CN113572312B - Linear Hall angle and displacement integrated detection device and method based on homopolar permanent magnet double rotors - Google Patents
Linear Hall angle and displacement integrated detection device and method based on homopolar permanent magnet double rotors Download PDFInfo
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- CN113572312B CN113572312B CN202110743743.8A CN202110743743A CN113572312B CN 113572312 B CN113572312 B CN 113572312B CN 202110743743 A CN202110743743 A CN 202110743743A CN 113572312 B CN113572312 B CN 113572312B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
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- Microelectronics & Electronic Packaging (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a linear Hall angle and displacement detection device and method based on homopolar permanent magnet double rotors. The device comprises a round lantern ring rotor embedded with ten sector permanent magnets and an annular sensor stator fixed with six linear Hall pieces. The annular sensor rotor consists of a rotor core made of ferromagnetic materials, five permanent magnets with N poles on the outer surfaces and five permanent magnets with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing. Five permanent magnets with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor; five permanent magnets with S poles on the outer surfaces and the permanent magnets with N poles on the outer surfaces are aligned and distributed on the right side of the annular sensor rotor. The annular sensor stator is made of ferromagnetic materials, four linear Hall devices are fixed in the horizontal direction of the inner side of the annular sensor stator, and two linear Hall devices are fixed in the vertical horizontal direction. The invention simplifies the system structure and reduces the equipment cost.
Description
Technical Field
The invention relates to a linear Hall angle and displacement integrated detection device and method based on homopolar permanent magnet double rotors, which are suitable for detecting rotor position angle, radial displacement and axial displacement of a magnetic suspension motor.
Background
In a control system of a magnetic levitation motor, rotor position angle and rotor displacement detection are key links for realizing accurate and stable control of the magnetic levitation motor. In the traditional magnetic suspension motor system, an eddy current displacement sensor and a position sensor are required to detect the displacement and the rotation angle of a motor rotor respectively, a front end processor is required to provide high-frequency exciting current for a sensor probe when the eddy current sensor detects the displacement of the rotor, and the position sensor is high in price and large in volume. However, the control system of the existing magnetic suspension motor is complex in structure and high in cost.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an integrated detection device for rotor position angle, radial displacement and axial displacement of a magnetic suspension motor by adopting a homopolar permanent magnet double-rotor structure and utilizing six linear Hall devices. The device has a simple structure, is low in cost, and is based on the linear Hall angle and displacement integrated detection device and method of homopolar permanent magnet double rotors.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the linear Hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors comprises a detection device rotor and a stator, wherein the detection device rotor is an annular sensor rotor embedded with ten sector permanent magnets, and the detection device stator is a stator fixed with six linear Hall annular sensors.
Further, the annular sensor rotor consists of a rotor iron core made of ferromagnetic materials, five permanent magnets with N poles on the outer surfaces and five permanent magnets with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing; five permanent magnets with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor; the five permanent magnets with the outer surfaces of S poles and the permanent magnets with the outer surfaces of N poles are aligned and distributed on the right side of the annular sensor rotor; when the device is used for detecting the rotor position angle and radial and axial displacement of the magnetic suspension motor, the annular sensor rotor embedded with the permanent magnet is sleeved on the rotating shaft of the magnetic suspension motor.
Further, the annular sensor stator fixed with six linear hall is made of ferromagnetic material, and four linear hall are fixed in the horizontal direction inside the annular sensor stator: the first linear Hall S1, the second linear Hall S2, the third linear Hall S3 and the fourth linear Hall S4 are fixed with two linear Hall of a fifth linear Hall S5 and a sixth linear Hall S6 in the vertical horizontal direction; the four Hall elements, namely the first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6, are uniformly arranged on the circumference of the inner side of the annular sensor stator and are positioned at the left end of the inner side of the annular sensor stator; the second linear Hall S2, the fourth linear Hall S4, the first linear Hall S1 and the third linear Hall S3 are symmetrically arranged at the right end of the inner side of the annular sensor stator; the radial air gap flux density can be detected by using four Hall elements, namely a first linear Hall element S1, a third linear Hall element S3, a fifth linear Hall element S5 and a sixth linear Hall element S6, and the axial air gap flux density can be detected by using a second linear Hall element S2 and a fourth linear Hall element S4.
