CN208968461U - A Position Sensor System Applied to Linear Motor Vector Control - Google Patents
A Position Sensor System Applied to Linear Motor Vector Control Download PDFInfo
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- CN208968461U CN208968461U CN201821870704.4U CN201821870704U CN208968461U CN 208968461 U CN208968461 U CN 208968461U CN 201821870704 U CN201821870704 U CN 201821870704U CN 208968461 U CN208968461 U CN 208968461U
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- position sensor
- magnetoresistive sensor
- linear motor
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- 238000009434 installation Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 4
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- 238000005538 encapsulation Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
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- 230000002463 transducing effect Effects 0.000 description 2
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Abstract
本实用新型公开一种应用于直线电机矢量控制的位置传感器系统，包括：磁轨、动子以及位置传感器，位置传感器包括外壳、电路板以及电缆，电路板包括：第一磁阻传感器至第三磁阻传感器、PCB板、辅助电路以及DSP控制器，第一磁阻传感器的相位与所述动子的U相线圈的相位相同，第一磁阻传感器、第二磁阻传感器与第三磁阻传感器相互之间的相位差为120°。由于传感器直接感应直线电机的磁轨，具有极高的性价比。由于直线电机磁轨都是采用铝铁棚材料的永磁铁，磁场强度很强，所以传感器感应距离很大，故对安装要求很低，安装间隙较大。由于本实用新型没有用到像光栅、磁栅的齿条，且由于位置传感器采用全封装，故防护等级可达到IP68，能够完全防水、防尘。
The utility model discloses a position sensor system applied to vector control of a linear motor, comprising: a magnetic track, a mover and a position sensor; the position sensor comprises a casing, a circuit board and a cable; Magnetoresistive sensor, PCB board, auxiliary circuit and DSP controller, the phase of the first magnetoresistive sensor is the same as the phase of the U-phase coil of the mover, the first magnetoresistive sensor, the second magnetoresistive sensor and the third magnetoresistive sensor The sensors are 120° out of phase with each other. Since the sensor directly senses the magnetic track of the linear motor, it has a very high cost performance. Since the magnetic track of the linear motor is made of permanent magnets made of aluminum iron shed material, the magnetic field strength is strong, so the sensing distance of the sensor is large, so the installation requirements are very low, and the installation gap is large. Since the utility model does not use racks like gratings and magnetic gratings, and since the position sensor is fully packaged, the protection level can reach IP68, and it can be completely waterproof and dustproof.
Description
Technical field
The utility model relates to motor field more particularly to a kind of position sensors applied to linear motor vector controlled
System.
Background technique
The position sensor applied on linear motor at present is mainly stop position sensor and magnetic grid position sensor,
Middle stop position sensor is made of light source, lens, optical grating pair (scale grating and indication grating) and photoelectric apparatus, works as mark
When ruler grating is mobile relative to indication grating, the Moire fringe of bright dark alternately variation is formed, using photoelectric apparatus by More
The bright optical signal secretly changed of striped, is converted into electric impulse signal, and is shown with number, can measure the movement of scale grating away from
From.
Wherein magnetic grid position sensor is moved by magnet-sensitive element magnetoresistive sensor along magnetic railings ruler, incudes magnetic railings ruler magnetic
Field changes and is translated into electric signal, and the variation of position generates sinusoidal and cosine output signal, carries out by Differential OPAMP
Signal amplification and filtering, subsequently into the A/D module of DSP, are decoded to obtain position angle by the in house software of DSP.
Current stop position sensor has several disadvantages in that with magnetic grid position sensor
1, grating, magnetic grid due to gap it is small, the requirement to installation accuracy is very high；
2, because grating is afraid of vibration, dust, smog etc., thus to the more demanding of environment；
3, stop position sensor, the precision of magnetic grid position sensor are high, but price, in certain special applied fields
It closes, cost performance is very low when using stop position sensor, magnetic grid position sensor to the lower occasion of required precision.
Therefore, the prior art is defective, needs to improve.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of applied to linear motor vector controlled
Position sensor system.
The technical solution of the utility model is as follows: providing a kind of position sensor system applied to linear motor vector controlled
System, comprising: track, the mover on the track and the position sensor on the track, the position sensing
Device includes: shell, circuit board and cable, and the circuit board includes: the first magnetoresistive sensor, the second magnetoresistive sensor, third
Magnetoresistive sensor, pcb board, auxiliary circuit and dsp controller, first magnetoresistive sensor, the second magnetoresistive sensor, third
Magnetoresistive sensor is electrically connected with pcb board respectively, and the dsp controller and the pcb board are electrically connected, the auxiliary circuit with
The dsp controller is electrically connected, and the phase of first magnetoresistive sensor and the phase of U phase coil of the mover are identical,
First magnetoresistive sensor, the second magnetoresistive sensor and the mutual phase difference of third magnetoresistive sensor are 120 °.
Further, the pcb board includes: biasing circuit, amplifying circuit and active filter circuit.
