CN202692935U - Motor and zero position detection circuit of magnetoelectric encoder thereof - Google Patents
Motor and zero position detection circuit of magnetoelectric encoder thereof Download PDFInfo
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- CN202692935U CN202692935U CN 201220227457 CN201220227457U CN202692935U CN 202692935 U CN202692935 U CN 202692935U CN 201220227457 CN201220227457 CN 201220227457 CN 201220227457 U CN201220227457 U CN 201220227457U CN 202692935 U CN202692935 U CN 202692935U
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Abstract
The utility model provides a motor and magnetoelectric encoder zero position detection circuitry thereof, this detection circuitry includes microcontroller, microcontroller receives the angle signal of magnetoelectric encoder output, still include voltage sampling circuit, the first sampling branch road that has the voltage signal of the first looks of sampling three-phase motor and the second sampling branch road of the voltage signal sum of sampling motor second looks and third phase, still be equipped with zero crossing comparison circuit, it has voltage comparator, voltage comparator's first input receives the voltage signal of first sampling branch road, voltage comparator's second input receives the voltage signal of second sampling branch road, detection circuitry still has photoelectric coupler, receive voltage comparator output signal, and to microcontroller output rectangular wave signal. The utility model discloses can carry out accurate detection to magnetoelectric encoder's zero point position deviation with low costs.
Description
Technical field
The utility model relates to machine field, especially relates to a kind of the have motor of magnetism encoder and the magnetism encoder null position testing circuit of this motor.
Background technology
Permagnetic synchronous motor is a kind of common motor, is widely used in the various electric equipments of commercial production and life.Existing permagnetic synchronous motor has stator and p-m rotor, and armature spindle is installed in the p-m rotor, is used for outside outputting power.P-m rotor can rotate with respect to stator, and the rotation of rotor driven axle.
Permagnetic synchronous motor often is applied in the servo-drive system and as servomotor and uses, and therefore need to carry out strict control to the rotor axis of electric rotational angle, guarantees that the armature spindle rotational angle is correct.For this reason, on the existing permagnetic synchronous motor usually the setting position sensor with the rotational angle of detection rotor axle, and with the signal feedback that detects to control system, by the rotation of control system control armature spindle.
Now common position transducer is code-disc, rotary encoder, photoelectric encoder etc., and these position transducers are the angle signal of detection rotor axle, and the angle signal that detects is sent to controller.But there is the higher defective of production cost in above-mentioned position transducer, causes the production cost of motor too high.
Therefore, existing part motor uses magnetism encoder as position transducer, for detection of the rotational angle of armature spindle.Magnetism encoder is by detecting field signal and the field signal that detects is converted to a kind of sensor that electric signal is exported, therefore using the motor of magnetism encoder a magnet to be installed to produce the needed magnetic field of magnetism encoder work at the axle head of armature spindle.During machine operation, the armature spindle rotation is installed in the also thereupon rotation of magnet of armature spindle axle head, and the field signal that magnetism encoder detects is the variation of generating period also, and exports corresponding electric signal according to the variation of field signal.
The electric signal of magnetism encoder output is the pulse signal through coding, and when armature spindle revolves when turning around, magnetism encoder is 0 to 4095 pulse signal according to the variation output encoder value of field signal.When armature spindle continued rotation, magnetism encoder repeatedly output encoder value was 0 to 4095 pulse signal.Therefore, the encoded radio of the pulse signal by detecting magnetism encoder output can detect the position of armature spindle.
For convenient detection to the armature spindle position, usually need to determine a null position, namely being defined in the three phase electric machine position that wherein armature spindle turns to during the voltage signal zero crossing of a phase is null position, and the encoded radio that this moment, magnetism encoder was exported should be 0.
Yet, because may there be error in the installation of magnetism encoder, cause its null position that detects to have deviation, for example during a phase voltage signal zero crossing, the code book of magnetism encoder output should be 0, but because the existence of alignment error, causing encoded radio is 1 or 2 etc., to cause like this mistake of armature spindle position probing, and can cause and not expect and uncontrollable direct-axis current, and can cause motor to start or to reverse when serious.
In order to eliminate the null position deviation of magnetism encoder, usually need to detect and after detection, proofread and correct the null position deviation, detection method commonly used has pre-determined bit method and high-frequency signal injection.The pre-determined bit method is to pass to direct current or apply the fixing voltage vector of direction rotor is driven and turn to the precalculated position in stator, determine the null position deviation of magnetism encoder according to the output of magnetism encoder, but the method detects error when motor bringing onto load or friction torque are larger larger.High-frequency signal injection is to utilize the salient pole of motor or the initial position that saturation effect is come detection rotor, but the method is higher to the hardware requirement of testing circuit, and the Project Realization difficulty is larger, has also increased the cost of testing circuit.