The invention discloses a linear Hall angle and displacement integrated detection method based on homopolar permanent magnet double rotors, which is operated by adopting a linear Hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors; the method is applied to detection of the position angle, the radial displacement and the axial displacement of the rotor of the magnetic suspension motor; through six Hall elements, namely a first linear Hall element S1, a second linear Hall element S2, a third linear Hall element S3, a fourth linear Hall element S4, a fifth linear Hall element S5 and a sixth linear Hall element S6, the detected radial air gap flux density and the detected axial air gap flux density are calculated to obtain the real-time rotor position angle, the real-time shaft and the real-time radial displacement of the magnetic suspension motor through the following steps: the method comprises the following specific steps:
Step one: the annular sensor rotor is sleeved on the rotating shaft of the magnetic suspension motor, and when the motor works, the annular sensor rotor can rotate along with the motor rotor, the axial air gap flux densities B a2 and B a4 and the radial air gap flux densities B r1,Br3,Br5 and B r6 can be measured by using six linear Hall elements.
Step two: when the rotor is radially offset (Δx, Δy) and axially offset (Δz) ignoring magnetic saturation, the measured magnetic density magnitudes B r1,Br3,Br5 and B r6 on the first linear hall S1, the third linear hall S3, the fifth linear hall S5 and the sixth linear hall S6 are expressed as:
In the above formula: b 0 is the amplitude of the air gap flux density at the Hall element when the annular sensor rotor is at the balance position;
K m is the coefficient amplitude of the linear change of the magnetic density variation along with the offset after the annular sensor rotor is offset;
E s is the eccentricity generated after the annular sensor rotor is offset;
k z is the influence coefficient of the axial offset of the sensor rotor on the radial offset;
θ r is the rotor position angle of the sensor rotor;
θ s is the eccentric angle of the sensor rotor;
p is the pole pair number of the sensor rotor, and p is an odd number;
Since the first linear hall S1, the third linear hall S3, the fifth linear hall S5 and the sixth linear hall S6 are disposed at the left end inside the annular sensor stator, the axial magnetic force lines passing through the four hall devices of the first linear hall S1, the third linear hall S3, the fifth linear hall S5 and the sixth linear hall S6 are almost zero, and it is approximately considered that K z Δz=0, then the formula (1) becomes:
the simplified formula (2) is obtained:
obtained according to formula (3):
solving a rotor position angle theta r of the motor rotor at the current moment through the formula (4);
After obtaining the rotor position angle θ r of the motor, it is obtained according to the formula (3):
The formula (5) is:
Bringing formula (6) into formula (5) yields a radial displacement of the motor rotor of:
Step three: in the case of neglecting the magnetic saturation, when the rotor is radially offset (Δx, Δy) and axially offset (Δz), the second and fourth linear hall S2 and S4 are symmetrically placed at the right end inside the annular sensor stator with respect to the first and third linear hall S1 and S3, and the magnitudes of the magnetic densities detected by the second and fourth linear hall S2 and S4 are expressed as:
wherein: k x is the influence coefficient of displacement change in the x direction on the axial magnetic density, and the unit is T/mum 2;
k y is an influence coefficient of displacement change in the y direction on the magnitude of axial magnetic density, and the unit is T/mum 2;
k z is an influence coefficient of displacement change in the z direction on the axial magnetic density, and the unit is T/mu m;
B 20 is the magnitude of the magnetic flux at the second linear hall element S2 when the sensor rotor is at the equilibrium position;
B 40 is the magnitude of the magnetic flux density at the fourth linear hall element S4 when the sensor rotor is at the equilibrium position;
The displacement of the motor rotor in the axial direction can be obtained according to the formulas (7) and (8):
the working principle of the invention is as follows:
The annular sensor rotor of the device is sleeved on the rotating shaft of the magnetic suspension motor, and consists of a rotor iron core made of ferromagnetic materials, five permanent magnets with N poles on the outer surfaces and five permanent magnets with S poles on the outer surfaces, wherein the magnetizing directions of the permanent magnets are radial magnetizing. Five permanent magnets with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor; five permanent magnets with S poles on the outer surfaces and the permanent magnets with N poles on the outer surfaces are aligned and distributed on the right side of the annular sensor rotor. When the device is used for detecting the rotor position angle and radial and axial displacement of the magnetic suspension motor, the annular sensor rotor embedded with the permanent magnet is sleeved on the rotating shaft of the magnetic suspension motor. The annular sensor stator fixed with the six linear Hall sensors is made of ferromagnetic materials, and four linear Hall sensors are fixed in the horizontal direction of the inner side of the annular sensor stator: the first linear Hall S1, the second linear Hall S2, the third linear Hall S3 and the fourth linear Hall S4 are fixed with two linear Hall of a fifth linear Hall S5 and a sixth linear Hall S6 in the vertical horizontal direction. The first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6 are uniformly arranged on the circumference of the inner side of the annular sensor stator and are positioned at the left end of the inner side of the annular sensor stator; the second linear Hall S2 and the fourth linear Hall S4 are symmetrically arranged at the right end of the inner side of the annular sensor stator with the first linear Hall S1 and the third linear Hall S3. The radial air gap flux density can be detected by using four Hall elements of the first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6, and the axial air gap flux density can be detected by using the second linear Hall element S2 and the fourth linear Hall element S4.
