CN103222167B - A kind of three-phase polymorphic servo motor - Google Patents
A kind of three-phase polymorphic servo motor Download PDFInfo
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- CN103222167B CN103222167B CN201180052942.9A CN201180052942A CN103222167B CN 103222167 B CN103222167 B CN 103222167B CN 201180052942 A CN201180052942 A CN 201180052942A CN 103222167 B CN103222167 B CN 103222167B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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Abstract
A kind of three-phase polymorphic servo motor, comprises stator (1), rotor, servo controller and linear hall element (2) and switch Hall element (3); Electrical degree between linear hall element (2) and switch Hall element (3) is 90 °; The stator poles of this servomotor is wound with the three-phase windings (4) of two groups of series connection.This servomotor a linear hall element (2) and switch Hall element (3) detection position, can not produce phase error and amplitude error, can obtain accurate positional information.The Y bridge of the driving of H bridge and two three-phase windings parallel connection that two three-phase windings can realize two three-phase windings series connection drives, thus improves the utilance of motor winding and power supply.
Description
Technical field
The present invention relates to a kind of servomotor, more particularly, relate to a kind of three-phase polymorphic servo motor.
Background technology
Traditional magneto, concentratred winding magneto may adopt independently position transducer, such as resolver (resolver) or photoelectric encoder, and not only cost is high, and install difficulty.In electric bicycle, battery-operated motor cycle, in order to reduce costs, direct 3 switch Halls or 3-4 the linear Hall installed on motor stator forms simple and easy position transducer usually, realizes motor commutation or position probing.Require in this method that Hall installation site is very accurate, because when motor number of pole-pairs P is very large, the precision of mechanical erection needs to improve P doubly, and the position of installing and motor winding inserting mode, the number of poles of motor, the groove number of motor have relation, particularly the armature reaction of motor has the ± impact of 3-5 ° to position probing, therefore the deviation of this simple and easy position transducer position probing is all at about ± 3-10 °, the long-term prodution and development hindering motor controller.
Sine wave drive is the developing direction of motor, and it needs complete positional information, realize sine wave vector and control, but the production cost of sine wave drive is high.In order to reduce costs, current controller also adopts by a kind of 180 ° of sine wave drive methods based on estimating.It utilizes the motor pole position square wave information of U, V, W switch Hall, adopts position predictor method to build the sinusoidal wave positional information estimated, then realizes easy 180 ° of sine wave drive.The poor performance of easy 180 ° of sine wave drive in speed-change process, reliability can not be high.
Be in the Chinese patent of CN200972824Y at notification number, disclose one independently position transducer, i.e. Hall resolver, use four linear hall elements, the output voltage of 180 ° of two linear hall elements arranged is subtracted each other, attempts to compensate stator and rotor assembling eccentric, but owing to cannot compensate radial and tangential magnetic field component simultaneously, so good compensation effect can not be played, but also there is the problems such as magnetic pole uniformity.Too high for electric bicycle, battery-operated motor cycle cost, and absolute construction transducer cannot be installed and be used.
Hall resolver in ZL200820207106.9 patent, add an annular soft magnet core, by 3 d-space field, be constrained to two-dimensional space magnetic field, considerably improve the deviation of assembling and causing, but still the linear hall element that needs at least 2 90 ° are orthogonal, or the linear hall element of 3 120 ° distributions, the consistency of distribution precision and linear hall element all directly can cause amplitude error and the phase error of Hall resolver, cause position probing deviation, and multiple linear hall element cost is higher, and absolute construction cannot be installed and be used.
The position deviation of existing independently Hall resolver can only reach 0.5 ° ~ about 1 °, and cost performance is not high enough.
Traditional low-voltage magneto, concentratred winding magneto, such as: electric automobile, electric bicycle, battery-operated motor cycle possibility powered battery, the voltage of battery pack is not high, general at about 24V ~ 64V, winding and the power utilization rate of traditional three-phase Y full-bridge drive motors are not high, in order to improve winding and power utilization rate, industrially single H bridge can be adopted to drive, in order to reach two states, 6 winding terminals are needed all to draw, and by method that hardware switch switches, realize single H bridge drives two states switching to single Y full-bridge, cost high reliability is low, be difficult to practicality.
