CN116937903B - A three-phase asynchronous motor and a rotor position measurement method thereof - Google Patents
A three-phase asynchronous motor and a rotor position measurement method thereof Download PDFInfo
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- CN116937903B CN116937903B CN202310613777.4A CN202310613777A CN116937903B CN 116937903 B CN116937903 B CN 116937903B CN 202310613777 A CN202310613777 A CN 202310613777A CN 116937903 B CN116937903 B CN 116937903B
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- 239000010959 steel Substances 0.000 claims 2
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Classifications
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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
- H02K11/22—Optical devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K17/00—Asynchronous induction motors; Asynchronous induction generators
- H02K17/02—Asynchronous induction motors
- H02K17/30—Structural association of asynchronous induction motors with auxiliary electric devices influencing the characteristics of the motor or controlling the motor, e.g. with impedances or switches
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Optical Transform (AREA)
Abstract
The invention discloses a three-phase asynchronous motor, which comprises a motor shell, a stator and a rotor, wherein a coding disc is arranged on the rotor, a plurality of encoders are arranged on the coding disc at equal intervals in the circumferential direction, a light receiver and a light emitter are arranged on two axial sides of the coding disc, and the light receiver and the light emitter detect rotor position information in a low-speed state. The circumference equidistant three detectors that are equipped with of code wheel, the detector divide into first detection region, second detection region and third detection region with the code wheel, under high-speed state, the detector is used for judging that the rotor is located first/second/third detection region, tentatively judges rotor position information, detects rotor position information by optical receiver and optical emitter secondary again. Therefore, when the rotor rotates at a high speed, the position of the rotor is accurately judged. The invention also discloses a method for measuring and calculating the rotor position of the three-phase asynchronous motor, which comprises step 1-step 4, and is used for measuring and calculating the rotor position of the three-phase asynchronous motor.
Description
Technical Field
The invention relates to a three-phase asynchronous motor technology, in particular to a three-phase asynchronous motor and a rotor position measuring and calculating method thereof.
Background
The three-phase asynchronous motor is characterized in that 380V three-phase alternating current is connected to enable a rotor and a stator of the motor to rotate in the same direction and at different rotation speeds. Because of the rapid development of automation equipment, the existing three-phase asynchronous motor has difficulty in meeting the precision of automatic production, and improvement on the three-phase asynchronous motor is needed. As in CN106524885A, this patent determines the rotor position by setting a magnetic wheel on the rotor, setting a magnetic layer on the magnetic wheel, circumferentially and equally spaced a plurality of magnetic poles, setting a sensor on the motor housing, detecting the change of magnetic field direction generated by the plurality of magnetic poles when the magnetic wheel rotates, and calculating the angle rotated by the rotor according to the number of times of the change of magnetic field direction.
As disclosed in publication No. CN107171610B, a rotor position estimation method is provided, in which a first phase current and a second phase current are obtained, a first phase voltage and a second phase voltage are obtained, a speed reference value is obtained, a first back electromotive force and a second back electromotive force are calculated, a first flux linkage and a second flux linkage are obtained by integrating the first back electromotive force and the second back electromotive force, a third flux linkage and a fourth flux linkage are obtained by processing the first flux linkage and the second flux linkage through a high-pass filter, a rotor flux linkage first component and a rotor flux linkage second component are calculated through the third flux linkage and the fourth flux linkage, and a rotor position angle is calculated according to the rotor flux linkage first component and the rotor flux linkage second component.
The patent has a publication number CN104716785B, a plurality of reflective symbols are arranged on the rotor, an information identifier is arranged on the shell, and the information identifier comprises a plurality of sets of photoelectric transmitting and receiving devices, and the photoelectric transmitting and receiving devices correspond to the reflective symbols, so that the rotor position information is accurately acquired.
In summary, in the prior art, when the motor rotates at a low speed, the rotor position information is detected more accurately, and when the motor rotates at a high speed, the rotor position accuracy is reduced due to the influence of the performance of the sensor/identifier.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a three-phase asynchronous motor and a rotor position measuring and calculating method thereof, which can accurately measure and calculate rotor position information and rotation direction when the motor rotates at a high speed.
