CN108731586A - Rotation angle detection apparatus, rotary angle sensing system and rotary body - Google Patents

Abstract

The invention provides a rotation angle detection device, a rotation angle detection system and a rotating body. The rotation angle detection device includes a stator detection tooth, and also includes a plurality of coils, each coil is wound on the stator detection tooth, and each stator detection tooth is wound with at most one coil; the rotation angle detection device includes at least one set of detection coil systems, each set The detection coil system includes at least 4 columns of parallel multi-bridge arm bridge circuits composed of multiple coils; a lead wire is drawn from the contact of the upper and lower bridge arms of each column of bridge arms as a signal line; The differential signal generates a first signal voltage, and the differential signal of the other two signal lines generates a second signal voltage. The phase difference between the first signal voltage and the second signal voltage is a set angle to detect the rotation angle of the rotor. The present invention adopts the differential mode, and can greatly reduce the influence of external interference in the signal transmission process in the application of long signal lines.

Description

Rotation angle detection device, rotation angle detection system and rotating body

technical field

The invention belongs to the technical field of detection, and relates to a transformer and a rotating body, in particular to a rotation angle detection device and a rotating body.

Background technique

Industries such as electric vehicles, industrial automation, robotics, textile machinery and aerospace all rely on high-performance control of rotating electrical machines, requiring motor rotation angle sensors and often requiring them to be used in high-temperature environments.

Currently, photoelectric angle encoders are widely used because they can easily detect the rotation angle of motors. However, this kind of photoelectric angle encoder contains photoelectric components and semiconductor devices, so it cannot be used in high temperature environments.

A resolver is a sensor that can detect rotation angles. Since it does not use a photoelectric conversion device, it can be used in a higher temperature environment.

The existing inductive rotary transformer has two excitation wires and two signal wires, one of the two signal wires is a sine signal, and the other is a cosine signal. In the process of long-distance transmission, it is easy to be interfered by surrounding signals, which will adversely affect the detection accuracy, especially in the case of strong surrounding interference, which may lead to the failure to measure the rotation angle of the rotor normally.

In the current resolver, there are multiple sets of windings on the stator detection teeth, usually three sets of windings, which makes the manufacturing process very complicated, and the consistency of the resolver is adversely affected due to the different positions of the windings; at the same time, due to the same There are multiple sets of windings on the sub-detection teeth. In the process of production and use, problems such as winding short circuit and disconnection are likely to occur due to vibration and shock, which will lead to failure of the resolver and poor reliability.

Contents of the invention

An object of the present invention is to provide a rotation angle detection device, a rotation angle detection system, and a rotating body with high measurement accuracy and reliability.

In order to achieve the above object, the solution of the present invention is:

A rotation angle detection device, comprising a stator and a rotor, the stator includes a stator yoke and stator detection teeth located on the stator yoke; the rotor has rotor salient poles; the stator yoke, the stator detection teeth and the The materials of the salient poles of the rotor are all magnetically conductive materials; the rotation angle detection device also includes a plurality of coils, each of which is wound on the stator detection teeth, and each of the stator detection teeth is wound with at most one of the Coils, the inductance of each of the coils changes with the change of the rotation angle of the rotor, so as to detect the rotation angle of the rotor; the rotation angle detection device includes at least one set of detection coil systems, each set of The detection coil system includes at least 4 columns of parallel multi-bridge arm bridge circuits composed of a plurality of coils, each column of bridge arms includes at least two bridge arms, and each bridge arm includes at least one coil; the multi-bridge arms The two parallel connection points of the bridge circuit lead out two lead-out wires as excitation lines, and one lead-out wire is drawn out from the contact of the upper and lower bridge arms of each column of bridge arms as a signal line; a differential signal generated by two of the signal leads The first signal voltage varies with the rotation angle of the rotor, and another second signal voltage that varies with the rotation angle of the rotor is generated from the differential signals of the other two signal lines, the first signal voltage and the second signal The phase difference of the voltage is a set angle to detect the rotation angle of the rotor.

The multi-arm bridge circuit only includes 4 columns of bridge arms connected in parallel; the rotation angle detection device includes 2 excitation wires and 4 signal wires in total.

The number of teeth detected by the stator is 8*K, and the number of salient poles of the rotor is N; wherein, K and N are both positive integers; preferably, K is equal to 1, and N is equal to 2.

All the stator detection teeth wound with coils are regularly distributed along the circumference of the stator yoke to ensure that the phase difference between the first signal voltage and the second signal voltage is 90 degrees.

The stator also includes stator decoupling teeth to reduce the magnetic coupling between the stator detection teeth wound with coils; the stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, wound with At least one stator decoupling tooth is arranged between the stator detection teeth of the coil; the material of the stator decoupling tooth is a magnetically permeable material.

The stator also includes stator auxiliary teeth to improve the symmetry of the magnetic circuit system; the stator auxiliary teeth are arranged outside the stator detection teeth; the material of the stator auxiliary teeth is magnetically permeable material.

The angle spanned by the stator yoke is less than 360 degrees.

The rotation angle detection device includes at least two sets of the detection coil system; at least two sets of the detection coil system are arranged on the same stator.

The shape of the salient poles of the rotor is set so that the change part of the inductance of each of the coils changes as a sine wave with the change of the rotation angle of the rotor; or, the shape of the salient poles of the rotor is set so that each The change part of the inductance of each of the coils changes as a triangular wave with the change of the rotation angle of the rotor.

It has a stator casing, an end cover, a bearing, and a rotating shaft; the stator includes a stator iron core, and the stator iron core is installed on the stator casing; the rotor includes a rotor iron core, and the rotor iron core is installed on the rotating shaft, co-rotate with the entire rotor.

The rotor is arranged inside the stator; alternatively, the rotor is arranged outside the stator.

A rotation angle detection system of the above rotation angle detection device, comprising at least two rotation angle detection devices; the at least two rotation angle detection devices include a first rotation angle detection device and a second rotation angle detection device; the first The rotor of the rotation angle detection device includes only one rotor salient pole; the rotor of the second rotation angle detection device includes two or more rotor salient poles; the rotor of the first rotation angle detection device and the rotor of the second rotation angle detection device The rotors are set to rotate synchronously.

A rotating body comprising the aforementioned rotation angle detection device, the rotation body comprising a rotation body body and the rotation angle detection device; the rotation angle of the rotation angle detection device is in a regular relationship with the rotation angle of the rotation body body , so that the rotation angle of the rotating body body can be detected by the rotation angle detection device.