Summary of the invention
The technical problem to be solved in the present invention is, for the above-mentioned defect of prior art, provides a kind of three-phase polymorphic motor.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of three-phase polymorphic motor, comprise stator, rotor, servo controller, and be located at linear hall element and the switch Hall element for detecting position, described rotor field in described stator faces; Described linear hall element and switch Hall element are all positioned on the periphery of described stator punching, electrical degree between described linear hall element and switch Hall element is 90 °, and described linear hall element is all relative with the magnetic pole surfaces of described rotor with the magnetic susceptibility face of switch Hall element; Described linear hall element and switch Hall element are connected to described servo controller respectively;
The stator poles of this servomotor is also wound with the three-phase windings of two groups of series connection, after three-phase windings series connection described in two, forms A phase end of incoming cables and A phase leading-out terminal, B phase end of incoming cables and B phase leading-out terminal and C phase end of incoming cables and C phase leading-out terminal; And the mid point of three-phase windings is connected together described in two;
Described servo controller comprises power driver module, the A phase H-bridge circuit of the power switch of described power driver module is connected with A phase leading-out terminal with described A phase end of incoming cables, the B phase H-bridge circuit of described power switch is connected with described B phase end of incoming cables and B phase leading-out terminal, and the C phase H-bridge circuit of described power switch is connected with described C phase end of incoming cables and C phase leading-out terminal.
Three-phase polymorphic servo motor of the present invention, wherein, described A phase H-bridge circuit comprises bridge T1, T2 and lower bridge T7, T8; Described B phase H-bridge circuit comprises bridge T3, T4 and lower bridge T9, T10; Described C phase H-bridge circuit comprises bridge T5, T6 and lower bridge T11, T12.
Three-phase polymorphic servo motor of the present invention, wherein, the notch of described stator punching first winding slot is provided with the linear hall element groove matched with the size of described linear hall element; Described stator punching first stator poles is provided with the switch Hall groove matched with described switch Hall element size; The center of described stator punching linear Hall groove and the center of described switch Hall groove differ the electrical degree of 90 ° in space;
Described linear hall element is arranged in described linear Hall groove, and described switch Hall element is arranged in described switch Hall groove.
Three-phase polymorphic servo motor of the present invention, wherein, the uniqueness of the position of this servomotor within the scope of 360 ° of electrical degrees and rotating speed is determined by following parameter:
Define the magnetic pole logarithm P=N of this servomotor, the ideal of described linear hall element exports as Vh=V0+VsinN θ, the ideal of described switch Hall element exports as Vk=± Sig|sinN (θ+90 °) |, wherein, N be more than or equal to 1 natural number, Ω is the rotating speed of this servomotor.
Three-phase polymorphic servo motor of the present invention, wherein, described servo controller comprises angle conversion circuit and velocity transformation circuit:
The described angle conversion circuit sinusoidal wave analog output voltage comprised for being exported by described linear hall element converts the A/D modular converter of digital quantity to, it be the ambiguity in cycle by 90 ° that digital quantity through described A/D modular converter gained is distinguished sinusoidal wave by the sign function that described switch Hall element provides, and the control core computing acquisition finally by described servo controller has the digital quantity position signalling of uniqueness.
Three-phase polymorphic servo motor of the present invention, wherein, the control core of described servo controller is digital signal DSP or single-chip microprocessor MCU.
Three-phase polymorphic servo motor of the present invention, wherein, the control core of described servo controller is on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
Three-phase polymorphic servo motor of the present invention, wherein, this servomotor is magnetic pole logarithm is P=3, the inner rotor motor of groove number S=9.
Three-phase polymorphic servo motor of the present invention, wherein, this servomotor is magnetic pole logarithm is P=23, the outer rotor hub motor of groove number S=51.
Three-phase polymorphic servo motor of the present invention, wherein, this servomotor is magnetic pole logarithm is P=24, the outer rotor hub motor of groove number S=54.