The technical scheme of the invention is realized as follows:
The three-phase asynchronous motor comprises a motor shell, a stator and a rotor, wherein the motor shell consists of a machine base and a front end cover, the rotor is positioned in the machine base, and the three-phase asynchronous motor is characterized in that the rotor consists of an axle center, a plurality of iron core plates, a plurality of lantern rings, a plurality of winding coils and an end ring, wherein,
The end ring is provided with a detection component, the detection component comprises a coding disc, a first detection sensor and a second detection sensor, the first detection sensor and the second detection sensor are arranged on the two radial sides of the coding disc, the coding disc is arranged on the end ring and coaxial with the rotor, a plurality of encoders are circumferentially and equidistantly arranged on the coding disc, the two axial sides of the coding disc are provided with a light receiver and a light emitter, the light receiver and the light emitter detect the position information of the rotor in a low-speed state,
The coding disc is circumferentially provided with three detectors at equal intervals, the detectors divide the coding disc into a first detection area, a second detection area and a third detection area, and in a high-speed state, the detectors are used for judging that a rotor is located in the first/second/third detection areas, primarily judging rotor position information, and then detecting the rotor position information secondarily by the light receiver and the light emitter.
In the three-phase asynchronous motor, the axle center is composed of a connecting part, a spline part, a mounting part and a threaded part, wherein the spline part is used for mounting a core plate, the mounting part is used for connecting an end ring, the front end cover is also connected with an output shaft, and the output shaft is connected with the threaded part.
In the three-phase asynchronous motor, the iron core plates are axially stacked and mounted on the spline part, the iron core plates are circumferentially and equidistantly provided with the plurality of lantern rings, and the winding coils are positioned in the lantern rings.
In the three-phase asynchronous motor, the end ring consists of a plurality of guide plates, the tail ends of the guide plates are connected with the winding coil, the guide plates are connected to the mounting part in the circumferential direction of the shaft, and a clamping groove is formed between the two guide plates and is used for mounting the steel ring.
In the three-phase asynchronous motor, the coding disc is connected with the end ring through a steel ring, the steel ring consists of a connecting ring and a plurality of clamping strips, the coding disc comprises a rotating wheel, a plurality of spoke grooves are formed in the circumference of the rotating wheel at equal intervals, and the coder is correspondingly arranged in the spoke grooves.
In the three-phase asynchronous motor, the signal light emitted by the light emitter penetrates through the spoke groove and is received by the light receiver, wherein the light receiver consists of a first light receiver and a second light receiver, the light emitter consists of a first light emitter and a second light emitter, the first light receiver corresponds to the first light emitter, and the second light receiver corresponds to the second light emitter.
In the three-phase asynchronous motor of the invention, the first light receiver and the second light receiver receive signals in a staggered manner, wherein the rotor is in a first rotation direction if the first receiver receives signals earlier than the second receiver, and in a second rotation direction if the second receiver receives signals earlier than the first receiver.
A method for measuring and calculating the rotor position of a three-phase asynchronous motor is characterized by comprising the following steps:
step1, a rotor drives a coding disc to rotate for one circle, a light receiver receives 36 light pulse signals and converts the light pulse signals into N electric pulse signals, wherein N is a complete period electric pulse signal count value;
Step2, measuring and calculating the rotor position angular distance in degrees, ,M is the actual rotation angle electric pulse signal count value;
Step3, measuring and calculating the position increment angle of the rotor under the low-speed state of the three-phase motor;
step4, measuring and calculating the rotor position increment angle under the high-speed state of the three-phase motor.
In the rotor position measuring and calculating method of the invention, the specific operation steps of step3 are that before the rotor starts to rotate, a counting value A 0 is set, each time the optical receiver receives an optical pulse signal, the counting value A 0 +1 is up to A M, and the counting value M is taken as the counting value of an actual rotation angle electric pulse signal.