The rotor core of the rotation angle detecting device is installed on the rotating shaft of the rotating body, rotates synchronously with the rotating body and forms an integrated structure to detect the rotation angle of the rotating body; the rotation angle detection The stator of the device is installed on the stator casing shared with the rotating body body; preferably, the rotating body body is a motor; or, the rotation angle detection device is fixed at the end of the rotating body body; The rotating shaft of the rotation angle detecting device is connected to the rotating shaft of the rotating body so that the rotating angle detecting device and the rotating body rotate coaxially; preferably, the rotating shaft of the rotating angle detecting device is connected to the rotating body The rotating shafts are connected through couplings; preferably, the rotating body is an electric motor.

A rotating body of the aforementioned rotation angle detection system, wherein the rotation body includes a rotation body body and the rotation angle detection system; the rotation angle of the rotation angle detection system is in a regular relationship with the rotation angle of the rotation body body, The rotation angle of the rotating body body is detected by the rotation angle detection system.

Each rotor core of the rotation angle detection system is installed on the shaft of the rotating body, rotates synchronously with the rotating body and forms an integrated structure to detect the rotation angle of the rotating body; the rotation angle The stators of the detection system are installed on the same casing as the rotating body; preferably, the rotating body is a motor; or, the rotation angle detection system is fixed at the end of the rotating body; The rotation shaft of the rotation angle detection system is connected to the rotation shaft of the rotation body so that the rotation angle detection system and the rotation body rotate coaxially; preferably, the rotation shaft of the rotation angle detection system is connected to the rotation body The rotating shaft of the body is connected through a coupling; preferably, the rotating body is a motor.

Due to the adoption of the above solution, the beneficial effect of the present invention is that the present invention can greatly reduce the influence of external interference in the signal transmission process in applications with long signal lines because the rotor position signal adopts a differential mode. At the same time, it is possible to wind at most one coil on each stator detection tooth, which greatly simplifies the production process, effectively prevents the consistency of the rotation angle detection device from being adversely affected due to the different positions of the windings, and overcomes the problems in the prior art. The same stator detects the risk of short circuits between different windings on the teeth.

In the case where the angle spanned by the stator yoke of the rotation angle detection device is less than 360 degrees, miniaturization and weight reduction of the rotation angle detection device are greatly facilitated. By arranging stator decoupling teeth and/or stator auxiliary teeth to actively avoid magnetic coupling interference, the accuracy of the rotation angle detection device is greatly optimized, while its fast response performance is improved, and the system structure of the rotation angle detection device is simplified.

The present invention can install two or more detection coil systems on one rotation angle detection device. Compared with the multi-resolver system with the same reliability in the prior art, the number of rotation angle detection devices required is less, The occupied volume is small, and the cost is greatly reduced; compared with the multi-rotary transformer system with the same number of rotary transformers in the prior art, when the occupied volume is the same, the reliability is greatly improved.

In the rotation angle detection system of the present invention, at least two rotation angle detection devices are used in combination to obtain the absolute position of the motor rotor with high precision.

The rotating body of the present invention also has the above advantages.

Description of drawings

1 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the first embodiment of the present invention;

2 is a schematic diagram of the overall structure of the rotation angle detection device in the first embodiment of the present invention;

3 is a circuit diagram of a multi-arm bridge circuit in the first embodiment of the present invention;

4 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the second embodiment of the present invention;

5 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the third embodiment of the present invention;

6 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the fourth embodiment of the present invention;

7a is a circuit diagram of the first multi-arm bridge circuit in the fourth embodiment of the present invention;

7b is a circuit diagram of a second multi-arm bridge circuit in the fourth embodiment of the present invention;

Fig. 8a is a schematic cross-sectional view of the stator and rotor of the first rotation angle detection device in the fifth embodiment of the present invention;

Fig. 8b is a schematic cross-sectional view of the stator and rotor of the second rotation angle detection device in the fifth embodiment of the present invention;

Fig. 9a is a circuit diagram of the first multi-arm bridge circuit in the fifth embodiment of the present invention;

Fig. 9b is a circuit diagram of the second multi-arm bridge circuit in the fifth embodiment of the present invention;

Fig. 10 is a schematic structural view of the rotating body in the sixth embodiment of the present invention;

Fig. 11 is a schematic structural view of the rotating body in the seventh embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The invention provides a rotation angle detection device, which includes a stator and a rotor, the stator includes a stator yoke and stator detection teeth on the stator yoke; the rotor has rotor salient poles. Materials of the stator yoke, the stator detection teeth and the salient poles of the rotor are all magnetically permeable materials. The rotation angle detection device also includes a plurality of coils, each coil is wound on the stator detection tooth, and each stator detection tooth is wound with at most one coil, and the inductance of each coil changes with the change of the rotation angle of the rotor for use in Detects the rotation angle of the rotor.

The rotation angle detection device includes at least one set of detection coil systems, each set of detection coil systems includes at least 4 columns of parallel multi-bridge bridge circuits composed of multiple coils, each column of bridge arms contains at least two bridge arms, each The bridge arm includes at least one coil. In the multi-arm bridge circuit, the upper and lower bridge arms of each column of bridge arms include at least one coil; the two parallel connection points of the multi-arm bridge circuit lead out two lead-out lines as excitation lines, and the upper and lower bridge arms of each column of bridge arms The contacts of the arm lead out a lead wire as a signal line. A first signal voltage that varies with the rotation angle of the rotor is generated from the differential signals of the two signal leads, and another second signal voltage that varies with the rotation angle of the rotor is generated from the differential signals of the other two signal wires. The phase difference between the signal voltage and the second signal voltage is a set angle to detect the rotation angle of the rotor.

The number of teeth detected by the stator is 8*K, and the number of salient poles of the rotor is N; where K and N are both positive integers.

Preferably, all the stator detection teeth wound with coils are regularly distributed along the circumference of the stator yoke, so as to ensure that the phase difference between the first signal voltage and the second signal voltage is 90 degrees.

Preferably, the stator further includes stator decoupling teeth (no coils are wound on the stator decoupling teeth), so as to reduce the magnetic coupling between the stator detection teeth wound with coils. The stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least one stator decoupling tooth is arranged between the stator detection teeth wound with coils. The material of the stator decoupling teeth is magnetically permeable.