Implement three-phase polymorphic servo motor of the present invention, there is following beneficial effect: the present invention only adopts a linear Hall and a switch Hall detection position, Hall element is easy for installation, and can not produce phase error and amplitude error, the accurate positional information that can obtain.Two three-phase windings changes drive singal automatically by servo controller, and the H bridge that can realize two three-phase windings series connection drives and drives with the Y full-bridge of two three-phase windings parallel connection, thus has increased substantially the utilance of motor winding and power supply.In addition, the present invention adopts sine wave vector to control, and the torque fluctuations of motor is little, noise is little, high efficiency region is wide.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structure principle chart in the preferred embodiment of the present invention when three-phase polymorphic servo motor is the inner rotor motor of P=3, S=9;
Fig. 2 is the H bridge Drive Structure schematic diagram of two three-phase windings series connection in three-phase polymorphic servo motor preferred embodiment of the present invention;
Fig. 3 A and Fig. 3 B is the Y bridge Drive Structure schematic diagram of two three-phase windings parallel connection in three-phase polymorphic servo motor preferred embodiment of the present invention;
Fig. 4 is the static cost control characteristic of servo controller in three-phase polymorphic servo motor preferred embodiment of the present invention;
Fig. 5 is the output waveform figure of Hall element and the element of winding in three-phase polymorphic servo motor preferred embodiment of the present invention;
Fig. 6 is motor in three-phase polymorphic servo motor of the present invention, Hall element and servo controller schematic diagram;
Fig. 7 is the theory diagram of servo controller in three-phase polymorphic servo motor of the present invention;
Fig. 8 is that the corner of Fig. 7 in three-phase polymorphic servo motor of the present invention exports digital quantity;
Fig. 9 is the structure principle chart that in the embodiment of the present invention, P=23, S=51 external rotor electric machine contains transducer;
Figure 10 is the structure principle chart that in the embodiment of the present invention, P=24, S=54 external rotor electric machine contains transducer.
Embodiment
As shown in Figure 1, in the present embodiment, this three-phase polymorphic servo motor comprises stator 1, rotor, servo controller, and the linear hall element 2 for detection rotor magnetic field position be located on stator 1 end face and switch Hall element 3.In order to easy-to-connect, linear hall element 2 and switch Hall element 3 are all positioned on the periphery of stator punching, electrical degree between linear hall element 2 and switch Hall element 3 is 90 °, wherein, electrical degree=magnetic pole logarithm × mechanical angle, and when linear hall element 2 so that stator 1 and rotor relative movement all relative with the magnetic pole surfaces of rotor with the magnetic susceptibility face of switch Hall element 3, the position of linear hall element 2 and the responsive magnetic field of permanent magnet of switch Hall element 3.Linear hall element 2 and switch Hall element 3 are connected to servo controller respectively.
Three-phase windings 4, two three-phase windings 4 stator poles of this servomotor being also wound with two groups of series connection form A phase end of incoming cables and A phase leading-out terminal, B phase end of incoming cables and B phase leading-out terminal and C phase end of incoming cables and C phase leading-out terminal after connecting; And the mid point of two three-phase windings 4 is connected together, form mid point O.Servo controller comprises power driver module, be specially power driving circuit, this power driving circuit adopts H bridge mode, the A phase H-bridge circuit of its power switch is connected with A phase leading-out terminal with A phase end of incoming cables, the B phase H-bridge circuit of power switch is connected with B phase end of incoming cables and B phase leading-out terminal, and the C phase H-bridge circuit of power switch is connected with C phase end of incoming cables and C phase leading-out terminal.Further, above-mentioned A phase H-bridge circuit is made up of upper bridge T1, T2 and lower bridge T7, T8; B phase H-bridge circuit is made up of upper bridge T3, T4 and lower bridge T9, T10; C phase H-bridge circuit is made up of upper bridge T5, T6 and lower bridge T11, T12.When rotor rotates relative to stator 1, the output of linear hall element 2 and switch Hall element 3 is admitted to servo controller, and the output signal of two Hall elements has reacted the position of rotor and the rotating speed of rotor.
As shown in Figure 2, in the forward drive of the H bridge of series connection, the pass of power switch T1-T12 is: T1=T8, T3=T10, T5=T12 are the forward drive of H bridge, T7=T2, T9=T4, T11=T6 are the reverse drive of H bridge, and the H bridge therefore forming two three-phase windings series connection drives, as shown in figs.3 a and 3b, in the Y full-bridge of parallel connection drives, the pass of power switch T1-T12 is: T2=T7, T4=T9, T6=T11, T8=T1, T10=T3, T12=T5, this is just equivalent to, by upper brachium pontis T1, T3, T5, lower brachium pontis T7, T9, the Three phase bridge drivers that T11 is formed drives by A+, B+, the three-phase Y connection winding electric machine that C+ is formed, by upper brachium pontis T2, T4, T6, lower brachium pontis T8, T10, the Three phase bridge drivers that T12 is formed drives by A-, B-, the three-phase Y connection winding electric machine that C-is formed, thus the Y full-bridge forming two three-phase windings parallel connections of mid point altogether drives.