In the device of the invention, magnetic lines of force generated by the permanent magnets in the annular sensor rotor are closed in both axial and radial directions. The axial magnetic force lines enter the air gap from the permanent magnet with the outer surface of N pole, then enter the annular sensor stator from the air gap, then enter the permanent magnet with the outer surface of S pole from the annular sensor stator through the air gap, finally enter the permanent magnet with the outer surface of N pole from the permanent magnet with the outer surface of S pole through the annular sensor rotor iron core, and form a closed loop; the radial magnetic force lines also enter the air gap from the permanent magnet with the outer surface of N poles, then enter the annular sensor stator from the air gap, and finally enter the permanent magnet with the outer surface of N poles from the annular sensor stator through the air gap and the annular sensor rotor core to form a closed loop.
When the motor works, the annular sensor rotor rotates along with the motor rotor, and when the permanent magnets in the annular sensor rotor are positioned at different position angles, the radial air gap flux density of the four Hall elements of the first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6 is changed; when the motor rotor is radially offset, the radial air gap flux density of the four Hall elements of the first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6 is changed; when the motor is axially offset, the axial air gap flux density of the second linear Hall element and the fourth linear Hall element S2 and the fourth linear Hall element is changed.
By utilizing the principle, the linear Hall angle and displacement detection device based on homopolar permanent magnet double rotors simultaneously detects the rotor position angle, the diameter and the axial displacement of the motor, and comprises a circular lantern ring rotor embedded with ten sector permanent magnets and an annular sensor stator fixed with six linear Hall magnets. The annular sensor rotor consists of a rotor iron core made of ferromagnetic materials, five permanent magnets with N poles on the outer surfaces and five permanent magnets with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing. Five permanent magnets with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor; five permanent magnets with S poles on the outer surfaces and the permanent magnets with N poles on the outer surfaces are aligned and distributed on the right side of the annular sensor rotor. The annular sensor stator is made of ferromagnetic materials, four linear Hall devices including a first linear Hall device S1, a second linear Hall device S2, a third linear Hall device S3 and a fourth linear Hall device S4 are fixed in the horizontal direction of the inner side of the annular sensor stator, and a fifth linear Hall device S5 and a sixth linear Hall device S6 are fixed in the vertical horizontal direction. The first linear Hall element S1, the third linear Hall element S3, the fifth linear Hall element S5 and the sixth linear Hall element S6 are uniformly arranged on the circumference of the inner side of the annular sensor stator and are positioned at the left end of the inner side of the annular sensor stator; the second linear Hall S2 and the fourth linear Hall S4 are symmetrically arranged at the right end of the inner side of the annular sensor stator with the first linear Hall S1 and the third linear Hall S3. The invention simplifies the system structure and reduces the equipment cost.
Compared with the prior art, the invention has the following obvious prominent substantive features and obvious advantages:
1. the rotor of the annular sensor adopts a homopolar permanent magnet double-rotor structure, the position information and the radial displacement information of the rotor can be conveniently and simultaneously measured by utilizing the four linear Hall sensors of the first linear Hall S1, the third linear Hall S3, the fifth linear Hall S5 and the sixth linear Hall S6, and the axial displacement of the rotor can be conveniently measured by utilizing the first linear Hall S1, the third linear Hall S3, the second linear Hall S2 and the fourth linear Hall S4;
2. The invention adopts low-cost linear Hall to replace expensive eddy current displacement sensor and position sensor, and simplifies the system structure and reduces the system volume.
Drawings
The technical scheme of the invention is further described in detail through the following description of the drawings and the specific implementation method.
Fig. 1 is a three-dimensional structure diagram of a linear hall angle and displacement detection device based on homopolar permanent magnet double rotors according to a preferred embodiment of the invention, which comprises an annular sensor rotor and an annular sensor stator, four permanent magnets with the outer surfaces of N poles, one permanent magnet with the outer surfaces of S poles and five linear hall sensors.