Preferably, the stator further includes stator auxiliary teeth (no coils are wound on the stator auxiliary teeth), so as to improve the symmetry of the magnetic circuit system. The auxiliary teeth of the stator are arranged on the outside of the detection teeth of the integral stator; the auxiliary teeth of the stator are made of magnetically permeable materials.

In the present invention, the angle spanned by the stator yoke can be less than 360 degrees to reduce volume and weight.

Preferably, the rotation angle detection device includes at least two sets of detection coil systems; at least two sets of detection coil systems are arranged on the same stator.

In the present invention, the rotation angle detection device has a stator casing, an end cover, a bearing and a rotating shaft. The stator includes a stator core, which is installed on the stator casing; the rotor includes a rotor core, which is installed on the rotating shaft and rotates together with the entire rotor.

First embodiment:

In this embodiment, K=1 and N=2, so the number of teeth detected by the stator of the rotation angle detection device is 8, and the number of salient poles of the rotor is 2. FIG. 1 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are evenly distributed along the stator core; 2 rotor salient poles are evenly distributed along the circumference of the rotor core on its outer circle.

Each stator detection tooth has an insulating winding frame (not shown in Figure 1). One coil is wound on each stator detection tooth, and there are 8 coils distributed along the circumference of the 8 stator detection teeth. 1107, 1108 (for the sake of simplicity of the drawings, not all stator detection teeth are marked in Fig. 1, only a few stator detection teeth are marked). The inductance of each coil changes as the rotation angle of the rotor changes. In this embodiment, the shape of the salient poles of the rotor is selected through electromagnetic simulation, so that the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the amplitudes of the fundamental waves of the inductances of the coils are equal.

FIG. 2 is a schematic diagram of the overall structure of the rotation angle detection device. The rotation angle detection device includes a stator 2, a rotor 3, a rotating shaft 4, a bearing 5, a stator casing 6, end covers 701 and 702 on both sides, a bearing chamber, and six lead wires 801, 802, 803, 804, 805, 806. The rotor core is fixed on the rotating shaft 4 and can rotate together with the rotating shaft 4 . The bearing 5 is installed on the rotating shaft 4, and the bearing 5 supports the rotor 3 to rotate smoothly. The stator core is installed and fixed in the stator casing 6 . The bearing chambers are arranged on the two end covers 701 and 702 of the rotation angle detection device, and the outer rings of the bearing 5 are installed in the bearing chambers of the two end covers 701 and 702 to ensure that the centerline of the rotating shaft 4 is aligned with the centerline of the inner circle of the stator 2. unanimous.

In this embodiment, the rotation angle detection device includes a set of detection coil system, the detection coil system includes 4 columns of parallel multi-bridge bridge circuits composed of the above 8 coils, each column of bridge arms includes two bridge arms , with a coil connected in each arm. In this embodiment, the 8 stator coils are divided into 8 groups. Each set of stator coils includes one coil; the inductance of each coil changes sinusoidally with the rotation angle of the rotor. 8 sets of stator coils are connected into a multi-arm bridge circuit as shown in Figure 3. In Fig. 3, the bridge arm X _AC is formed by the coil Y1 on the stator detection tooth 1101, the bridge arm X _AD is formed by the coil Y7 on the stator detection tooth 1107, the bridge arm X _AE is formed by the coil Y2 on the stator detection tooth 1102, and the bridge arm X AD is formed by the coil Y2 on the stator detection tooth 1102. Arm X _AF is composed of coil Y8 on stator detection tooth 1108, bridge arm X _BC is composed of coil Y3 on stator detection tooth 1103, bridge arm X _BD is composed of coil Y5 on stator detection tooth 1105, and bridge arm X _BE is composed of stator detection tooth 1105. The coil Y4 on the detection tooth 1104 is formed, and the bridge arm _XBF is formed by the coil Y6 on the stator detection tooth 1106 .

The 6 contact points A, B, C, D, E, and F of the multi-arm bridge circuit are respectively led out by 6 lead wires as the lead wires 801, 802, 803, 804, 805, 806 of the rotation angle detection device, wherein the lead wires 801 and 802 are excitation lines, and lead lines 803, 804, 805, and 806 are signal lines.

In this embodiment, the principle of generating the sine wave position signal is as follows:

Let the inductances of the coils on the stator detection teeth 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108 be L101, L102, L103, L104, L105, L106, L107, L108 respectively. It can be seen from Figure 1 that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the salient pole of the rotor changes, so that the inductance of each coil changes accordingly, and the change cycle is 2. The change of the inductance of each coil with the rotation angle θm ₁ of the rotor can be expressed as:

L101＝L105＝L1+Lm ₁ *sin(2θm ₁ ) Formula (101)

L102＝L106＝L1+Lm ₁ *sin(2θm ₁ -90) Formula (102)

L103＝L107＝L1+Lm ₁ *sin(2θm ₁ -180) Formula (103)

L104＝L108＝L1+Lm ₁ *sin(2θm ₁ -270) Formula (104)

Wherein, L1 is the DC component of each inductor in this embodiment;

Lm ₁ is the fundamental wave amplitude of each inductor in the present embodiment;

θm ₁ is the rotation angle of the rotor in this embodiment.

Referring to the bridge circuit diagram in Figure 3,

The inductance L_AC of the bridge arm X _AC is: L_AC＝L101 Formula (105)

The inductance L_AD of the bridge arm X _AD is: L_AD＝L107 Equation (106)

The inductance L_AE of the bridge arm X _AE is: L_AE＝L102 Equation (107)

The inductance L_AF of the bridge arm X _AF is: L_AF＝L108 Formula (108)

The inductance L_BC of the bridge arm X _BC is: L_BC＝L103 Formula (109)

The inductance L_BD of the bridge arm X _BD is: L_BD＝L105 Equation (110)

The inductance L_BE of the bridge arm X _BE is: L_BE＝L104 Equation (111)

The inductance L_BF of the bridge arm X _BF is: L_BF＝L106 Formula (112)

Referring to Figure 3 and according to equations (101)-(112), it is easy to obtain the output voltage of the contacts C, D, E, and F of the multi-arm bridge circuit with the change of the rotation angle θm ₁ of the rotor through simple calculation of the circuit And the changing sinusoidal signal, and the signal voltage of the contact C and the signal voltage of the contact D are inverse phase, thus the differential signal voltage between the contact C and D can be obtained, and the differential signal voltage is the sinusoidal signal of the rotor rotation angle θm ₁ ; The signal voltage of the contact point E and the signal voltage of the contact point F are reverse phase, thus the differential signal voltage between the contact points E and F can be obtained, this differential signal voltage is a sinusoidal signal of the rotation angle θm ₁ of the rotor, and the above two groups of differential signals The phases of the signals differ by 90 degrees from each other, that is, two sets of sinusoidal voltage signals with a phase difference of 90 degrees with respect to the rotation angle of the rotor can be obtained, which is the basic signal required for obtaining the rotation angle of the rotor in the prior art, so these The basic signal is transmitted to the subsequently connected signal processing circuit or the rotation angle θm ₁ of the rotor can be obtained through simple calculation.