Further, the input and output electricity of first magnetoresistive sensor, the second magnetoresistive sensor, third magnetoresistive sensor
The cosine waveform that is positive is pressed, senses that the analog quantity voltage of corresponding output when magnetic field strength is -1000GS-1000GS is 1V-4V.
Further, the voltage difference between bias voltage and reference voltage that the biasing circuit generates is 1V.
Further, the time constant of the active filter circuit is 100 microseconds, cutoff frequency 1600HZ.
Further, the dsp controller includes dsp chip, and the dsp chip includes A/D module.
Further, the model STM32L432 of the dsp chip.
Further, the auxiliary circuit includes long line differential output circuit.
Further, the circuit board further includes interface circuit.
Further, the position sensor uses the permanent magnet of ferro-aluminum canopy material using full encapsulation, the track.
Using the above scheme, the utility model has the following beneficial effects:
(1) due to the track of the direct induction linear electric motor of sensor, relative to grating, the cost of magnetic grid and its cheap, tool
There is high cost performance；
(2) due to the permanent magnet that linear motor track is all using ferro-aluminum canopy material, magnetic field strength is very strong, so sensor
Distance of reaction is very big, therefore very low to installation requirement, and installation gap is larger, can work normally in ± 2mm range；
(3) since the utility model does not use the rack gear as grating, magnetic grid, and since position sensor is using full envelope
Dress, therefore degree of protection can reach IP68, can be completely waterproof, dust-proof, degree of protection be significantly larger than stop position sensor with
Magnetic grid position sensor.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the utility model position sensor.
Fig. 3 is the circuit diagram of the first magnetoresistive sensor, the second magnetoresistive sensor, third magnetoresistive sensor.
The signal for the sine and cosine wave that Fig. 4 is the first magnetoresistive sensor, the second magnetoresistive sensor, third magnetoresistive sensor generate
Figure.
Fig. 5 is the circuit diagram of dsp controller, auxiliary circuit and interface circuit.
Fig. 6 is the circuit diagram of pcb board.
Fig. 7 generates just remaining for the first magnetoresistive sensor, the second magnetoresistive sensor, third magnetoresistive sensor after voltage bias
The schematic diagram of string wave.
The area dividing signal of first magnetoresistive sensor, the second magnetoresistive sensor, third magnetoresistive sensor when Fig. 8 is decoding
Figure.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Referring to Fig. 1, the utility model provides a kind of position sensor system applied to linear motor vector controlled, packet
It includes: track 1, the mover 2 (linear motor coil) on the track 1 and the position sensor on the track 1
3, the relative motion in 1 magnetic field of track is incuded by position sensor 3, to generate sine and cosine analog signals, signal period
Equal to the period of magnetic field relative motion, 1 period is equal to a pole pair distance of linear motor, is equivalent to 360 degree of electrical angle,
It is decoded by cosine and sine signal and calculates current position angle (attention is absolute position angle in current period).With
Position it is mobile, multiple sine and cosine periods are generated, that is, the multi-turn of rotary encoder counts, thus decoding movement completely
Position, the frequency of signal period are the speed of corresponding movement.
The track 1 uses the permanent magnet of ferro-aluminum canopy material, and magnetic field strength is very strong.
Referring to Fig. 2, the position sensor 3 includes: shell 31, circuit board 32 and cable 33, after being assembled
Full glue encapsulation is carried out, degree of protection can reach IP68, can be completely waterproof, dust-proof.The circuit board 32 is position sensor 3
Core component comprising: the first magnetoresistive sensor HU, the second magnetoresistive sensor HV, third magnetoresistive sensor HW, pcb board 321,
Auxiliary circuit 322, dsp controller 323 and interface circuit 324.The first magnetoresistive sensor HU, the second magnetoresistive sensor
HV, third magnetoresistive sensor HW are electrically connected with pcb board 321 respectively, and Fig. 3 is the circuit diagram of three magnetoresistive sensors.Three magnetic
The position for hindering sensor is very crucial, and otherwise output signal is abnormal, wherein the phase of the first magnetoresistive sensor HU must be with institute
The phase for stating the U phase coil of mover 2 is identical, i.e., the position of the first magnetoresistive sensor HU must be at the center of the U phase coil of mover 2
On line, phase difference the first magnetoresistive sensor HU, the second magnetoresistive sensor HV mutual with third magnetoresistive sensor HW is
120°.First magnetoresistive sensor HU, the second magnetoresistive sensor HV and third magnetoresistive sensor HW are linear transducers, are inputted defeated
Voltage is positive cosine waveform out, and when it senses that magnetic field strength is -1000GS-1000GS, the analog quantity voltage of corresponding output is
1V-4V.As shown in figure 4, when position sensor at the uniform velocity moves in magnetic field, the first magnetoresistive sensor HU, the second magneto-resistive transducing
Device HV is the sinusoidal waveform for differing 120 degree with third magnetoresistive sensor HW output, and the center of amplitude 3V, sine wave are
2.5V。
Referring to Fig. 5, the dsp controller 323 is electrically connected with the pcb board 321, the dsp controller 323 includes
Dsp chip, the dsp chip include A/D module, the first magnetoresistive sensor HU, the second magnetoresistive sensor HV, third magneto-resistive transducing
The induced voltage of device HW enters A/D module after conditioning, is transformed into digital quantity after being sampled by A/D module.Wherein, DSP core
The model STM32L432 of piece, the chip power is extremely low, and peripheral circuit is simple, it is only necessary to which power supply can work.