Fig. 2 is a radial sectional view of a linear hall angle and displacement detecting device based on homopolar permanent magnet double rotors according to a preferred embodiment of the present invention, which includes one ring sensor rotor and one ring sensor stator, and five permanent magnets with N poles on the outer surfaces and four linear hall sensors.
Fig. 3 is an axial sectional view of a linear hall angle and displacement detecting device based on homopolar permanent magnet double rotors according to a preferred embodiment of the present invention, including an annular sensor rotor and an annular sensor stator, and a permanent magnet with an N-pole outer surface, a permanent magnet with an S-pole outer surface, and four linear hall sensors.
Detailed Description
The invention will be described in further detail below with respect to preferred embodiments thereof, in conjunction with the accompanying drawings:
Embodiment one:
Referring to fig. 1 to 3, the linear hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors comprises a detection device rotor and a stator, wherein the detection device rotor is an annular sensor rotor 14 embedded with ten sector permanent magnets, and the detection device stator is a six-piece linear hall annular sensor stator 10.
The embodiment utilizes six linear Hall devices to simultaneously realize the rotor position angle, the radial displacement and the axial displacement integrated detection device of the magnetic levitation motor. The device has simple structure and low cost.
Embodiment two:
this embodiment is substantially the same as the first embodiment, and is specifically as follows:
In the embodiment, the linear hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors is characterized in that the annular sensor rotor 14 consists of a rotor iron core 9 made of ferromagnetic materials, five permanent magnets 7 with N poles on the outer surfaces and five permanent magnets 8 with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing; five permanent magnets 7 with N poles on the outer surface are uniformly distributed on the left side of the annular sensor rotor 14; the five permanent magnets 8 with the outer surfaces of S poles and the permanent magnets 7 with the outer surfaces of N poles are aligned and distributed on the right side of the annular sensor rotor 14; when the device is used for detecting the rotor position angle and radial and axial displacement of the magnetic suspension motor, the annular sensor rotor 14 embedded with the permanent magnet is sleeved on the rotating shaft of the magnetic suspension motor.
In this embodiment, the ring-shaped sensor stator 10 to which six linear hall elements are fixed is made of ferromagnetic material, and four linear hall elements are fixed in the horizontal direction inside the ring-shaped sensor stator 10: a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3) and a fourth linear Hall S4 (4), wherein a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6) are fixed in the vertical horizontal direction; wherein the four hall elements of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are uniformly placed on the circumference of the inner side of the ring-shaped sensor stator 10 and are positioned at the left end of the inner side of the ring-shaped sensor stator 10; the second linear Hall S2 (2) and the fourth linear Hall S4 (4) are symmetrically arranged at the right end of the inner side of the annular sensor stator 10 with the first linear Hall S1 (1) and the third linear Hall S3 (3); the radial air gap flux density 12 can be detected by using the four Hall elements of the first linear Hall element 1 (1), the third linear Hall element 3 (3), the fifth linear Hall element 5 (5) and the sixth linear Hall element 6 (6), and the axial air gap flux density 13 can be detected by using the second linear Hall element 2 (2) and the fourth linear Hall element 4 (4).
The rotor of the annular sensor adopts a homopolar permanent magnet double-rotor structure, the position information and the radial displacement information of the rotor can be conveniently and simultaneously measured by utilizing the four linear Hall sensors of the first linear Hall S1, the third linear Hall S3, the fifth linear Hall S5 and the sixth linear Hall S6, and the axial displacement of the rotor can be conveniently measured by utilizing the first linear Hall S1, the third linear Hall S3, the second linear Hall S2 and the fourth linear Hall S4.