Since the rotor position signal adopts a differential method, the influence of external interference during signal transmission can be greatly reduced in applications with long signal lines. At the same time, this embodiment can realize at most one coil wound on each stator detection tooth, which greatly simplifies the production process, effectively prevents the consistency of the rotation angle detection device from being adversely affected due to the different positions of the windings, and overcomes the current situation. There is a technical risk of short circuits between different windings on the same stator detection tooth.

Second embodiment:

In this embodiment, K=1, N=2, thus the number of teeth detected by the stator of the rotation angle detection device is 8, and the number of salient poles of the rotor is 2; in addition, in the rotation angle detection device, 8 stator decoupling Coils are not wound on the stator decoupling teeth, and the material of the stator decoupling teeth is magnetically permeable. FIG. 4 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are evenly distributed along the circumference of the stator core; 8 stator decoupling teeth are evenly distributed along the circumference of the stator core; and 2 rotor salient poles are evenly distributed along the circumference of the rotor core on its outer circle. A stator decoupling tooth is designated with reference numeral 9 in FIG. 4 .

Each stator detection tooth has an insulating winding frame (not shown in Figure 4). There is one coil wound on each stator detection tooth, and there are 8 coils distributed along the circumference of the 8 stator detection teeth. 2107, 2108 (For the sake of simplicity of the drawings, not all stator detection teeth are marked in Fig. 4, only a few stator detection teeth are marked). The inductance of each coil changes as the rotation angle of the rotor changes. In this embodiment, the shape of the salient poles of the rotor is selected through electromagnetic simulation, so that the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the amplitudes of the fundamental waves of the inductances of the coils are equal.

For the overall structural schematic diagram of the rotation angle detection device, reference may be made to FIG. 2 in the first embodiment.

In this embodiment, the rotation angle detection device includes a set of detection coil system, and the detection coil system includes a 4-column parallel multi-arm bridge circuit composed of the above 8 coils. In this embodiment, the 8 stator coils are divided into 8 groups. Each set of stator coils includes one coil; the inductance of each coil varies with the rotation angle of the rotor. Eight sets of stator coils are connected to form a multi-arm bridge circuit, and the circuit diagram of the multi-arm bridge circuit can refer to FIG. 3 of the first embodiment. At this time, the bridge arm X _AC is formed by the coil Y1 on the stator detection tooth 2101, the bridge arm X _AD is formed by the coil Y7 on the stator detection tooth 2107, the bridge arm X _AE is formed by the coil Y2 on the stator detection tooth 2102, and the bridge arm X _AF is composed of the coil Y8 on the stator detection tooth 2108, the bridge arm X _BC is composed of the coil Y3 on the stator detection tooth 2103, the bridge arm X _BD is composed of the coil Y5 on the stator detection tooth 2105, and the bridge arm X _BE is composed of the stator detection tooth 2105. The coil Y4 on the tooth 2104 is formed, and the bridge arm _XBF is formed by the coil Y6 on the stator detection tooth 2106 .

The 6 contact points A, B, C, D, E, and F of the multi-arm bridge circuit are respectively led out by 6 lead wires as the lead wires 801, 802, 803, 804, 805, 806 of the rotation angle detection device, and the lead wire 801 and 802 are excitation lines, and lead lines 803, 804, 805, and 806 are signal lines.

In this embodiment, the principle of generating the sine wave position signal is as follows:

Through the setting of the stator detection teeth and windings above, it is easy to obtain the differential signal voltage between the joints C and D and the differential signal voltage between the joints E and F according to the same analysis method as the first embodiment as the rotation angle of the rotor The sine wave voltage that changes with the change of the phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art, so these basic signals are transmitted to the subsequent signal processing circuit or passed through The rotation angle θm ₂ of the rotor can be obtained by simple calculation.

In addition to the advantages of the first embodiment, this embodiment uses stator auxiliary teeth, which reduces the influence of magnetic coupling between the stator detection teeth and improves the test signal. The stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least one stator decoupling tooth is arranged between the stator detection teeth wound with coils.

Third embodiment:

In this embodiment, K=1, N=8, so the number of teeth detected by the stator of the rotation angle detection device is 8, and the number of salient poles of the rotor is 8. At the same time, one stator auxiliary tooth is respectively arranged on the two outer sides of the overall stator detection tooth, no coil is wound on the stator auxiliary tooth, and the material of the stator auxiliary tooth is a magnetic conductive material. In addition, in this embodiment, the span of the stator yoke is less than 360 degrees.

FIG. 5 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, eight stator detection teeth are distributed along the circumference of the stator core, and the angle between each stator detection tooth is 11.25 degrees. The angle between the first auxiliary tooth 1001 and the stator detection tooth 3101 is 11.25 degrees, the angle between the second auxiliary tooth 1002 and the stator detection tooth 3108 is 11.25 degrees; 8 salient poles of the rotor are located along the circumference of the rotor core. Evenly distributed on the outer circle.

Each stator detection tooth has an insulating winding frame (not shown in Figure 5). Each stator detection tooth is wound with 1 coil, and there are 8 coils on 8 stator detection teeth. The 8 stator detection teeth are distributed clockwise along the circumference as 3101, 3102, 3103, 3104, 3105, 3106, 3107, 3108 (For the sake of brevity in the drawings, all the stator detection teeth are not marked in Fig. 5, only a few stator detection teeth are marked). The inductance of each coil changes as the rotation angle of the rotor changes. In this embodiment, the shape of the salient poles of the rotor is selected through electromagnetic simulation, so that the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the amplitudes of the fundamental waves of the inductances of the coils are equal.

