CN104200976B - Harmonic elimination waves axial magnetic circuit monopole rotary transformer and signal winding method for winding - Google Patents

Abstract

The invention relates to a harmonic elimination type axial magnetic circuit unipolar rotary transformer and a signal winding winding method, belonging to the technical field of transformers, and aims to solve the problem of excessive measurement accuracy caused by function errors in existing reluctance rotary transformers. The inner ring surface of the stator is processed with annular grooves, which divide the 4N long stator teeth into 4N upper stator teeth and 4N lower stator teeth, and 4N pairs of stator teeth are formed by 4N upper stator teeth and 4N lower stator teeth; excitation The windings are placed in the annular slots, and the sine and cosine signal windings are wound on the stator teeth in layers. For the sinusoidal signal winding, start from the plane and wind the first group of adjacent 2N pairs of stator teeth in the counterclockwise direction, and the second group of adjacent 2N pairs of stator teeth in the clockwise direction, the sine and cosine The signal windings are wound in the same way, with a phase difference of 90° electrical angle. The invention is used in the occasion where the rotary encoder cannot work normally.

Description

Harmonic Elimination Type Axial Magnetic Circuit Unipolar Resolver and Signal Winding Winding Method

technical field

The invention relates to a harmonic elimination type axial magnetic circuit rotary transformer and a signal winding winding method, belonging to the technical field of transformers.

Background technique

As a high-precision sensor with high reliability and high anti-interference, the resolver is suitable for detecting the position and speed in the control system of the space manipulator. It requires light weight, small diameter, high precision and simple structure. The reluctance rotary transformer is a kind of rotary transformer developed rapidly in recent years. Its brushless, non-coupling transformer structure, compared with the wound rotor rotary transformer, is reliable in use and has a long service life. It is widely used in high temperature, severe cold, humidity, high speed, high vibration and other occasions where the rotary encoder cannot work normally, such as robots Systems, mechanical tools, automobiles, electric power, metallurgy, textiles, printing and other fields. At present, the application in the field of aerospace and aviation is in the critical and key research stage. Existing axial reluctance resolvers have relatively low precision.

Contents of the invention

The purpose of the present invention is to provide a harmonic elimination type axial magnetic circuit unipolar resolver and a signal winding method. In order to solve the problem of excessive measurement accuracy caused by the function error of the existing reluctance resolver, the present invention Using a specific winding method and reasonably arranging the signal winding can effectively weaken the error caused by the harmonic problem.

Realize above-mentioned purpose, the technical scheme that takes is as follows:

The harmonic elimination type axial magnetic circuit unipolar rotary transformer of the present invention includes a stator, a rotor, an excitation winding, a sine signal winding and a cosine signal winding; 4N stator long slots and 4N stator long teeth are machined on the inner ring surface of the stator along the axial direction. The 4N stator long slots are evenly distributed along the inner ring surface of the stator. The middle of the two adjacent stator long slots is the stator Long teeth, 4N stator long slots and 4N stator long teeth are located on the same circumference of the inner ring surface of the stator; an annular groove is processed in the middle of the inner ring surface of the stator along the circumferential direction, and the annular groove is opened in the stator long slot and the stator long In the middle of the tooth, the annular groove divides the 4N long stator teeth into 4N upper stator teeth and 4N lower stator teeth, and 4N pairs of stator teeth are formed by 4N upper stator teeth and 4N lower stator teeth; where N is a natural number , N ranges from 2 to 15; the excitation winding is placed in the annular slot of the stator, and the excitation winding is concentrically arranged with the stator; the sine signal winding and the cosine signal winding are set in two layers and wound on the 4N pair of stator teeth.

The winding method of the harmonic elimination type axial magnetic circuit unipolar rotary transformer winding of the present invention, the described method is:

For the sinusoidal signal winding, randomly select a plane that passes through the axis of the stator and does not intersect with the stator teeth, and based on this plane, divide the 4N pairs of stator teeth into two groups in the clockwise direction; In the clockwise direction, the first group of adjacent 2N pairs of stator teeth is wound in the counterclockwise direction, and the second group of adjacent 2N pairs of stator teeth is wound in the clockwise direction; the winding method of the cosine signal winding is the same as that of the sine signal winding The winding methods are the same, with a phase difference of 90° electrical angle.