Embodiment III:
The linear Hall angle and displacement integrated detection method based on homopolar permanent magnet double rotors adopts the linear Hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors of the second embodiment to operate, and the real-time rotor position angle and shaft and radial displacement of the magnetic levitation motor are calculated through the following steps of the six Hall elements, namely the first linear Hall S1 (1), the second linear Hall S2 (2), the third linear Hall S3 (3), the fourth linear Hall S4 (4), the fifth linear Hall S5 (5) and the sixth linear Hall S6 (6), wherein the detected radial air gap flux density 12 and the detected axial air gap flux density 13 are calculated by the following steps: the method comprises the following specific steps:
Step one: the annular sensor rotor is sleeved on a rotating shaft of the magnetic suspension motor, and when the motor works, the annular sensor rotor rotates along with the motor rotor, the axial air gap flux densities B a2 and B a4 and the radial air gap flux densities B r1,Br3,Br5 and B r6 are measured by using six linear Hall elements;
Step two: when the rotor is radially offset (Δx, Δy) and axially offset (Δz) ignoring magnetic saturation, the measured magnetic densities B r1,Br3,Br5 and B r6 on the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are expressed as:
In the above formula: b 0 is the amplitude of the air gap flux density at the Hall element when the annular sensor rotor is at the balance position;
K m is the coefficient amplitude of the linear change of the magnetic density variation along with the offset after the annular sensor rotor is offset;
E s is the eccentricity generated after the annular sensor rotor is offset;
k z is the influence coefficient of the axial offset of the sensor rotor on the radial offset;
θ r is the rotor position angle of the sensor rotor;
θ s is the eccentric angle of the sensor rotor;
p is the pole pair number of the sensor rotor, and p is an odd number;
Since the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are disposed at the left end of the inner side of the annular sensor stator 10, the axial magnetic force lines 13 passing through the four hall devices of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are almost zero, that is, K z Δz=0 can be approximately considered, and then the formula (1) becomes:
the simplified formula (2) is obtained:
obtained according to formula (3):
solving a rotor position angle theta r of the motor rotor at the current moment through the formula (4);
after obtaining the rotor position angle θ r of the motor, it is also obtained according to the formula (3):
The formula (5) is:
Bringing formula (6) into formula (5) yields a radial displacement of the motor rotor of:
Step three: in the case of neglecting the magnetic saturation, when the rotor is radially offset (Δx, Δy) and axially offset (Δz), the second and fourth linear hall S2 (2, 4) are symmetrically placed on the right end inside the ring sensor stator 10 with the first and third linear hall S1 (1, 3), and the magnitudes of the magnetic densities detected by the second and fourth linear hall S2 (2, 4) are expressed as:
wherein: k x is the influence coefficient of displacement change in the x direction on the axial magnetic density, and the unit is T/mum 2;
k y is an influence coefficient of displacement change in the y direction on the magnitude of axial magnetic density, and the unit is T/mum 2;
k z is an influence coefficient of displacement change in the z direction on the axial magnetic density, and the unit is T/mu m;
B 20 is the magnetic density at the second linear hall element S2 (2) when the sensor rotor is at the equilibrium position;
B 40 is the magnitude of the magnetic flux density at the fourth linear hall element S4 (4) when the sensor rotor is at the equilibrium position;
the displacement of the motor rotor in the axial direction is obtained according to the formulas (7) and (8):
In the present embodiment, four linear hall's are fixed in the horizontal direction inside the ring-shaped sensor stator 10: a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3) and a fourth linear Hall S4 (4), wherein a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6) are fixed in the vertical horizontal direction; wherein the four hall elements of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are uniformly placed on the circumference of the inner side of the ring-shaped sensor stator 10 and are positioned at the left end of the inner side of the ring-shaped sensor stator 10; the second linear Hall S2 (2) and the fourth linear Hall S4 (4) are symmetrically arranged at the right end of the inner side of the annular sensor stator (10) together with the first linear Hall S1 (1) and the third linear Hall S3 (3); the radial air gap flux density 12 can be detected by using the four Hall elements of the first linear Hall element 1 (1), the third linear Hall element 3 (3), the fifth linear Hall element 5 (5) and the sixth linear Hall element 6 (6), and the axial air gap flux density 13 can be detected by using the second linear Hall element 2 (2) and the fourth linear Hall element 4 (4).
The linear Hall angle and displacement detection device based on homopolar permanent magnet double rotors comprises a round lantern ring rotor embedded with ten sector permanent magnets and an annular sensor stator fixed with six linear Hall magnets. The annular sensor rotor consists of a rotor iron core made of ferromagnetic materials, five permanent magnets with N poles on the outer surfaces and five permanent magnets with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing. Five permanent magnets with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor; five permanent magnets with S poles on the outer surfaces and the permanent magnets with N poles on the outer surfaces are aligned and distributed on the right side of the annular sensor rotor. The annular sensor stator is made of ferromagnetic materials, four linear Hall devices including a first linear Hall device S1, a second linear Hall device S2, a third linear Hall device S3 and a fourth linear Hall device S4 are fixed in the horizontal direction of the inner side of the annular sensor stator, and a fifth linear Hall device S5 and a sixth linear Hall device S6 are fixed in the vertical horizontal direction. Wherein the four hall elements of the first linear hall S1, the third linear hall S3, the fifth linear hall S5 and the sixth linear hall S6 are uniformly placed on the circumference of the inner side of the annular sensor stator 10 and are positioned at the left end of the inner side of the annular sensor stator; the second linear hall S2 and the fourth linear hall S4 are symmetrically arranged at the right end of the inner side of the annular sensor stator 10 with the first linear hall S1 and the third linear hall S3. The invention simplifies the system structure and reduces the equipment cost.