Summary of the invention
Fundamental purpose of the present utility model provides the null position testing circuit of the magnetism encoder that a kind of cost is low and error is little.
Another purpose of the present utility model provides a kind of at low cost motor of accurate detection rotor axle null position deviation.
For realizing fundamental purpose of the present utility model, the null position testing circuit of the motor magnetism encoder that the utility model provides comprises microcontroller, microcontroller receives the angle signal of magnetism encoder output, also comprise voltage sampling circuit, voltage signal with the first sampling branch road of voltage signal of sampling three-phase motor first-phase and sampling motor second-phase and second of the voltage signal sum of the third phase branch road of sampling, also be provided with the zero passage comparator circuit, it has voltage comparator, the first input end of voltage comparator receives the voltage signal of the first sampling branch road, the second input end of voltage comparator receives the voltage signal of the second sampling branch road, testing circuit also has photoelectrical coupler, the receiver voltage comparator output signal, and to microcontroller output square-wave signal.
By such scheme as seen, the difference of voltage comparator comparison first-phase voltage signal and second-phase voltage, third phase voltage sum, transition will occur in the signal of voltage comparator output when the first-phase voltage over zero, namely become low level or become high level from low level from high level, through behind the photoelectrical coupler, become square-wave signal.Like this, microcontroller produces when the rising edge that receives square-wave signal or negative edge once and interrupts, and when interrupting, detect the angle signal of magnetism encoder, if the encoded radio of output is 0, then expression does not have the null position deviation, if be not 0 and with 0 have less error, then there is the null position deviation in expression, need to adjust the installation site of magnetism encoder.
As seen, the null position testing circuit is simple in structure, and the device of required use also is conventional device, and cost is lower.And, calculate a certain phase voltage zero crossing of motor constantly by voltage comparator, calculate accurately, greatly reduce the error that null position detects.
A preferred scheme is, the first sampling branch road has the first divider resistance and the second divider resistance that is connected in series, and the first input end of voltage comparator is connected between the first divider resistance and the second divider resistance.
This shows, the voltage signal of first-phase is input to voltage comparator through after the dividing potential drop, can avoid affecting because of the overtension that is input to voltage comparator serviceable life and the job stability of voltage comparator, guarantee working steadily in the long term of voltage comparator.
Further scheme is, also is provided with the first capacitance that is connected in series with the first divider resistance on the first sampling branch road.
As seen, by capacitance the DC component on the first-phase voltage is isolated, filtered, guarantee the accuracy that detects.
For realizing another purpose of the present utility model, the motor that the utility model provides has stator and rotor, rotor has armature spindle, on the axle head of armature spindle magnet is installed, and magnetism encoder is installed also on the motor, and be provided with the null position testing circuit of magnetism encoder, this testing circuit has microcontroller, microcontroller receives the angle signal of magnetism encoder output, also comprise voltage sampling circuit, voltage signal with the first sampling branch road of voltage signal of sampling three-phase motor first-phase and sampling motor second-phase and second of the voltage signal sum of the third phase branch road of sampling, also be provided with the zero passage comparator circuit, it has voltage comparator, the first input end of voltage comparator receives the voltage signal of the first sampling branch road, and the second input end of voltage comparator receives the voltage signal of the second sampling branch road, and testing circuit also has photoelectrical coupler, the receiver voltage comparator output signal, and to microcontroller output square-wave signal.
By such scheme as seen, testing circuit is determined motor moment of the voltage signal zero crossing of a phase wherein by voltage comparator, and send the signal of level transition to microcontroller, variation such as rising edge or negative edge, judged simultaneously the encoded radio of magnetism encoder this moment by microcontroller, determine thus whether magnetism encoder exists the null position deviation.Testing circuit is simple in structure, and accuracy rate is high, can reduce the error rate of detection.
Description of drawings
Fig. 1 is the electric theory diagram of the utility model magnetism encoder null position testing circuit embodiment.
Fig. 2 is the circuit diagram of voltage sampling circuit, zero passage comparator circuit and photoelectrical coupler among the utility model magnetism encoder null position testing circuit embodiment.
Fig. 3 is the square-wave signal oscillogram of photoelectrical coupler among the oscillogram of motor three-phase voltage signal and the utility model magnetism encoder null position testing circuit embodiment.
The utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment
The motor of present embodiment has stator and rotor, and rotor is positioned at stator, rotates under the promotion of magnetic field force.Rotor has armature spindle, and a magnet is installed on the axle head of armature spindle, and preferably, this magnet is permanent magnet, and permanent magnet rotates with the rotation of armature spindle.Magnetism encoder as position transducer also is installed on motor, also is provided with simultaneously the null position testing circuit of magnetism encoder, the electric theory diagram of testing circuit as shown in Figure 1.
The magnetism encoder null position testing circuit of present embodiment has microcontroller 11, it receives the position signalling that magnetism encoder 10 sends, this position signalling is the encoded radio of formed pulse signal behind the magnetism encoder detection field signal, and encoded radio changes by 0 to 4095.
Testing circuit also has voltage sampling circuit 13, the voltage signal that is used for the sampling three-phase motor, and with the sampling voltage signal be input in the zero passage comparator circuit 14, zero passage comparator circuit 14 judges that by the sampled value of comparative voltage sample circuit 13 wherein a phase voltage is zero passage, and the signal of a level transition of generation when zero passage, and export photoelectrical coupler 15 to, photoelectrical coupler 15 is to microcontroller 11 output look-at-mes, 11 angle signals that calculate magnetism encoder 10 this moment of microcontroller, whether the encoded radio of namely judging magnetism encoder 10 outputs is 0, if 0, there is not the null position deviation in the expression magnetism encoder, if be not 0 and and have less deviation between 0, illustrate that then there is certain error in the installation of magnetism encoder, need to adjust.
Referring to Fig. 2, voltage sampling circuit is to the three-phase of motor, and namely the voltage signal of U, V, W three-phase is sampled.In the present embodiment, be the null position of verification magnetism encoder during sampling W phase voltage zero crossing, therefore the first sampling branch road is set the voltage signal of W phase is sampled, and the second sampling branch road is set voltage signal and the V phase voltage signal sum of U phase are sampled.In order to obtain the higher three-phase voltage signal waveform of signal to noise ratio (S/N ratio), need to use an other motor drives permagnetic synchronous motor High Rotation Speed.
A first sampling route resistance R 3, R8, R9, R13 and capacitor C 3, C5 form, resistance R 3, R8 carry out dividing potential drop to the W phase voltage, and voltage sample point is between resistance R 3 and R8, and capacitor C 3 is filter capacitor, and the high fdrequency component in the W phase voltage signal is carried out filtering.Electric capacity R9 and R13 are connected in series, and are divider resistance, and the voltage signal of sampling is carried out dividing potential drop.Capacitor C 5 is connected in series with resistance R 9, and it is capacitance, is used for the DC component of the voltage signal of isolation sampling.
The second sample circuit is comprised of resistance R 1, R2, R6, R7, R10, R11, R12 and capacitor C 1, C2, C6, C7, is used for sampling U phase voltage signal and V phase voltage signal sum.Resistance R 1 is carried out dividing potential drop with 6 pairs of U phase voltage signals of resistance R, and capacitor C 1 is connected in parallel with resistance R 1, is used for the U phase voltage signal is carried out filtering.Resistance R 2 is carried out dividing potential drop with R7 to the V phase voltage signal, and capacitor C 2 is connected in parallel with resistance R 7, and the V phase voltage signal is carried out filtering, and the high fdrequency component in the voltage signal is filtered out.
The resistance R 10 and the R12 that are connected in series are divider resistance, and the voltage sample point of resistance R 10 connection V phases, are used for the V phase voltage signal of sampling is carried out dividing potential drop.Capacitor C 6 is capacitance, is connected in series with resistance R 10, and the DC component in the V phase voltage signal of sampling is isolated.
Resistance R 11 also is a divider resistance, and itself and resistance R 12 are connected in series, but resistance R 11 is connected to the voltage sample point of U phase, so resistance R 11 is carried out dividing potential drop with the U phase voltage of 12 pairs of samplings of resistance R.Capacitor C 7 is capacitance, is connected in series with resistance R 11, is used for the DC component of the U phase voltage signal of sampling is isolated.
The zero passage comparator circuit has voltage comparator U1, resistance R 4 and capacitor C 4, and the positive input of voltage comparator U1 receives the voltage signal of the first sampling branch road, namely is connected between resistance R 9 and the resistance R 13.The reverse input end of voltage comparator U1 receives the voltage signal of the second sampling branch road, is connected between resistance R 10 and the resistance R 12.Like this, the positive input of voltage comparator U1 is the voltage signal that receives the W phase, and the reverse input end reception is U phase voltage signal and V phase voltage signal sum.Voltage comparator U1 output be square wave, output high level signal when the voltage signal of positive input is higher than the voltage signal of reverse input end, output low level signal when the voltage signal of positive input is lower than the voltage signal of reverse input end.