Referring to Fig. 6, the pcb board 321 includes: biasing circuit 3211, amplifying circuit and active filter circuit 3212.
Referring to Fig. 7, the voltage difference between bias voltage and reference voltage that the biasing circuit 3211 generates is 1V, biased by 1V
The center of output sine wave is adjusted to 1.5V, is aligned with the center of A/D module by the setting of voltage, and peak peak amplitude is 3V, is
The sample range of A/D module.
Referring to Fig. 6, the time constant of the active filter circuit 3212 is 100 microseconds, cutoff frequency 1600HZ is right
The bandwidth requirement of this system is enough.
Referring to Fig. 5, the auxiliary circuit 322 is electrically connected with the dsp controller 323, auxiliary circuit 322 includes length
Line differential output circuit 3221 is made of chip DS9638, meets RS422 standard.
The interface circuit 324 is electrically connected with the long line differential output circuit 3221, the interface circuit 324 and the external world
Interface connection.
The induced voltage process conditioning of first magnetoresistive sensor HU, the second magnetoresistive sensor HV, third magnetoresistive sensor HW
Enter A/D module afterwards, digital quantity is transformed into after being sampled by A/D module, position angle decoding is then carried out by algorithm.Such as figure
Shown in 8, it is divided into 6 regions, wherein first, the fourth region is decoded using the arcsin function of the first magnetoresistive sensor HU,
The second, the 5th region is decoded using the arcsin function of the second magnetoresistive sensor HV, and third, the 6th region use third magnetic
The arcsin function of resistance sensor HW is decoded.It is that 90 ° of progress encoding precisions are higher compared to traditional phase difference, because passing
Arctan function is used when the phase difference of system is 90 °, in the intersection in two regions, sine and cosine slope of a curve is excessive, decoding
Angular error can be very big, therefore the utility model phase difference is that 120 ° of precision can be higher.After the completion of angle decoding, currently increased
Measuring angle calculates, and carries out equal proportion by the proportionality coefficient of setting and is transformed into number of pulses.
In conclusion the utility model has the following beneficial effects:
(1) due to the track of the direct induction linear electric motor of sensor, relative to grating, the cost of magnetic grid and its cheap, tool
There is high cost performance；
(2) due to the permanent magnet that linear motor track is all using ferro-aluminum canopy material, magnetic field strength is very strong, so sensor
Distance of reaction is very big, therefore very low to installation requirement, and installation gap is larger, can work normally in ± 2mm range；
(3) since the utility model does not use the rack gear as grating, magnetic grid, and since position sensor is using full envelope
Dress, therefore degree of protection can reach IP68, can be completely waterproof, dust-proof, degree of protection be significantly larger than stop position sensor with
Magnetic grid position sensor.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all practical at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the utility model within novel spirit and principle
Within the scope of shield.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821870704.4U CN208968461U (en) | 2018-11-13 | 2018-11-13 | A Position Sensor System Applied to Linear Motor Vector Control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821870704.4U CN208968461U (en) | 2018-11-13 | 2018-11-13 | A Position Sensor System Applied to Linear Motor Vector Control |
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| Publication Number | Publication Date |
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| CN208968461U true CN208968461U (en) | 2019-06-11 |
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| CN201821870704.4U Active CN208968461U (en) | 2018-11-13 | 2018-11-13 | A Position Sensor System Applied to Linear Motor Vector Control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109323646A (en) * | 2018-11-13 | 2019-02-12 | 阿斯科纳科技（深圳）有限公司 | A Position Sensor System Applied to Linear Motor Vector Control |
| CN110380663A (en) * | 2019-07-12 | 2019-10-25 | 郑宏峰 | The method for carrying out length control using ac adjustable speed motor feedback winding |
-
2018
- 2018-11-13 CN CN201821870704.4U patent/CN208968461U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109323646A (en) * | 2018-11-13 | 2019-02-12 | 阿斯科纳科技（深圳）有限公司 | A Position Sensor System Applied to Linear Motor Vector Control |
| CN109323646B (en) * | 2018-11-13 | 2024-06-14 | 阿斯科纳科技（深圳）有限公司 | Position sensor system applied to linear motor vector control |
| CN110380663A (en) * | 2019-07-12 | 2019-10-25 | 郑宏峰 | The method for carrying out length control using ac adjustable speed motor feedback winding |
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Effective date of registration: 20210726 Address after: 215104 No. 52, tiandang Road, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Huichuan Control Technology Co.,Ltd. Address before: 518000 Room 101, building 1, COFCO (Fu'an) robot intelligent manufacturing industrial park, No.90 Dayang Road, Dayangtian community, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: ASCONA TECHNOLOGY (SHENZHEN) Co.,Ltd. |
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