In the present embodiment, referring to fig. 2 and 3, the annular sensor rotor 14 is composed of a rotor core 9 made of ferromagnetic material, five permanent magnets 7 whose outer surfaces are N poles, and five permanent magnets 8 whose outer surfaces are S poles, and the magnetizing directions of the permanent magnets are radial magnetizing. Five permanent magnets 7 with N poles on the outer surface are uniformly distributed on the left side of the annular sensor rotor 14; five permanent magnets 8 with S poles on the outer surfaces are aligned with the permanent magnets 7 with N poles on the outer surfaces and distributed on the right side of the annular sensor rotor 14. The annular sensor stator 10 with six linear hall devices fixed is made of ferromagnetic materials, four linear hall devices of a first linear hall device 1 (1), a second linear hall device 2 (2), a third linear hall device 3 (3) and a fourth linear hall device 4 (4) are fixed in the horizontal direction inside the annular sensor stator 10, and two linear hall devices of a fifth linear hall device 5 (5) and a sixth linear hall device 6 (6) are fixed in the vertical horizontal direction. Wherein the four hall elements of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are uniformly placed on the circumference of the inner side of the ring-shaped sensor stator 10 and are positioned at the left end of the inner side of the ring-shaped sensor stator 10; the second linear hall S2 (2) and the fourth linear hall S4 (4) are symmetrically arranged at the right end of the inner side of the annular sensor stator 10 with the first linear hall S1 (1) and the third linear hall S3 (3).
The annular sensor rotor 14 is sleeved on the shaft of the magnetic suspension motor, when the motor works, the annular sensor rotor 14 rotates along with the motor rotor, and when the permanent magnets 7 in the annular sensor rotor 14 are positioned at different position angles, the radial air gap flux density of the four Hall elements of the first linear Hall element 1 (1), the third linear Hall element 3 (3), the fifth linear Hall element 5 (5) and the sixth linear Hall element 6 (6) is changed; when the motor rotor is radially offset, the radial air gap flux density of four Hall elements of the first linear Hall S1 (1), the third linear Hall S3 (3), the fifth linear Hall S5 (5) and the sixth linear Hall S6 (6) is changed; when the motor is axially offset, the axial air gap flux density of the second linear Hall element (2) and the fourth linear Hall element (4) is changed.
The annular sensor rotor in the embodiment adopts a homopolar permanent magnet double-rotor structure, six linear Hall elements are utilized to accurately measure the variation of magnetic density when the lantern ring acts along with the rotor, and the position angle and the rotor displacement of the rotor can be accurately obtained according to the measured magnetic density.
The magnetic levitation motor and the ring-shaped sensor rotor with five pairs of pole structures in the above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by the technical idea, and any modification made on the basis of the technical scheme according to the technical idea provided by the present invention falls within the protection scope of the claims of the present invention.