As shown in Figure 3, at the W phase voltage signal during greater than 0 volt, U phase voltage signal and V phase voltage signal sum are less than 0 volt, and at the W phase voltage signal during less than 0 volt, U phase voltage signal and V phase voltage signal sum are greater than 0 volt, when W phase voltage signal zero crossing, U phase voltage signal and V phase voltage signal sum also just are 0 volt.Therefore, during greater than 0 volt, voltage comparator U1 exports high level signal at the W phase voltage signal, at the W phase voltage signal during less than 0 volt, voltage comparator U1 output low level signal, and when W phase voltage signal zero crossing, voltage comparator U1 output rising edge or negative edge are shown in Fig. 3 the latter half.
The voltage signal of photoelectrical coupler 15 receiver voltage comparer U1 output, and to microcontroller output square-wave signal.When voltage comparator U1 output high level, the lumination of light emitting diode of photoelectrical coupler 15, phototriode are subjected to export high level signal behind the light; When voltage comparator U1 output low level signal, photodiode extinguishes, phototriode output low level signal.Therefore, the waveform voltage signal of photoelectrical coupler 15 outputs is identical with the waveform voltage signal of voltage comparator U1 output, and just the magnitude of voltage of high level signal is not identical.
Because it is 3.3 volts voltage signal that microcontroller often can only receive the high level voltage value, so the voltage signal of voltage comparator U1 output need to be exported through after the conversion of photoelectrical coupler.
Microcontroller produces once when the square-wave signal that receives photoelectrical coupler 15 outputs is negative edge and interrupts, and check this moment magnetism encoder angle signal, if being 0 expression magnetism encoder, encoded radio do not have the null position deviation, if encoded radio is not 0 and very near 0, there is deviation in expression, need to regulate this moment to magnetism encoder, and making its output encoder value is 0, can realize the null position correction for drift.
By such scheme as seen, testing circuit is by detecting the moment of W phase voltage signal zero crossing, and whether inscribes magnetism encoder at null position when judging this, thereby realizes the null position of magnetism encoder is detected.Because testing circuit is simple in structure, can not cause the production cost of motor greatly to increase, and Detection accuracy is high, reduces the detection error of null position deviation.
Certainly, above-described embodiment only be the utility model preferred embodiment, during practical application more change can also be arranged, for example, can adopt and detect U phase or V phase voltage signal zero crossing constantly as the benchmark of judging the magnetism encoder null position; Perhaps, the first sampling branch road is connected to the reverse input end of voltage comparator, the second sampling branch road is connected to the positive input of voltage comparator etc., these changes can't affect enforcement of the present utility model.
It is emphasized that at last the utility model is not limited to above-mentioned embodiment, also should be included in the protection domain of the utility model claim such as the change of voltage sampling circuit, the variations such as change of voltage comparator connected mode.
Claims (10)
1. the null position testing circuit of motor magnetism encoder comprises
Microcontroller, described microcontroller receives the angle signal of magnetism encoder output;
It is characterized in that:
Voltage sampling circuit has second branch road of sampling of voltage signal sum of voltage signal and third phase of first sampling branch road and the described motor second-phase of sampling of the voltage signal of sampling three-phase motor first-phase;
The zero passage comparator circuit has voltage comparator, and the first input end of described voltage comparator receives the voltage signal of described the first sampling branch road, and the second input end of described voltage comparator receives the voltage signal of described the second sampling branch road;
Photoelectrical coupler receives described voltage comparator output signal, and to described microcontroller output square-wave signal.
2. the null position testing circuit of motor magnetism encoder according to claim 1 is characterized in that:
Described the first sampling branch road has the first divider resistance and the second divider resistance that is connected in series, and the first input end of described voltage comparator is connected between described the first divider resistance and described the second divider resistance.
3. the null position testing circuit of motor magnetism encoder according to claim 2 is characterized in that:
Also be provided with the first capacitance that is connected in series with described the first divider resistance on described the first sampling branch road.
4. according to claim 1 to the null position testing circuit of 3 each described motor magnetism encoders, it is characterized in that:
Described the second sampling branch road has the 3rd divider resistance that is connected with described second-phase sampled point and the 4th divider resistance that is connected with described third phase sampled point, the 5th divider resistance and described the 3rd divider resistance are connected in series, and the second input end of described voltage comparator is connected between described the 3rd divider resistance and described the 5th divider resistance.