In this rotor position estimation method of the present invention,
Step4.1, taking an initial angle time code number intA, judging that intA is positioned in an H 1 detection area, taking a termination angle time code number intB, and judging that intB is positioned in an H 2 detection area;
step4.2, judging the rotation direction of the rotor;
step4.3 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= | intA +12-intB |,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= | intA +12-intB +12|;
Step4.4 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= |12-intA + intB +12|,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= |12-intA + intB |.
The three-phase asynchronous motor and the rotor position measuring and calculating method thereof have the following beneficial effects:
The invention arranges the light receiver and the light emitter on the two sides of the axial direction on the coding disc, when the light receiver and the light emitter detect the low-speed rotation of the rotor, the rotor position angle,
Still be equipped with three detector at the coding disc circumference equidistant, the detector is divided into first detection region, second detection region and third detection region with the coding disc, under high-speed state, and the detector judges the rotor and is located what kind of detection region, and the optical receiver obtains intA and intB, combines rotor rotation direction again, accurate measuring and calculating rotor at high-speed pivoted positional information.
Drawings
FIG. 1 is a schematic diagram of a separation structure of a three-phase asynchronous motor according to the present invention;
FIG. 2 is a side view of the rotor of the present invention;
FIG. 3 is another angular view of the rotor of the present invention;
FIG. 4 is a schematic view of a rotor according to the present invention;
FIG. 5 is a schematic view of the installation of the rotor and the detection assembly of the present invention;
FIG. 6 is a schematic diagram of a detection assembly according to the present invention;
FIG. 7 is a schematic diagram of a detection assembly according to the present invention;
FIG. 8 is a schematic diagram of the structure of a code wheel of the present invention;
FIG. 9 is an electrical pulse diagram and a region judgment diagram of the encoder disk of the present invention;
FIG. 10 is a flow chart of a rotor position estimation method of the present invention.
The reference numerals are 10-motor housing, 101-base, 102-front cover, 103-output shaft, 20-rotor, 201-shaft center, 201 '1-connection, 201' 2-spline, 201 '3-mount, 201' 4-screw, 202-iron core, 203-collar, 204-winding coil, 205-end ring, 205 '1-guide piece, 205' 2-slot, 30-detection assembly, 301-base, 302-connection seat, 303-first detection sensor, 304-second detection sensor, 305-steel ring, 305 '1-connection ring, 305' 2-clip, 306-encoding disk, 306 '1-runner, 306' 2-spoke, 306 '3-encoder, 306' 4-detector, 307-light receiver, 307 '1-first light receiver, 307' 2-second light receiver, 308-light emitter, 308 '1-first light emitter, 308' 2-second light emitter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the prior art, referring to CN106524885A, in general, a three-phase asynchronous motor is configured with magnetic poles on a rotor, and detects a magnetic field change generated when the magnetic poles rotate, and then calculates position information of the rotor according to the magnetic field change. Or referring to CN104716785B, a plurality of reflective symbol rings are arranged on the rotor of the three-phase asynchronous motor, and the reflective symbol rings correspond to the photoelectric transmitting and receiving devices one by one, so that the rotor position information is accurately acquired. The rotor position information can not be accurately detected when the three-phase motor rotates at a high speed in the mode, and the rotor position information, the rotation direction and the rotation speed can be accurately calculated when the three-phase motor rotates at a high speed.
Example 1
As shown in fig. 1 to 9, such a three-phase asynchronous motor of the present invention includes a motor housing 10, a stator (not shown in the drawings), and a rotor 20. The motor shell 10 consists of a machine base 101 and a front end cover 102, wherein a stator and a rotor 20 are both arranged inside the machine base 101, and the rotor 20 rotates by switching in 380V three-phase alternating current.