Claims (5)
1. Linear hall angle and displacement integrated detection device based on homopolar permanent magnet birotor, including detection device rotor and stator, its characterized in that: the detection device rotor is an annular sensor rotor (14) embedded with ten sector permanent magnets, and the detection device stator is a stator (10) fixed with six linear Hall annular sensors;
The linear Hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors is adopted for operation, and the sizes of the radial air gap flux density (12) and the axial air gap flux density (13) which are detected through six Hall elements, namely a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3), a fourth linear Hall S4 (4), a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6), are calculated, and the real-time rotor position angle, the shaft and the radial displacement of the magnetic levitation motor are calculated through the following steps: the method comprises the following specific steps:
Step one: the annular sensor rotor is sleeved on a rotating shaft of the magnetic suspension motor, and when the motor works, the annular sensor rotor rotates along with the motor rotor, the axial air gap flux densities B a2 and B a4 and the radial air gap flux densities B r1,Br3,Br5 and B r6 are measured by using six linear Hall elements;
step two: when the rotor is radially offset (Δx, Δy) and axially offset (Δz) ignoring magnetic saturation, the measured magnetic densities B r1,Br3,Br5 and B r6 on the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are expressed as:
In the above formula: b 0 is the amplitude of the air gap flux density at the Hall element when the annular sensor rotor is at the balance position;
K m is the coefficient amplitude of the linear change of the magnetic density variation along with the offset after the annular sensor rotor is offset;
E s is the eccentricity generated after the annular sensor rotor is offset;
k z is the influence coefficient of the axial offset of the sensor rotor on the radial offset;
θ r is the rotor position angle of the sensor rotor;
θ s is the eccentric angle of the sensor rotor;
p is the pole pair number of the sensor rotor, and p is an odd number;
Since the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are placed at the left end of the inner side of the annular sensor stator (10), the axial magnetic force lines passing through the four hall devices of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are almost zero, namely K z Δz=0 can be approximately considered, and then the formula (1) becomes:
the simplified formula (2) is obtained:
obtained according to formula (3):
solving a rotor position angle theta r of the motor rotor at the current moment through the formula (4);
after obtaining the rotor position angle θ r of the motor, it is also obtained according to the formula (3):
The formula (5) is:
Bringing formula (6) into formula (5) yields a radial displacement of the motor rotor of:
Step three: in the case of neglecting the magnetic saturation, when the rotor is radially offset (Δx, Δy) and axially offset (Δz), the second linear hall S2 (2) and the fourth linear hall S4 (4) are symmetrically placed at the right end inside the annular sensor stator (10) with the first linear hall S1 (1) and the third linear hall S3 (3), and the magnitudes of the magnetic densities detected by the second linear hall S2 (2) and the fourth linear hall S4 (4) are expressed as:
wherein: k x is the influence coefficient of displacement change in the x direction on the axial magnetic density, and the unit is T/mum 2;
k y is an influence coefficient of displacement change in the y direction on the magnitude of axial magnetic density, and the unit is T/mum 2;
k z is an influence coefficient of displacement change in the z direction on the axial magnetic density, and the unit is T/mu m;
B 20 is the magnetic density at the second linear hall element S2 (2) when the sensor rotor is at the equilibrium position;
B 40 is the magnitude of the magnetic flux density at the fourth linear hall element S4 (4) when the sensor rotor is at the equilibrium position;
the displacement of the motor rotor in the axial direction is obtained according to the formulas (7) and (8):
2. The homopolar permanent magnet double-rotor-based linear hall angle and displacement integrated detection device according to claim 1, wherein: the annular sensor rotor (14) consists of a rotor iron core (9) made of ferromagnetic materials, five permanent magnets (7) with N poles on the outer surfaces and five permanent magnets (8) with S poles on the outer surfaces, and the magnetizing directions of the permanent magnets are radial magnetizing; five permanent magnets (7) with N poles on the outer surfaces are uniformly distributed on the left side of the annular sensor rotor (14); the five permanent magnets (8) with the outer surfaces of S poles and the permanent magnets (7) with the outer surfaces of N poles are aligned and distributed on the right side of the annular sensor rotor (14); when the device is used for detecting the rotor position angle and radial and axial displacement of the magnetic suspension motor, the annular sensor rotor (14) embedded with the permanent magnet is sleeved on the rotating shaft of the magnetic suspension motor.
3. The homopolar permanent magnet double-rotor-based linear hall angle and displacement integrated detection device according to claim 1, wherein: the annular sensor stator (10) fixed with six linear Hall is made of ferromagnetic materials, and four linear Hall are fixed in the horizontal direction of the inner side of the annular sensor stator (10): a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3) and a fourth linear Hall S4 (4), wherein a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6) are fixed in the vertical horizontal direction; wherein the four hall elements of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are uniformly arranged on the circumference of the inner side of the annular sensor stator (10) and are positioned at the left end of the inner side of the annular sensor stator (10); the second linear Hall S2 (2) and the fourth linear Hall S4 (4) are symmetrically arranged at the right end of the inner side of the annular sensor stator (10) together with the first linear Hall S1 (1) and the third linear Hall S3 (3); the radial air gap flux density (12) can be detected by using the four Hall elements of the first linear Hall S1 (1), the third linear Hall S3 (3), the fifth linear Hall S5 (5) and the sixth linear Hall S6 (6), and the axial air gap flux density (13) can be detected by using the second linear Hall S2 (2) and the fourth linear Hall S4 (4).