For the overall structural schematic diagram of the rotation angle detection device, reference may be made to FIG. 2 in the first embodiment.

In this embodiment, the rotation angle detection device includes a set of detection coil system, and the detection coil system includes a 4-column parallel multi-arm bridge circuit composed of the above 8 coils. In this embodiment, the 8 stator coils are divided into 8 groups. Each set of stator coils includes one coil; the inductance of each coil varies with the rotation angle of the rotor. Eight sets of stator coils are connected to form a multi-arm bridge circuit, and the circuit diagram of the multi-arm bridge circuit can refer to FIG. 3 of the first embodiment. At this time, the bridge arm X _AC is formed by the coil Y1 on the stator detection tooth 3101, the bridge arm X _AD is formed by the coil Y7 on the stator detection tooth 3107, the bridge arm X _AE is formed by the coil Y2 on the stator detection tooth 3102, and the bridge arm X _AF is composed of the coil Y8 on the stator detection tooth 3108, the bridge arm X _BC is composed of the coil Y3 on the stator detection tooth 3103, the bridge arm X _BD is composed of the coil Y5 on the stator detection tooth 3105, and the bridge arm X _BE is composed of the stator detection tooth 3105. The coil Y4 on the tooth 3104 is formed, and the bridge arm _XBF is formed by the coil Y6 on the stator detection tooth 3106 .

The 6 contact points A, B, C, D, E, and F of the multi-arm bridge circuit are respectively led out by 6 lead wires as the lead wires 801, 802, 803, 804, 805, 806 of the rotation angle detection device, wherein the lead wires 801 and 802 are excitation lines, and lead lines 803, 804, 805, and 806 are signal lines.

In this embodiment, the principle of generating the sine wave position signal is as follows:

Through the setting of the stator detection teeth and windings above, it is easy to obtain the differential signal voltage between the joints C and D and the differential signal voltage between the joints E and F according to the same analysis method as the first embodiment as the rotation angle of the rotor The sine wave voltage that changes with the change of the phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art, so these basic signals are transmitted to the subsequent signal processing circuit or passed through The rotation angle θm ₃ of the rotor can be obtained by simple calculation.

In addition to the advantages of the first embodiment, this embodiment can reduce the volume, weight and manufacturing cost of the detection system because the span of the stator yoke is less than 360 degrees and is not a complete circle. In addition, this embodiment also sets stator auxiliary teeth, that is, stator teeth that are not wound with coils on the outside of the overall stator detection teeth, so as to improve the symmetry of the magnetic circuit system and improve detection accuracy (if no stator auxiliary teeth are provided, the outermost The reluctance of the stator detection tooth and the inner stator detection tooth will be inconsistent, so that the fundamental wave amplitude and DC component of the coil inductance on each stator detection tooth will be inconsistent, which will adversely affect the detection accuracy).

Fourth embodiment:

In this embodiment, K=2, N=4, so the number of teeth detected by the stator of the rotation angle detection device is 16, and the number of salient poles of the rotor is 4.

FIG. 6 is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in this embodiment. The stator includes a stator core, the rotor includes a rotor core, and both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 16 stator detection teeth are evenly distributed along the inner surface of the stator core; 4 rotor salient poles are evenly distributed along the outer circular surface of the rotor core.

Each stator detection tooth has an insulating winding frame (not shown in Figure 6). There is only one coil wound on each stator detection tooth, 16 coils are distributed along the circumference of the 16 stator detection teeth, and the 16 stator detection teeth are distributed clockwise along the circumference as 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 (for the sake of simplicity in the drawings, all stator detection teeth are not marked in Figure 6, only a few stator detection teeth). The inductance of each coil changes as the rotation angle of the rotor changes. In this embodiment, the shape of the salient poles of the rotor is selected through electromagnetic simulation, so that the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the amplitudes of the fundamental waves of the inductances of the coils are equal.

In this embodiment, the rotation angle detection device includes two sets of detection coil systems, respectively a first detection coil system and a second detection coil system. The first detection coil system includes coils wound on stator detection teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, and the second detection coil system includes coils wound on stator detection teeth 4109, 4110, 4111, 4112, 4113 , 4114, 4115, and 4116 coils, the two sets of detection coil systems belong to two independent rotation angle detection device detection coil systems, and the two detection coil systems respectively form the first multi-arm bridge circuit and the second multi-arm bridge circuit bridge circuit. The circuit schematic diagrams after the connection of the first multi-arm bridge circuit and the second multi-arm bridge circuit are shown in Fig. 7a and Fig. 7b respectively.

Two lead wires are drawn out from the contacts A1 and B1 as the excitation signal of the first detection coil system, and four lead wires are drawn out from the contacts C1, D1, E1, and F1 as the position signal lines of the first detection coil system.

Two lead wires are drawn out from the contacts A2 and B2 as the excitation signal of the second detection coil system, and four lead wires are drawn out from the contacts C2, D2, E2, and F2 as the position signal lines of the second detection coil system.

In this embodiment, the principle of generating the sine wave position signal is as follows:

Let the inductances of the coils on the detection teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108 of the first detection coil system be L101, L102, L103, L104, L105, L106, L107, L108 respectively. It can be seen from Figure 6 that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the salient pole of the rotor changes, so that the inductance of each coil changes accordingly, and the change cycle is 4. The change of the inductance of each coil with the rotation angle _θm4 of the rotor can be expressed as

L101＝L105＝L4+Lm ₄ *sin(4θm ₄ ) Formula (401)

L102＝L106＝L4+Lm ₄ *sin(4θm ₄ -90) Formula (402)

L103＝L107＝L4+Lm ₄ *sin(4θm ₄ -180) Formula (403)

L104＝L108＝L4+Lm ₄ *sin(4θm ₄ -270) Formula (404)

Wherein, L4 is the DC component of each inductor in this embodiment;

Lm ₄ is the fundamental wave amplitude of each inductor in the present embodiment,

θm ₄ is the rotation angle of the rotor in this embodiment.

Through the setting of the stator detection teeth and windings above, it is easy to obtain the differential signal voltage between the joints C1 and D1 and the differential signal voltage between the joints E1 and F1 according to the same analysis method as the first embodiment. The sine wave voltage that changes with the change of the phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art, so these basic signals are transmitted to the subsequent signal processing circuit or passed through The rotation angle θm ₄ of the rotor can be obtained by simple calculation.