As shown in fig. 2 to 4, the rotor 20 is composed of a shaft center 201, iron core pieces 202, collars 203, winding coils 204, and end rings 205. The axle center 201 is composed of a connecting part 201'1, a spline part 201'2, a mounting part 201'3 and a threaded part 201'4, and the front end cover 102 is also connected with an output shaft 103, and the output shaft 103 is connected with the threaded part 201' 4. Spline portion 201'2 is used to mount iron core pieces 202, and a plurality of iron core pieces 202 are mounted on spline portion 201'2 in an axial stack. The iron core plate 202 is circumferentially provided with n collars 203 at equal intervals, n is a multiple of 3, and the winding coils 204 are positioned in the collars 203 so as to correspond to the three-phase alternating current. Wherein, the length of the sleeve 203 is slightly longer than the stacking thickness of a plurality of iron core pieces 202, which is convenient for winding the winding coil 204 around the sleeve 203. The mounting portion 201'3 is used for connecting an end ring 205, the end ring 205 being composed of several guide tabs 205'1, the guide piece 205'1 is connected to the winding coil 204 at its end. The guide pieces 205'1 are connected to the mounting portion 201'3 in an axial and circumferential direction, and a clamping groove 205'2 is formed between the two guide pieces 205'1, and the clamping groove 205'2 is used for mounting a steel ring. As shown in fig. 3, if the guide pieces 205'1, the collars 203 and the winding coils 204 are divided into 3 groups, they respectively correspond to three-phase ac power.
As shown in fig. 5-7, the end ring 205 has a sensing assembly 30 mounted thereon. The sensing assembly 30 includes a code wheel 306, and first and second sensing sensors 303 and 304 mounted on both radial sides of the code wheel 306. The first detection sensor 303 and the second detection sensor 304 are installed above a connecting seat 302, the connecting seat 302 is fixedly connected above a base 301, and the base 301 is fixedly connected with the front end cover 102. The encoder disk 306 is connected to the end ring 205 via a steel ring 305 and rotates with the rotor 20 coaxially therewith. The steel ring 305 is composed of a connecting ring 305'1 and a plurality of clamping strips 305'2, the clamping strips 305'2 are embedded into the clamping grooves 205'2, and the guide piece 205'1 is attached to the inner wall of the connecting ring 305'1, so that the steel ring 305 is fixedly connected with the end ring 205. The encoding disk 306 includes a rotating wheel 306'1, where a plurality of radial slots 306'2 are circumferentially equidistant from the rotating wheel 306'1, and encoders 306'3 are correspondingly installed in the radial slots 306' 2. As shown in fig. 8 to 9, the rotating wheel 306'1 has 36 radial slots 306'2 thereon, and each radial slot 306'2 corresponds to a rotation angle of 10 °, and each encoder 306'3 is encoded. The code wheel 306 is provided with an optical receiver 307 and an optical transmitter 308 on both axial sides.
In this embodiment, when the three-phase motor rotates the rotor 20 at a low speed (not more than 500 rpm), the signal light emitted from the light emitter 308 passes through the spoke 306'2 and is received by the light receiver 307 in the encoder 306'3 for detecting the rotor position angle. The rotor 20 drives the code wheel 306 to rotate one turn, and the light receiver 307 receives 36 light pulse signals and converts the light pulse signals into N electrical pulse signals (as shown in fig. 9). N is a count value of the electric pulse signal in a complete period. Before the rotor 20 starts to rotate, a count value a 0 is set, and each time the optical receiver 307 receives an optical pulse signal, the count value a 0 +1, namely (a 0、A1、A2、A3……AM), the value M is taken as an actual rotation angle electric pulse signal count value, and the angular distance in degrees is calculated. The calculation formula is as follows:,。
In the above, the accurate position of the rotor 20 in the low speed state is calculated, so that the three-phase motor can be controlled to operate more accurately and effectively. This approach requires the light receiver 307 to accurately receive and count each time the rotor rotates. If the rotor 20 rotates at a high speed, the light receiver 307 cannot receive all pulse signals, resulting in errors in rotor rotation angle calculation.
In contrast, as shown in fig. 8, three detectors 306'4 are provided at equal intervals in the circumferential direction of the encoder disk 306, the detectors 306'4 divide the encoder disk 306 into a first detection area α, a second detection area β, and a third detection area γ, and in a high-speed state, it is determined that the rotor is located in the first/second/third detection areas by the first detection sensor 303 or the second detection sensor 304 and the detectors 306'4 on both sides of the encoder disk 306, and then the rotor position information is secondarily detected by the light receiver and the light emitter. The concrete way is as follows:
Each encoder 306'3 is first encoded separately and arranged in a distributed manner as shown in fig. 8. The encoder 306'3 located in the first detection region α is encoded as α1, α2, α3, α4, α5, α6, α7, α8, α9, α10, α11, α12.