4. The linear Hall angle and displacement integrated detection method based on homopolar permanent magnet double rotors adopts the linear Hall angle and displacement integrated detection device based on homopolar permanent magnet double rotors as set forth in claim 1 to operate, and is characterized in that: the rotor position angle, the shaft and the radial displacement of the magnetic suspension motor in real time are calculated through the following steps through six Hall elements, namely a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3), a fourth linear Hall S4 (4), a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6), wherein the detected radial air gap flux density (12) and the detected axial air gap flux density (13) are obtained through the following steps: the method comprises the following specific steps:
Step one: the annular sensor rotor is sleeved on a rotating shaft of the magnetic suspension motor, and when the motor works, the annular sensor rotor rotates along with the motor rotor, the axial air gap flux densities B a2 and B a4 and the radial air gap flux densities B r1,Br3,Br5 and B r6 are measured by using six linear Hall elements;
step two: when the rotor is radially offset (Δx, Δy) and axially offset (Δz) ignoring magnetic saturation, the measured magnetic densities B r1,Br3,Br5 and B r6 on the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are expressed as:
In the above formula: b 0 is the amplitude of the air gap flux density at the Hall element when the annular sensor rotor is at the balance position;
K m is the coefficient amplitude of the linear change of the magnetic density variation along with the offset after the annular sensor rotor is offset;
E s is the eccentricity generated after the annular sensor rotor is offset;
k z is the influence coefficient of the axial offset of the sensor rotor on the radial offset;
θ r is the rotor position angle of the sensor rotor;
θ s is the eccentric angle of the sensor rotor;
p is the pole pair number of the sensor rotor, and p is an odd number;
Since the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are placed at the left end of the inner side of the annular sensor stator (10), the axial magnetic force lines passing through the four hall devices of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are almost zero, namely K z Δz=0 can be approximately considered, and then the formula (1) becomes:
the simplified formula (2) is obtained:
obtained according to formula (3):
solving a rotor position angle theta r of the motor rotor at the current moment through the formula (4);
after obtaining the rotor position angle θ r of the motor, it is also obtained according to the formula (3):
The formula (5) is:
Bringing formula (6) into formula (5) yields a radial displacement of the motor rotor of:
Step three: in the case of neglecting the magnetic saturation, when the rotor is radially offset (Δx, Δy) and axially offset (Δz), the second linear hall S2 (2) and the fourth linear hall S4 (4) are symmetrically placed at the right end inside the annular sensor stator (10) with the first linear hall S1 (1) and the third linear hall S3 (3), and the magnitudes of the magnetic densities detected by the second linear hall S2 (2) and the fourth linear hall S4 (4) are expressed as:
wherein: k x is the influence coefficient of displacement change in the x direction on the axial magnetic density, and the unit is T/mum 2;
k y is an influence coefficient of displacement change in the y direction on the magnitude of axial magnetic density, and the unit is T/mum 2;
k z is an influence coefficient of displacement change in the z direction on the axial magnetic density, and the unit is T/mu m;
B 20 is the magnetic density at the second linear hall element S2 (2) when the sensor rotor is at the equilibrium position;
B 40 is the magnitude of the magnetic flux density at the fourth linear hall element S4 (4) when the sensor rotor is at the equilibrium position;
the displacement of the motor rotor in the axial direction is obtained according to the formulas (7) and (8):
5. The linear hall angle and displacement integrated detection method based on homopolar permanent magnet double rotors according to claim 4, wherein the method is characterized in that: four linear Hall's are fixed in the horizontal direction of annular sensor stator (10) inboard: a first linear Hall S1 (1), a second linear Hall S2 (2), a third linear Hall S3 (3) and a fourth linear Hall S4 (4), wherein a fifth linear Hall S5 (5) and a sixth linear Hall S6 (6) are fixed in the vertical horizontal direction; wherein the four hall elements of the first linear hall S1 (1), the third linear hall S3 (3), the fifth linear hall S5 (5) and the sixth linear hall S6 (6) are uniformly arranged on the circumference of the inner side of the annular sensor stator (10) and are positioned at the left end of the inner side of the annular sensor stator (10); the second linear Hall S2 (2) and the fourth linear Hall S4 (4) are symmetrically arranged at the right end of the inner side of the annular sensor stator (10) together with the first linear Hall S1 (1) and the third linear Hall S3 (3); the radial air gap flux density (12) can be detected by using the four Hall elements of the first linear Hall S1 (1), the third linear Hall S3 (3), the fifth linear Hall S5 (5) and the sixth linear Hall S6 (6), and the axial air gap flux density (13) can be detected by using the second linear Hall S2 (2) and the fourth linear Hall S4 (4).
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