Similarly, let the inductances of the coils on the detection teeth 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 of the second detection coil system be L109, L110, L111, L112, L113, L114, L115, L116 respectively. It can be seen from Figure 6 that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the salient pole of the rotor changes, so that the inductance of each coil changes accordingly, and the change cycle is 4. The change of the inductance of each coil with the rotation angle _θm4 of the rotor can be expressed as

L109＝L113＝L4+Lm ₄ *sin(4θm ₄ ) Formula (405)

L110＝L114＝L4+Lm ₄ *sin(4θm ₄ -90) Formula (406)

L111＝L115＝L4+Lm ₄ *sin(4θm ₄ -180) Formula (407)

L112＝L116＝L4+Lm ₄ *sin(4θm ₄ -270) Formula (408)

Wherein, L4 is the DC component of each inductor in this embodiment;

Lm ₄ is the fundamental wave amplitude of each inductor in the present embodiment,

θm ₄ is the rotation angle of the rotor in this embodiment.

Through the setting of the stator detection teeth and windings above, it is easy to obtain the differential signal voltage between the joints C2 and D2 and the differential signal voltage between the joints E2 and F2 according to the same analysis method as the first embodiment. The sine wave voltage that changes with the change of the phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art, so these basic signals are transmitted to the subsequent signal processing circuit or passed through The rotation angle θm ₄ of the rotor can be obtained by simple calculation.

It can be seen that, in addition to the advantages of the first embodiment, this embodiment provides two sets of detection coil systems on the same stator. During use, one set of detection coil systems can be used as a backup system. When the coil system fails, switch to another set of detection coil system to continue to work, which greatly improves the reliability of the rotor rotation angle detection; it can also make the two sets of detection coil systems work at the same time to detect the rotation angle, and the detection results can be compared with each other. Greatly improve the reliability of the test results. Compared with the multi-resolver system with the same reliability in the prior art, the number of rotation angle detection devices required to be installed is small, the volume occupied is small, and the cost is greatly reduced; The multi-rotary transformer system of the transformer, while occupying the same volume, the reliability is greatly improved.

In the present invention (including the above-mentioned embodiments), the rotation angle detecting device may be a resolver.

The present invention also proposes a rotation angle detection system, which includes at least two rotation angle detection devices, and these rotation angle detection devices may be the rotation angle detection devices described in the first subject of the present invention.

Preferably, the rotor of one of the rotation angle detection devices only includes one rotor salient pole; the rotor of one rotation angle detection device includes two or more rotor salient poles; at least the rotors of the two rotation angle detection devices are set to synchronous rotation.

Fifth embodiment:

This embodiment is a rotation angle detection system, which includes two rotation angle detection devices, namely a first rotation angle detection device and a second rotation angle detection device.

The first rotation angle detection device is the rotation angle detection device specified in the first theme of the present invention, wherein K takes a value of 1, and N takes a value of 1, so the number of teeth detected by the stator of the first rotation angle detection device is 8, and the number of salient poles of the rotor is 1. The second rotation angle detection device is also the rotation angle detection device specified by the first theme of the present invention, wherein K takes a value of 1, and N takes a value of 10, so the number of teeth detected by the stator of the second rotation angle detection device is 8, and the rotor convex The number of poles is 10.

Fig. 8a is a schematic cross-sectional view of the stator and rotor of the first rotation angle detection device in this embodiment; Fig. 8b is a schematic cross-sectional view of the stator and rotor of the second rotation angle detection device in this embodiment. In the first rotation angle detection device and the second rotation angle detection device, the stators both include stator cores, and the rotors both include rotor iron cores. Both the stator iron cores and the rotor iron cores are formed by stamping silicon steel sheets. The 8 stator detection teeth of the first rotation angle detection device and the second rotation angle detection device are evenly distributed along the inner surface of the stator core; the 10 rotor salient poles of the second rotation angle detection device are along the rotor The outer circumference of the iron core is evenly distributed.

Each stator detection tooth of the first rotation angle detection device and the second rotation angle detection device has an insulating winding frame (not shown in Fig. 8a and Fig. 8b). There is only one coil wound on each stator detection tooth, and there are 8 coils distributed along the circumference on the 8 stator detection teeth. In the first rotation angle detection device, the eight stator detection teeth are distributed clockwise along the circumference as 5101A, 5102A, 5103A, 5104A, 5105A, 5106A, 5107A, 5108A (for the sake of brevity of the drawings, not all The stator detection teeth are marked, and only a few stator detection teeth are marked). In the second rotation angle detection device, the eight stator detection teeth are distributed clockwise along the circumference as 5101B, 5102B, 5103B, 5104B, 5105B, 5106B, 5107B, 5108B (for the sake of brevity of the accompanying drawings, not all The stator detection teeth are marked, and only a few stator detection teeth are marked). The inductance of each coil changes as the rotation angle of the rotor changes. In this embodiment, the shape of the salient poles of the rotor is selected through electromagnetic simulation, so that the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the amplitudes of the fundamental waves of the inductances of the coils are equal.

In this embodiment, the first rotation angle detection device includes a set of detection coil system, which is referred to as the first detection coil system in this embodiment. The first detection coil system includes coils wound on stator detection teeth 5101A, 5102A, 5103A, 5104A, 5105A, 5106A, 5107A, 5108A. In this embodiment, the second rotation angle detection device includes a detection coil system, which is referred to as a second detection coil system in this embodiment. The second detection coil system includes coils wound on stator detection teeth 5101B, 5102B, 5103B, 5104B, 5105B, 5106B, 5107B, 5108B. The above two sets of detection coil systems respectively belong to the detection coil systems of independent rotation angle detection devices on the two stators, and the two detection coil systems respectively form the multi-arm bridge circuit of the first rotation angle detection device and the second rotation angle detection device. The multi-arm bridge circuit in this embodiment is respectively referred to as the first multi-arm bridge circuit and the second multi-arm bridge circuit, and the circuit schematic diagrams of the two are shown in Fig. 9a and Fig. 9b respectively.

Two lead wires are drawn out from the contacts A1 and B1 as the excitation signal lines of the first detection coil system, and four lead wires are drawn out from the contacts C1, D1, E1, and F1 as the position signal lines of the first detection coil system.