The encoder 306'3 located in the second detection region β encodes β1, β2, β3, β4, β5, β6, β7, β8, β9, β10, β11, and β12.
The encoder 306'3 located in the third detection region γ is encoded as γ1, γ2, γ3, γ4, γ5, γ6, γ7, γ8, γ9, γ10, γ11, and γ12.
In the present embodiment, when the three-phase motor drives the upper rotor 20 to rotate at a high speed (more than 500 rpm), additional calculation is required,. During low-speed rotation, the value of M is measured and calculated by the optical receiver 307, while during high-speed rotation, the optical receiver 307 only needs to receive the code number intA of the initial-angle-time encoder 306'3, the code number intB of the end-angle-time encoder 306'3 (for example, the initial-angle-time code is α2, inta=2), and the actual-rotation-angle electric pulse signal count value M is calculated, so that the rotor position is accurately identified during high-speed rotation.
Before calculating the actual rotation angle electric pulse signal count value M, it is necessary to know the rotation direction of the rotor 20 and the detection area to which the intA and intB are located. As shown in fig. 6 to 7, the light receiver 307 is composed of a first light receiver 307'1 and a second light receiver 307'2, the light emitter 308 is composed of a first light emitter 308'1 and a second light emitter 308'2, the first light receiver 307'1 corresponds to the first light emitter 308'1, and the second light receiver 307'2 corresponds to the second light emitter 308' 2. Wherein the first optical receiver 307'1 and the second optical receiver 307'2 receive signals in an interleaved manner. If the first receiver 307'1 receives a signal earlier than the second receiver 307'2, the rotor is in a first rotational direction, and if the second receiver 307'2 receives a signal earlier than the first receiver 307'1, the rotor is in a second rotational direction.
In fig. 7, three detectors 306'4 are equidistantly distributed along the circumference of the rotating wheel 306'1, and when the rotating encoder 306 is first used, the rotating encoder 306 rotates until one detector 306'4 is parallel to the first detection sensor 303 or the second detection sensor 304. The detector 306'4 has the strongest detection signal when it is parallel to the first detection sensor 303 or the second detection sensor 304 (when the highest peak is the strongest detection signal as shown in fig. 9). When the detection signal is strongest, a mark is made once, and the detection signal difference between the first detection sensor 303 and the second detection sensor 304 is used to estimate intA that the detection region is located in the H 1 detection region. When the rotor 20 rotates at a high speed, the detection signals of the first detection sensor 303 and the second detection sensor 304 change as shown in fig. 9, and when the rotor 20 stops, the detection signal difference between the first detection sensor 303 and the second detection sensor 304 estimates that intB is located in the H 2 detection area, and H 1、H2 is less than 3.
After knowing the rotation direction of the rotor 20 and what detection areas intA and intB are located, the actual rotation angle electric pulse signal count value M can be calculated according to the following calculation formula:
The rotor 20 rotates in the first rotation direction, |h 1-H2 |=0, if the number of marks of the first detection sensor 303 or the second detection sensor 304 is less than 1, the actual rotation angle electric pulse signal count value m= | intA-intB |, for example, when the code α10 rotates to the code α2, H 1=1,H2 =1, inta=10, intb=2, the actual rotation angle electric pulse signal count value m=8, and if the number of marks of the first detection sensor 303 or the second detection sensor 304 is greater than 1, the actual rotation angle electric pulse signal count value m=36- | intA-intB |, for example, when the code α2 rotates to the code α10, H 1=1,H2 =1, inta=2, intb=10, the actual rotation angle electric pulse signal count value m=28;
The rotor 20 rotates in the first rotation direction, |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= | intA +12-intB |, for example, when the rotor rotates from the code α2 to the code β9, H 1=1,H2 =2, inta=2, intb=9, and the actual rotation angle electric pulse signal count value m=5;
the rotor 20 rotates in the first rotation direction, |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= | intA +12-intB +12|, for example, when the rotor rotates from the code α8 to the code γ9, H 1=1,H2 =3, inta=8, intb=9, and the actual rotation angle electric pulse signal count value m=23.