The present invention has the following beneficial effects:

1. The harmonic elimination type axial magnetic circuit unipolar rotary transformer of the present invention is a high-precision angle sensing element based on the principle of reluctance change. Its structure is simple and compact, which not only reduces the constant component of potential, but also can Eliminate errors caused by installation eccentricity to the greatest extent, thereby improving measurement accuracy.

2. The rotor is equipped with magnetically permeable materials, and the magnetically permeable materials are distributed in a slanted ring. The excitation winding and the sine and cosine signal windings are arranged in the long slot of the stator in an orthogonal manner, and no winding is arranged on the rotor. When the excitation winding is supplied with alternating current of constant voltage and frequency, the above-mentioned two-phase signal windings respectively output voltages whose electromotive force amplitude varies with the rotor angle as sine and cosine. The invention is applicable to the speed and position sensors of the servo system.

3. The axial magnetic circuit reluctance type unipolar resolver with the stator harmonic elimination function of the present invention improves the measurement accuracy on the basis of the existing axial reluctance type resolver.

4. The change of the air gap permeability of the invention mainly depends on the change of the coupling area between the rotor and the stator with the mechanical angle, which is embodied in the relative position between the magnetic material of the rotor and the upper stator teeth and the lower stator teeth of the stator Variety.

5. The method of the present invention can effectively reduce the harmonic error content, thereby improving the measurement accuracy on the basis of the existing reluctance rotary transformer.

In summary, the harmonic elimination type axial magnetic circuit unipolar rotary transformer and the signal winding winding method of the present invention can be widely used in occasions where the rotary encoder cannot work normally such as high temperature, severe cold, humidity, high speed, high vibration, such as a robot Systems, mechanical tools, automobiles, electric power, metallurgy, textiles, printing and other fields.

Description of drawings

Fig. 1 is a structural schematic diagram of a harmonic elimination type axial magnetic circuit unipolar resolver;

Fig. 2 is the structural representation of rotor;

Fig. 3 is an axial sectional view of a harmonic elimination type axial magnetic circuit unipolar resolver;

Figure 4 is the distribution diagram of the turns of the sine and cosine signal windings of the harmonic elimination type axial magnetic circuit unipolar resolver. In the figure, E refers to the sine phase, F refers to the cosine phase, and the black area represents all Corresponding to the turn value of the signal winding;

Fig. 5 is a schematic diagram of the structure of the excitation winding.

The names and labels of the components shown in the figure are as follows:

Rotor 1, inclined ring 1-1, support sleeve 1-2, stator 2, upper stator teeth 2-1, annular groove 2-2, lower stator teeth 2-3, air gap 3, sine signal winding 4, cosine signal Winding 5, plane 6, stator long slot 7, field winding 8, stator teeth 9.

detailed description

Specific implementation mode 1: As shown in Figures 1 to 5, a harmonic elimination type axial magnetic circuit unipolar resolver includes a stator 2, a rotor 1, an excitation winding 8, a sine signal winding 4, and a cosine signal winding 5; the rotor 1 The stator 2 and the stator 2 are both cylindrical in shape, and there is an equal air gap 3 between the stator 2 and the rotor 1. The inner ring surface of the stator 2 is machined with 4N stator long slots 7 and 4N stator long teeth along the axial direction, and the 4N stator long teeth are The slots 7 are evenly distributed along the inner ring surface of the stator 2, the stator long teeth are in the middle of two adjacent stator long slots 7, and the 4N stator long slots 7 and 4N stator long teeth are located on the same circumference of the inner ring surface of the stator 2 Above; the middle part of the inner ring surface of the stator 2 is processed with an annular groove 2-2 along the circumferential direction, and the annular groove 2-2 is provided in the middle part of the stator long groove 7 and the stator long teeth, and the annular groove 2-2 divides 4N stator long The teeth are divided into 4N upper stator teeth 2-1 and 4N lower stator teeth 2-3, and 4N pairs of stator teeth 9 are formed by 4N upper stator teeth 2-1 and 4N lower stator teeth 2-3; wherein, N It is a natural number, and the value range of N is 2 to 15; the excitation winding 8 is placed in the annular groove 2-2 of the stator 2, and the excitation winding 8 is concentrically arranged with the stator 2; the sine signal winding 4 and the cosine signal winding 5 are respectively provided with two layers of winding On the 4N pairs of stator teeth 9; that is, the sine signal winding 4 and the cosine signal winding 5 are not arranged on the same layer.

