,

간격으로 측정한 값들을 바탕으로 시정수

로 정한 후 입력 신호 값

을 필터링하여 필터링 된

을 사용하면, 1차 저역 통과 필터와 같은 효과로 동작하여 잡음을 제거하게 된다.In other words,

Time constant based on values measured at intervals

Input signal value after setting

Filtered to filter

If used, it works like the first-order lowpass filter to remove noise.

The signal obtained here becomes a sine wave close to the fundamental wave (811).

In order to determine the absolute angle using only data of one quadrant of the quadrants, a code is determined based on the signs of signals from the plurality of quadrants (820).

Once the sign is determined, the absolute value is taken into data of one quadrant (840).

Since this data has nonlinear distortion, an inverse tangent lookup table is created by considering the input signal as any two unknowns, and an inverse tangent is obtained based on the signal (830, 831, 850).

Two-dimensional interpolation is used to reduce the error caused by insufficient data.

라 하면 일정시간 동안 전후의 값을 비교하여 보간법을 사용하여

얻을 수 있다(870, 860, 861).Since the absolute angle is obtained based on the plurality of signals, the value obtained through the data of the lookup table with the plurality of signals is obtained.

Is to use the interpolation method

Obtainable (870, 860, 861).

To compensate for the phase due to the filter, the phase is compensated for with speed. Velocity is obtained by the difference between absolute angles sampled over a certain time as follows (880, 890).

After this calibration process, the desired speed and absolute angle are output. The results obtained through this process are shown in FIG. 10.

As described above, in most cases, it is possible to calibrate the value of the signal in the electric circuit, but when the precise control is required, the intensity of the magnetic flux is very large, so the calibration is not easy. Therefore, for this purpose, a hall sensor support structure as shown in FIG. 9 is required.

In other words, by supporting the hall sensor 18 as a Hall sensor support or a Hall sensor auxiliary support in FIG. 9 (d), the Hall sensor 18 can accurately measure the edge magnetic flux variation of the permanent magnet 3. will be.

Accordingly, FIG. 9A illustrates a hall sensor support 14 installed at a lower end of FIG. 9D, and FIG. 9B illustrates a Hall sensor auxiliary support 31 and FIG. 9C. Figure 2 shows that the hall sensor auxiliary support 31 is coupled to the electrical circuit support 15 supporting the electrical circuit 16.

Of course, these supports are formed therein with holes 90 into which fixing screws 17 are to be inserted. In addition, the groove 30 is formed at the upper end of the hall sensor support 14, the hall sensor 18 is It can be fixed so as not to shake.

The hall sensor auxiliary support 31 may be assembled to the support 15 to adjust the height of the hall sensor support 14. That is, when the Hall sensor auxiliary support 31 is used, since the Hall sensor support 14 is further raised, the distance between the Hall sensor 18 and the permanent magnet 3 is increased, so that even if the strength of the edge magnetic flux is strong, the measurement can be performed. It becomes possible. Figure 9 (d) showing this.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art may realize other embodiments corresponding to various modifications and equivalents therefrom. I will understand. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

1 is a block diagram of the Hall sensor hardware according to an embodiment of the present invention.

2 is a view showing the magnetic flux direction and the edge magnetic flux of a general electric motor.

Figure 3 is a view showing the edge magnetic flux measurement position of the Hall sensor according to an embodiment of the present invention.

Figure 4 is a view showing the output signal of the Hall sensor in accordance with the rotor rotation according to an embodiment of the present invention.

5 is a cross-sectional view of the electric motor according to an embodiment of the present invention in the y-y 'axis direction in FIG.

Figure 6 is a Hall sensor position and thus the Hall sensor waveform diagram according to an embodiment of the present invention.

7 is a system diagram for implementing a position measurement of the motor according to an embodiment of the present invention.

8 is a system algorithm for implementing a position measurement of the motor according to an embodiment of the present invention.

9 is a hall sensor support according to an embodiment of the present invention.

10 is an experimental waveform diagram before and after signal processing according to an embodiment of the present invention.

**** Drawing Code Description ****

1: winding slot 2: copper

3a: N-pole permanent magnet 3b: S-pole permanent magnet

4: Stator 5: Rotor

7: Air gap

9: radial field from the permanent magnet

10: fringe field from the permanent magnet

11: sin Hall sensor 12: cos Hall sensor

13: End turn 14: Hall sensor support

15: electrical circuit support 16: electrical circuit

17: fixed screw 18: Hall sensor

30: Hall sensor insertion groove 31: Hall sensor auxiliary support

90: hall

Claims (22)

delete An electric motor comprising a stator and a rotor having a plurality of permanent magnets, A hole for a sine wave or pseudo sine wave to generate an output signal of the motor by measuring the edge magnetic flux of the permanent magnet spaced apart from the rotor by a predetermined distance. A plurality of Hall sensors including a sensor and a Hall sensor for cosine waves or pseudo cosine waves, An electric circuit unit for removing noise from the output signal; An algorithm processor configured to calculate a rotor rotation position of the motor by processing an output signal from which the noise is removed; Motor rotor position measurement system using the edge magnetic flux comprising a. delete delete delete delete delete delete The method of claim 2, The hall sensor is attached to the stator by a hall sensor support, and is located above the permanent magnet of the longitudinal section of the rotor; And the electric circuit part using an edge magnetic flux attached to the stator by the hall sensor supporter and the electric circuit supporter. The method of claim 9, The hall sensor auxiliary support is provided to make the electrical circuit part support variable. Since the height of the hall sensor support is variable, the position of the hall sensor is varied so that the hall sensor measures the change amount of the edge magnetic flux intensity of the permanent magnet. Rotor position measurement system using edge magnetic flux to optimize the performance. delete The method of claim 2, The algorithm processing unit, Means for scaling said noise canceled output signal within an available range and eliminating offset to equalize the magnitude of said output signal; Means for obtaining an absolute angle using a look-up table and interpolation using a signal close to a fundamental wave after filtering the output signal; Means for measuring the absolute angle over a period of time to correct the phase accompanied by the filtering; Means for calculating a speed by dividing the absolute angle by a constant time; A motor rotor position measurement system using edge magnetic flux comprising means for correcting phase according to a calculated speed. delete Generating an output signal consisting of a sin wave signal and a cos wave signal of the motor by measuring an edge magnetic flux of the permanent magnet by a hall sensor configured at one side from an electric motor including a stator and a rotor having a plurality of permanent magnets; , Removing noise from the output signal; Calculating a rotor rotational position of the motor by processing the noise-free output signal Motor rotor position measurement method using the edge magnetic flux comprising a. delete delete delete delete delete The method of claim 14, The position of the hall sensor is variable motor rotor position measurement method using the edge magnetic flux to measure the amount of change in the magnetic flux intensity of the permanent magnet. An electric motor comprising a stator and a rotor having a plurality of permanent magnets formed on one side of the end turn, A hole for fixing by a fixing screw is formed inside the upper end of the end turn, and a groove for mounting a hall sensor for measuring the edge magnetic flux of the permanent magnet is spaced apart from the rotor by a predetermined distance at an upper end thereof. Hall sensor support, An electric circuit part supporter having a hole formed therein to be fixed by a fixing screw on an upper end of the end turn to support an electric circuit part receiving a signal from the hall sensor together with the hall sensor support; Hall sensor support structure of the motor rotor position measurement using the edge flux comprising a. The method of claim 21, Hall sensor support structure of the electric motor rotor position measurement using the edge magnetic flux that can be assembled in the electric circuit support, the hall sensor auxiliary support for varying the height of the Hall sensor support.

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