The rotor 20 rotates in the second rotation direction, |h 1-H2 |=0, if the number of marks of the first detection sensor 303 or the second detection sensor 304 is less than 1, the actual rotation angle electric pulse signal count value m= | intA-intB |, if the number of marks of the first detection sensor 303 or the second detection sensor 304 is greater than 1, the actual rotation angle electric pulse signal count value m=36- | intA-intB |;
The rotor 20 rotates in the second rotation direction, |h 1-H2 |=1, and the actual rotation angle electric pulse signal count value m= |12-intA + intB +12|;
The rotor 20 rotates in the second rotation direction, |h 1-H2 |=2, and the actual rotation angle electric pulse signal count value m= |12-intA + intB |.
And substituting the actual rotation angle electric pulse signal count value M into the calculation formula, so that the angle position of the rotor during high-speed rotation can be accurately calculated.
Example two
The embodiment further discloses a method for measuring and calculating the rotor position of the three-phase asynchronous motor on the basis of the embodiment, as shown in fig. 10, the method comprises the following steps:
step1, a rotor drives a coding disc to rotate for one circle, a light receiver receives 36 light pulse signals and converts the light pulse signals into N electric pulse signals, wherein N is a complete period electric pulse signal count value;
Step2, measuring and calculating the rotor position angular distance in degrees, ,M is the actual rotation angle electric pulse signal count value;
Step3, under the low-speed state of the three-phase motor, measuring and calculating the position increment angle of the rotor, before the rotor starts to rotate, setting a count value A 0, and when the light receiver receives the light pulse signal once, taking the count value A 0 +1 to A M, and taking the count value M, wherein M is the actual rotation angle electric pulse signal count value;
step4, measuring and calculating the rotor position increment angle under the high-speed state of the three-phase motor,
Step4.1, taking an initial angle time code number intA, judging that intA is positioned in an H 1 detection area, taking a termination angle time code number intB, and judging that intB is positioned in an H 2 detection area;
step4.2, judging the rotation direction of the rotor;
step4.3 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= | intA +12-intB |,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= | intA +12-intB +12|;
Step4.4 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= |12-intA + intB +12|,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= |12-intA + intB |.
The foregoing description is only a preferred embodiment of the present invention, and the technical features of the embodiment may be combined arbitrarily, so that all possible combinations of the technical features of the embodiment are not described for brevity, however, all of them should be included in the protection scope of the present invention as long as there is no contradiction.
Claims (3)
1. A rotor position measuring and calculating method of a three-phase asynchronous motor is characterized in that the three-phase asynchronous motor comprises a motor shell, a stator and a rotor, wherein the motor shell consists of a machine base and a front end cover, the rotor is positioned in the machine base and consists of an axle center, a plurality of iron chips, a plurality of lantern rings, a plurality of winding coils and an end ring,
The end ring is provided with a detection component, the detection component comprises a coding disc, a first detection sensor and a second detection sensor, the first detection sensor and the second detection sensor are arranged on the two radial sides of the coding disc, the coding disc is arranged on the end ring and coaxial with the rotor, a plurality of encoders are circumferentially and equidistantly arranged on the coding disc, the two axial sides of the coding disc are provided with a light receiver and a light emitter, the light receiver and the light emitter detect the position information of the rotor in a low-speed state,
The circumference of the coding disc is provided with three detectors at equal intervals, the detectors divide the coding disc into a first detection area, a second detection area and a third detection area, the detectors are used for judging that the rotor is positioned in the first/second/third detection areas in a high-speed state, primarily judging the rotor position information, then the light receiver and the light emitter are used for secondarily detecting the rotor position information,