The groove width of the annular groove 2-2 is equal to the axial length of the upper stator tooth 2-1 and the lower stator tooth 2-3.

The sine and cosine signal windings are wound according to the sine law.

Specific embodiment two: as shown in Fig. 1 and Fig. 2, the harmonic elimination type axial magnetic circuit unipolar resolver described in specific embodiment one, the rotor 1 is composed of The inclined ring 1-1 made of magnetically conductive material and the supporting sleeve 1-2 made of non-magnetically conductive material located at the axial ends of the inclined ring 1-1 are composed of two parts; the inclined ring 1-1 is composed of The rotor 1 is formed by two parallel planes chamfering the cylindrical shape.

Specific embodiment three: as shown in Fig. 1 and Fig. 2, the harmonic elimination type axial magnetic circuit unipolar rotary transformer described in specific embodiment two, the material of the said oblique ring 1-1 is polonium alloy or soft The ferrite material, or stacked annular silicon steel sheets; the material of the supporting sleeve 1-2 is aluminum alloy. Such a structure of the rotor 1 changes the coupling area between the stator teeth 9 and the rotor 1, thereby realizing the periodic change of the air gap permeance.

Embodiment 4: As shown in FIG. 1 , the harmonic elimination type axial magnetic circuit unipolar rotary transformer described in Embodiment 1, the stator 2 is formed by laminating several annular silicon steel sheets. This structure can effectively reduce loss.

Embodiment 5: As shown in Fig. 1 and Fig. 3, the harmonic elimination type axial magnetic circuit unipolar resolver described in Embodiment 1 or 2 or 3 or 4, the sine signal winding 4 and the cosine signal The windings 5 are concentrated windings with the same number of turns and the same line type. The resistance is guaranteed to be equal, so as to ensure that the two sets of windings have the same performance when they work; the 4 turns of the sine signal winding and the 5 turns of the cosine signal winding are distributed according to the law of sine. This special structure enables high-precision measurement.

Specific embodiment six: as shown in Fig. 1 and Fig. 4, the harmonic elimination type axial magnetic circuit unipolar rotary transformer winding winding method described in specific embodiment five,

For the sinusoidal signal winding 4, a plane 6 passing through the axis of the stator 2 and not intersecting the stator teeth 9 is randomly selected, and based on the plane 6, 4N pairs of stator teeth 9 are equally divided into two groups in the clockwise direction ; Starting from the plane 6, the first group of adjacent 2N pairs of stator teeth 9 are wound in a clockwise direction, and the second group of adjacent 2N pairs of stator teeth 9 are wound in a clockwise direction; the cosine The winding method of the signal winding 5 is the same as the winding method of the sinusoidal signal winding 4 , with a phase difference of 90° electrical angle.

The number of turns of the sine and cosine signal windings wound on each pair of stator teeth 9 changes according to the law of sine.

Embodiment 7: As shown in Fig. 1 and Fig. 4, the method for winding the winding of the harmonic-eliminating axial magnetic circuit unipolar resolver described in Embodiment 6,

For the sinusoidal signal winding 4, the turns distribution is

${\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; N</span>}}<span\; class="notranslate">\; )</span>$

For the cosine signal winding 5, the number of turns is distributed as

${\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; N</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span>$

In the formula, Z ₁ is the number of turns of the sine signal winding 4 on a pair of stator teeth 9, Z ₂ is the number of turns of the cosine signal winding 5 on a stator tooth 9, the values of Z ₁ and Z ₂ are rounded, and Z ₁ and Z When ₂ is a negative value, it means reverse winding; K ₁ is the amplitude of prefetching 4 turns of sine signal winding; K ₂ is the amplitude of prefetching 5 turns of cosine signal winding, and the units of K ₁ and K ₂ are turns ; A ₁ is the logarithm of the sine phase stator teeth from plane 6, A ₂ is the logarithm of cosine phase stator teeth from plane 6, and the value ranges of A ₁ and A ₂ are both 0-4N.