Two lead wires are drawn out from the contacts A2 and B2 as the excitation signal lines of the second detection coil system, and four lead wires are drawn out from the contacts C2, D2, E2, and F2 as the position signal lines of the second detection coil system.

Through the setting of the stator detection teeth and windings of the first rotation angle detection device above, it is easy to obtain the differential signal voltage between the contacts C1 and D1 and the differential signal between the contacts E1 and F1 according to the same analysis method as the first embodiment The voltage is a sine wave voltage that changes with the rotation angle of the rotor, and its phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, the rotation angle θm ₅ of the rotor can be obtained by transmitting these basic signals to a subsequently connected signal processing circuit or through simple calculation. And, the period of this signal is 1, thus the absolute position of the motor rotor can be obtained.

Through the setting of the stator detection teeth and windings of the second rotation angle detection device above, it is easy to obtain the differential signal voltage between the joints C2 and D2 and the differential signal between the joints E2 and F2 according to the same analysis method as the first embodiment The voltage is a sine wave voltage that changes with the rotation angle of the rotor, and its phase difference is 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, the rotation angle θm ₅ of the rotor can be obtained by transmitting these basic signals to a subsequently connected signal processing circuit or through simple calculation. Also, the period of this signal is 10.

In the second rotation angle detection device, the inductance of the coil changes 10 cycles every time the rotor rotates 1 cycle, that is, the position signal changes 1 cycle every time the rotor rotates 36 degrees, so it can be used in combination with the results of the first rotation angle detection device Subdividing the test interval greatly improves the detection accuracy.

Therefore, in addition to the advantages of the rotation angle detection device in the first embodiment, the rotation angle detection system in this embodiment can also obtain the motor rotor with high precision by using the first rotation angle detection device and the second rotation angle detection device in combination. the absolute position of .

In the above-mentioned embodiments, the shape of the salient poles of the rotor is set so that the change part of the inductance of each coil changes in a sinusoidal wave with the change of the rotation angle of the rotor. In the present invention, the shape of the salient poles of the rotor can also be set so that the varying portion of the inductance of each coil changes in a triangular wave as the rotation angle of the rotor changes. In the above embodiments, the rotors are arranged inside the stators. In the present invention, the rotor can also be arranged outside the stator.

In the present invention (including the above-mentioned embodiments), the rotation angle detecting device may be a resolver.

The present invention also proposes a rotating body provided with the rotation angle detecting device described in the first subject. The rotating body includes a rotating body body and the above-mentioned rotation angle detecting device. Wherein, the rotation angle of the rotation angle detection device has a regular relationship with the rotation angle of the rotating body body, so the rotation angle of the rotating body body can be obtained from the rotation angle detected by the rotation angle detecting device.

Sixth embodiment:

In the sixth embodiment, the rotating body body is an electric motor. FIG. 10 is a schematic structural view of the rotating body in this embodiment. In Fig. 10, 601 represents the casing shared by the rotation angle detection device and the motor, 602 represents the stator of the rotation angle detection device, and the stator 602 of the rotation angle detection device is installed on the casing 601 shared with the rotating body body; 603 represents the motor. Stator, 604 represents the rotor core of the rotation angle detection device, 605 represents the rotor core of the motor, the rotor core 604 of the rotation angle detection device rotates with the rotor core 605 of the motor, 606 represents the rotating shaft, and the rotor core 604 of the rotation angle detection device is installed on On the rotor 606 of the rotating body, 6071 and 6072 represent the front and rear end covers respectively; 608 represents the bearing to ensure the smooth rotation of the rotor relative to the stator; 6092 is an excitation lead wire, 6093, 6094, 6095, and 6096 are signal lead wires, 6010 is a motor lead wire, 6011 is a rotation angle detecting device coil, and 6012 is a motor coil. In this embodiment, the rotating body is an integrated motor in which the rotation angle detection device and the motor body are integrally formed.

Seventh embodiment:

In the seventh embodiment, the rotating body body is an electric motor. FIG. 11 is a schematic structural view of the rotating body in this embodiment. In FIG. 11 , 701 represents a rotation angle detection device, 702 represents a motor, 703 represents a motor shaft, 704 represents a lead wire of the rotation angle detection device, 705 represents a motor lead wire, and 706 represents a screw. In this embodiment, the rotation angle detection device 701 is installed at the end of the motor body 702, and the motor shaft 703 is connected with the rotation angle detection device shaft by a coupling to rotate synchronously (not shown in FIG. 11 ). It can be seen that, in this embodiment, the rotating body is a split structure composed of the rotation angle detection device and the motor body.

In the present invention (including the above two embodiments), the rotation angle detection devices can be rotary transformers.

In addition, the present invention also proposes a rotating body with the rotation angle detection system described in the second subject. The rotating body includes a rotating body body and the above-mentioned rotation angle detection system. Wherein, the rotation angle of the rotation angle detection system has a regular relationship with the rotation angle of the rotator body, so the rotation angle of the rotator body can be obtained from the rotation angle detected by the rotation angle detection system.

Eighth embodiment:

In the eighth embodiment, the rotating body is a motor, and each rotor core of the rotation angle detection system is installed on the rotating shaft of the rotating body, and rotates synchronously with the rotating body to form an integrated structure to detect the rotation angle of the rotating body; The stators of the rotation angle detection system are installed on the casing shared with the body of the rotating body.

Ninth embodiment:

The rotating body is a motor, and the rotation angle detection system is fixed at the end of the rotating body; the rotating shaft of the rotating angle detecting system is connected with the rotating shaft of the rotating body so that the rotating angle detecting system and the rotating body rotate coaxially; the rotating angle detecting system The rotating shaft of the rotating body is connected with the rotating shaft of the rotating body body through a coupling.

In the present invention (including the above two embodiments), the rotation angle detection devices can be rotary transformers.