The coding disc is connected with the end ring through a steel ring, the steel ring consists of a connecting ring and a plurality of clamping strips, wherein the coding disc comprises a rotating wheel, a plurality of spoke grooves are arranged on the circumference of the rotating wheel at equal intervals, the coder is correspondingly arranged in the spoke grooves,
The signal light emitted by the light emitter penetrates through the spoke groove and is received by the light receiver, wherein the light receiver consists of a first light receiver and a second light receiver, the light emitter consists of a first light emitter and a second light emitter, the first light receiver corresponds to the first light emitter, the second light receiver corresponds to the second light emitter,
The first light receiver and the second light receiver receive signals in a staggered way, wherein if the first receiver receives signals earlier than the second receiver, the rotor is in a first rotating direction, and if the second receiver receives signals earlier than the first receiver, the rotor is in a second rotating direction,
The rotor position measuring and calculating method comprises the following steps:
step1, a rotor drives a coding disc to rotate for one circle, a light receiver receives 36 light pulse signals and converts the light pulse signals into N electric pulse signals, wherein N is a complete period electric pulse signal count value;
Step2, measuring and calculating the rotor position angular distance in degrees, ,M is the actual rotation angle electric pulse signal count value;
Step3, measuring and calculating the position increment angle of the rotor under the low-speed state of the three-phase motor;
step4, measuring and calculating the rotor position increment angle under the high-speed state of the three-phase motor,
The low speed means a rotational speed of not more than 500 revolutions per minute and the high speed means a rotational speed of more than 500 revolutions per minute.
2. The method for measuring and calculating the position of the rotor according to claim 1, wherein the Step3 comprises the specific operation steps of setting a count value A 0 before the rotor starts to rotate, and taking a count value A 0 +1 to A M as an actual rotation angle electric pulse signal count value when the optical receiver receives an optical pulse signal every time.
3. The rotor position estimation method according to claim 2, wherein the specific operation steps of Step4 are:
Step4.1, taking an initial angle time code number intA, judging that intA is positioned in an H 1 detection area, taking a termination angle time code number intB, and judging that intB is positioned in an H 2 detection area;
step4.2, judging the rotation direction of the rotor;
step4.3 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= | intA +12-intB |,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= | intA +12-intB +12|;
Step4.4 when |h 1-H2 |=0, the actual rotation angle electric pulse signal count value m= | intA-intB |, or the actual rotation angle electric pulse signal count value m=36- | intA-intB |,
When |h 1-H2 |=1, the actual rotation angle electric pulse signal count value m= |12-intA + intB +12|,
When |h 1-H2 |=2, the actual rotation angle electric pulse signal count value m= |12-intA + intB |.
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| CN204442097U (en) * | 2015-01-30 | 2015-07-01 | 沈阳航空航天大学 | Aircraft permanent magnet synchronous machine rotating speed and position detecting device |
| CN108768086A (en) * | 2018-09-05 | 2018-11-06 | 江苏领新电气科技有限公司 | A kind of mounting structure of external rotor electric machine encoder |
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| JP3370886B2 (en) * | 1997-02-03 | 2003-01-27 | 山洋電気株式会社 | Motor control signal generator and motor controller |
| KR100617285B1 (en) * | 2004-06-01 | 2006-08-30 | 현대엘리베이터주식회사 | Detection method using encoder fault and phase angle error detection device of synchronous motor |
| JP5081553B2 (en) * | 2007-09-27 | 2012-11-28 | Ｎｔｎ株式会社 | Rotation detection device and bearing with rotation detection device |
| JP6924419B2 (en) * | 2019-09-06 | 2021-08-25 | 株式会社安川電機 | Encoder, servo motor, servo system |
| CN110994911A (en) * | 2019-11-27 | 2020-04-10 | 赛卓电子科技（上海）有限公司 | Outer rotor direct drive motor with position encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204442097U (en) * | 2015-01-30 | 2015-07-01 | 沈阳航空航天大学 | Aircraft permanent magnet synchronous machine rotating speed and position detecting device |
| CN108768086A (en) * | 2018-09-05 | 2018-11-06 | 江苏领新电气科技有限公司 | A kind of mounting structure of external rotor electric machine encoder |
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