Claims (2)

1. A winding method of a harmonic elimination type axial magnetic circuit single-pole rotary transformer comprises a stator (2), a rotor (1), an excitation winding (8), a sine signal winding (4) and a cosine signal winding (5); the rotor (1) and the stator (2) are both in a cylinder shape, equal air gaps (3) are arranged between the stator (2) and the rotor (1), and 4 are machined on the inner annular surface of the stator (2) along the axial directionNEach stator slot (7) and (4)NA stator long tooth, 4NThe stator long slots (7) are uniformly distributed along the inner annular surface of the stator (2), the stator long teeth are arranged between two adjacent stator long slots (7), and 4NEach stator slot (7) and (4)NThe stator long teeth are positioned atThe same circumference of the inner ring surface of the stator (2); an annular groove (2-2) is processed in the middle of the inner annular surface of the stator (2) along the circumferential direction, the annular groove (2-2) is formed in the middle of the stator long groove (7) and the stator long tooth, and 4 is formed by the annular groove (2-2)NEach stator long tooth is divided into 4NUpper stator teeth (2-1) and 4NA lower stator tooth (2-3) consisting of 4NUpper stator teeth (2-1) and 4NThe lower stator teeth (2-3) form 4NA pair of stator teeth (9); wherein,Nis a natural number, and is provided with a plurality of groups,Nthe value range of (1) is 2-15; the excitation winding (8) is placed in an annular groove (2-2) of the stator (2), and the excitation winding (8) and the stator (2) are arranged concentrically; the sine signal winding (4) and the cosine signal winding (5) are respectively wound on the two layers of the winding (4)NOn stator tooth (9), characterized by: the rotor (1) is composed of an inclined ring (1-1) which is positioned on the circumferential side wall of the rotor (1) and is made of magnetic conductive materials and supporting sleeves (1-2) which are positioned at the two axial end parts of the inclined ring (1-1) and are made of non-magnetic conductive materials; the inclined ring (1-1) is formed by two rotors (1) which are parallel planes and are chamfered into a cylinder shape, a plane (6) which passes through the axis of the stator (2) and does not intersect with the stator teeth (9) is arbitrarily selected for the sinusoidal signal winding (4), and the inclined ring (1-1) takes the plane (6) as a reference and is used for connecting the stator teeth (9) in the clockwise directionNThe stator teeth (9) are divided into two groups; starting from the plane (6) in the clockwise direction, the first group of adjacent 2NWinding the stator teeth (9) in a counter-clockwise direction, the second group being adjacent 2NWinding the stator teeth (9) along the clockwise direction; the winding mode of the cosine signal winding (5) is the same as that of the sine signal winding (4), and the phase difference is 90 degrees in electrical angle.

2. The winding method of the harmonic elimination type axial magnetic circuit single-pole rotary transformer winding according to claim 1, characterized in that:

for the sinusoidal signal winding (4), the number of turns is distributed in such a way that

For the cosine signal winding (5), the number of turns is distributed in

In the formula,Z ₁is the number of turns of the sinusoidal signal winding (4) on a pair of stator teeth (9),Z ₂is the number of turns of a cosine signal winding (5) on one stator tooth (9),Z ₁ 、Z ₂the value of (a) is rounded to unity,Z ₁ 、Z ₂when the value is negative, the reverse winding is indicated;K ₁for prefetching the amplitude of the number of turns of the sinusoidal signal winding (4);K ₂to prefetch the amplitude of the number of turns of the cosine signal winding (5),K ₁、K ₂the unit of (a) is a turn;A ₁is the logarithm of the sine phase stator teeth from the plane (6),A ₂is the cosine phase stator tooth pair number from the plane (6),A ₁ 、A ₂the value ranges are all 0-4N。