5. the null position testing circuit of motor magnetism encoder according to claim 4 is characterized in that:
Also be provided with the second capacitance that is connected in series with described the 3rd divider resistance and the 3rd capacitance that is connected in series with described the 4th divider resistance on described the second sampling branch road.
6. motor comprises
Stator and rotor, described rotor has armature spindle, on the axle head of described armature spindle magnet is installed, and magnetism encoder is installed also on the described motor, and be provided with the null position testing circuit of described magnetism encoder, described testing circuit has microcontroller, and described microcontroller receives the angle signal of magnetism encoder output;
It is characterized in that:
Described testing circuit also is provided with
Voltage sampling circuit has second branch road of sampling of voltage signal sum of voltage signal and third phase of first sampling branch road and the described motor second-phase of sampling of the voltage signal of sampling three-phase motor first-phase;
The zero passage comparator circuit has voltage comparator, and the first input end of described voltage comparator receives the voltage signal of described the first sampling branch road, and the second input end of described voltage comparator receives the voltage signal of described the second sampling branch road;
Photoelectrical coupler receives described voltage comparator output signal, and to described microcontroller output square-wave signal.
7. motor according to claim 6 is characterized in that:
Described the first sampling branch road has the first divider resistance and the second divider resistance that is connected in series, and the first input end of described voltage comparator is connected between described the first divider resistance and described the second divider resistance.
8. motor according to claim 7 is characterized in that:
Also be provided with the first capacitance that is connected in series with described the first divider resistance on described the first sampling branch road.
9. according to claim 6 to 8 each described motors, it is characterized in that:
Described the second sampling branch road has the 3rd divider resistance that is connected with described second-phase sampled point and the 4th divider resistance that is connected with described third phase sampled point, the 5th divider resistance and described the 3rd divider resistance are connected in series, and the second input end of described voltage comparator is connected between described the 3rd divider resistance and described the 5th divider resistance.
10. motor according to claim 9 is characterized in that:
Also be provided with the second capacitance that is connected in series with described the 3rd divider resistance and the 3rd capacitance that is connected in series with described the 4th divider resistance on described the second sampling branch road.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220227457 CN202692935U (en) | 2012-05-18 | 2012-05-18 | Motor and zero position detection circuit of magnetoelectric encoder thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220227457 CN202692935U (en) | 2012-05-18 | 2012-05-18 | Motor and zero position detection circuit of magnetoelectric encoder thereof |
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| CN202692935U true CN202692935U (en) | 2013-01-23 |
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| CN 201220227457 Expired - Fee Related CN202692935U (en) | 2012-05-18 | 2012-05-18 | Motor and zero position detection circuit of magnetoelectric encoder thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103728904A (en) * | 2014-01-06 | 2014-04-16 | 金东纸业（江苏）股份有限公司 | Encoder correcting system and method |
| CN104767467A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Method for calibrating mechanical zero of motor |
| CN105823504A (en) * | 2016-04-13 | 2016-08-03 | 北京航天发射技术研究所 | Zero-point-crossing processing method of encoder |
| CN112217427A (en) * | 2020-09-16 | 2021-01-12 | 中国航空工业集团公司洛阳电光设备研究所 | Topological structure and adjusting method for zero alignment of brushless motors of batch production mechanism |
-
2012
- 2012-05-18 CN CN 201220227457 patent/CN202692935U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104767467A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Method for calibrating mechanical zero of motor |
| CN104767467B (en) * | 2014-01-02 | 2017-06-30 | 深圳乐行天下科技有限公司 | A kind of calibration method of electromechanics zero point |
| CN103728904A (en) * | 2014-01-06 | 2014-04-16 | 金东纸业（江苏）股份有限公司 | Encoder correcting system and method |
| CN103728904B (en) * | 2014-01-06 | 2016-08-17 | 金东纸业（江苏）股份有限公司 | Encoder correction system and method |
| CN105823504A (en) * | 2016-04-13 | 2016-08-03 | 北京航天发射技术研究所 | Zero-point-crossing processing method of encoder |
| CN105823504B (en) * | 2016-04-13 | 2018-05-22 | 北京航天发射技术研究所 | A kind of more zero point processing method of encoder |
| CN112217427A (en) * | 2020-09-16 | 2021-01-12 | 中国航空工业集团公司洛阳电光设备研究所 | Topological structure and adjusting method for zero alignment of brushless motors of batch production mechanism |
| CN112217427B (en) * | 2020-09-16 | 2024-01-09 | 中国航空工业集团公司洛阳电光设备研究所 | Topological structure aiming at zero alignment of brushless motor of batch production mechanism and assembling and adjusting method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20210518 |
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