The above description of the embodiments is for those of ordinary skill in the art to understand and apply the present invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the present invention is not limited to the embodiments herein. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (16)

1. a kind of rotation angle detection apparatus, it is characterised in that：Including stator and rotor, the stator includes stator yoke and is located at Stator in the stator yoke detects tooth；The rotor has rotor with salient pole；The stator yoke, stator detection tooth and described The material of rotor with salient pole is permeability magnetic material；

The rotation angle detection apparatus further includes multiple coils, and each coil is wound on the stator detection tooth, Mei Gesuo State on stator detection tooth at most around a coil, the inductance of each coil with the rotation angle of the rotor change Change and change, for detecting the rotation angle of the rotor；

The rotation angle detection apparatus includes at least a set of detection coil system, and it includes by more often to cover the detection coil system More bridge arm bridge circuits of at least 4 row parallel connections of a coil composition, each column bridge arm includes at least two bridge arms, each bridge arm Including at least one coil；Two of more bridge arm bridge circuits and interface draw two lead-out wires as excitation wire, from The contact of the upper and lower bridge arm of each column bridge arm draws a lead as signal wire；By the difference of 2 signal leads therein Sub-signal generates the first signal voltage changed all the way with the rotation angle of the rotor, by the difference of other 2 signal wires Sub-signal generates the second signal voltage that another way changes with the rotation angle of the rotor, the first signal voltage and second signal The phase difference of voltage is the angle of setting, to detect the rotation angle of the rotor.

2. rotation angle detection apparatus according to claim 1, it is characterised in that：More bridge arm bridge circuits only include 4 row bridge arm in parallel；The rotation angle detection apparatus contains 2 excitation wires and 4 signal wires altogether.

3. rotation angle detection apparatus according to claim 1, it is characterised in that：It is 8*K that stator, which detects the number of teeth, and rotor is convex Number of poles is N；Wherein, K and N is positive integer；

Preferably, K is equal to 1, N and is equal to 2.

4. rotation angle detection apparatus according to claim 1, it is characterised in that：All stator inspections for being wound with coil It is in regular distribution that tooth, which is surveyed, along the circumference of the stator yoke, to ensure the phase difference of the first signal voltage and second signal voltage for 90 Degree.

5. rotation angle detection apparatus according to claim 1, it is characterised in that：The stator further includes stator decoupling Tooth, to reduce the magnetic coupling between being wound with the stator detection tooth of coil；The stator decoupling tooth, which is arranged, is being wound with coil The both sides of stator detection tooth are wound between the stator detection tooth of coil and 1 stator decoupling tooth are at least arranged；It is described fixed The material of subsolution coupling tooth is permeability magnetic material.

6. rotation angle detection apparatus according to claim 1, it is characterised in that：The stator further includes stator auxiliary Tooth, to improve the symmetry of magnetic circuit system；The outside that tooth is detected in the stator is arranged in the stator assist tooth；The stator is auxiliary It is permeability magnetic material to help the material of tooth.

7. rotation angle detection apparatus according to claim 1, it is characterised in that：The angle that the stator yoke is crossed over is small In 360 degree.

8. rotation angle detection apparatus according to claim 1, it is characterised in that：The rotation angle detection apparatus includes At least two sets of detection coil systems；At least two sets of detection coil systems are arranged on the same stator.

9. rotation angle detection apparatus according to claim 1, it is characterised in that：The shape of the rotor with salient pole is set, So that the changing unit of the inductance of each coil changes with the sine wave that is changing into of the rotation angle of the rotor；

Alternatively, the shape of the rotor with salient pole is arranged, so that the changing unit of the inductance of each coil is with described turn The rotation angle of son is changing into triangular wave variation.

10. rotation angle detection apparatus according to claim 1, it is characterised in that：With stator cage, end cap, bearing And shaft；

The stator includes stator core, and the stator core is mounted on the stator cage；

The rotor includes rotor core, and the rotor core is mounted in the shaft, is rotated jointly with the entire rotor.

11. rotation angle detection apparatus according to claim 1, it is characterised in that：The rotor is arranged in the stator Inside；

Alternatively, the rotor is arranged in the outside of the stator.

12. a kind of rotary angle sensing system including the rotation angle detection apparatus described in any one of claim 1 to 11, It is characterized in that：Including at least two rotation angle detection apparatus；At least two rotation angle detection apparatus includes First rotation angle detection apparatus and the second rotation angle detection apparatus；

The rotor of first rotation angle detection apparatus only includes 1 rotor with salient pole；

The rotor of second rotation angle detection apparatus includes 2 or 2 or more rotor with salient pole；

The rotor of the rotor of first rotation angle detection apparatus and the second rotation angle detection apparatus is set as rotating synchronously.

13. a kind of rotary body including the rotation angle detection apparatus described in any one of claim 1 to 11, feature exist In：The rotary body includes rotary body ontology and the rotation angle detection apparatus；

The rotation angle of the rotation angle detection apparatus and the rotation angle of the rotary body ontology are at regular relationship, with logical Cross the rotation angle that the rotation angle detection apparatus detects the rotary body ontology.

14. rotary body according to claim 13, it is characterised in that：The rotor core of the rotation angle detection apparatus is pacified In the shaft of the rotary body ontology, is rotated synchronously with the rotary body ontology and form integral structure, to detect State the rotation angle of rotary body ontology；The stator of the rotation angle detection apparatus be mounted on the rotary body ontology share On stator cage；Preferably, the rotary body ontology is motor；

Alternatively, the rotation angle detection apparatus is fixed on the end of the rotary body ontology；The rotation angle detection apparatus Shaft connect with the shaft of the rotary body ontology so that the rotation angle detection apparatus and the rotary body ontology are same Shaft rotation is dynamic；Preferably, the shaft of the rotation angle detection apparatus is connect with the shaft of the rotary body ontology by shaft coupling； Preferably, the rotary body ontology is motor.

15. a kind of rotary body including the rotary angle sensing system described in claim 12, it is characterised in that：The rotation Body includes rotary body ontology and the rotary angle sensing system；

The rotation angle of the rotary angle sensing system and the rotation angle of the rotary body ontology are at regular relationship, with logical Cross the rotation angle that the rotary angle sensing system detects the rotary body ontology.

16. rotary body according to claim 15, it is characterised in that：Each rotor core of the rotary angle sensing system In the shaft of the rotary body ontology, integral structure is rotated synchronously and formed with the rotary body ontology, with detection The rotation angle of the rotary body ontology；Each stator of the rotary angle sensing system is mounted on total with the rotary body ontology On casing；Preferably, the rotary body ontology is motor；

Alternatively, the rotary angle sensing system is fixed on the end of the rotary body ontology；The rotary angle sensing system Shaft connect with the shaft of the rotary body ontology so that the rotary angle sensing system and the rotary body ontology are same Shaft rotation is dynamic；Preferably, the shaft of the rotary angle sensing system is connect with the shaft of the rotary body ontology by shaft coupling； Preferably, the rotary body ontology is motor.