And the H bridge of above-mentioned pair of three-phase windings series connection drives and drives two states to need change drive singal automatically to realize by servo controller according to rotating speed and moment with the Y full-bridge of two three-phase windings parallel connection; When motor speed is controlled, adopt the H bridge of two three-phase windings series connection to drive when working below (50 ~ 80) % maximum speed, when working more than (50 ~ 80) % maximum speed, adopt the Y full-bridge of two three-phase windings parallel connection to drive; During to motor torque control, adopt the H bridge of two three-phase windings series connection to drive when working below (50 ~ 80) % maximum moment, when working more than (50 ~ 80) % maximum moment, adopt the Y full-bridge of two three-phase windings parallel connection to drive.Two three-phase windings changes drive singal automatically by servo controller, and the H bridge that can realize two three-phase windings series connection drives and drives with the Y full-bridge of two three-phase windings parallel connection, thus has increased substantially the utilance of motor winding and power supply.
Based on Electrical Motor principle, in the H bridge driving condition that two three-phase windings is connected, because the umber of turn of motor equivalent after windings in series is multiplied, so it is 2 times that the torque coefficient of equivalent motor (Nm/A) and the coefficient of potential (V/rpm) are also multiplied, be equivalent to improve moment 2 times, reduce rotating speed 2 times.Be very beneficial for the work of motor low-speed and large-torque.In the Y full-bridge driving condition of two three-phase windings parallel connection, two three-phase Y connection full bridge motor are in parallel, and the internal resistance of motor is reduced to 1/4, highly beneficial for the loss reduced in high-speed cruising.H bridge is implemented to drive to the phase winding of motor, and the wire-wound group of Y bridge motor is implemented to drive, and compared with the driving of H bridge drives with Y bridge, the utilance of supply voltage improves 1.73 times, is equivalent to improve rotating speed 1.73 times.Under the above-mentioned two kinds of driving conditions of the present invention, the ratio that the utilance of voltage and torque coefficient change is: 2/1.73=1.157, and also, the present invention's two kinds of driving conditions can broadening range of motor speeds 1.157 times, and need not provide extra weak magnetic speed-up electric current.The natural characteristic of motor and the system performance after servo controller are as shown in Figure 4.In figure, the slope of the mechanical property of the Y full-bridge driving of the two three-phase windings parallel connection of slope ratio of the mechanical property of the motor of the H bridge driving of two three-phase windings series connection is large, characteristic after servo controller moment and velocity close-loop control as shown in Figure 9, based on power balance theory, low regime S1=S2, high velocity S3=S4, (in figure, S area is equivalent to power) is visible, and the present invention can realize the desirable control characteristic of electric system principle.
Because the present invention only uses a linear hall element, principle do not exist the amplitude error because multiple linear hall element produces and phase error, so the position detection accuracy of position transducer of the present invention is better than 0.05 ° ~ 0.5 °.And based on the two states of motor and driving, the present invention is controlled the moment of motor and speed by sine wave vector control method, obtains desirable control characteristic.In general, the present invention can improve efficiency (5 ~ 15) % of motor, improves maximum moment (50 ~ 100) % of motor.
Secondly, in order to ensure mechanical erection precision, and no matter motor is inner rotor motor or external rotor electric machine, no matter the number of poles P of motor and groove number S is how many, and the notch of stator punching first winding slot is equipped with the linear hall element groove matched with the size of linear hall element 2; Stator punching first stator poles is then provided with the switch Hall groove matched with switch Hall element 3 size; And understandable, the center of stator punching linear Hall groove and the center of switch Hall groove differ the electrical degree of 90 ° in space, above-mentioned linear hall element 2 is arranged in linear Hall groove, and switch Hall element 3 is arranged in switch Hall groove.
As shown in Figure 5, in a preferred embodiment of the invention, the ideal of linear hall element 2 exports as Vh=V0+Vsin3 θ, the ideal of switch Hall element 3 exports as Vk=± Sig|sin3 (θ+90 °) |, so utilize this tittle, the uniqueness of 360 ° of electrical degree positions and motor speed can be determined; Owing to only using a linear hall element 2 and a switch Hall element 3, therefore from principle, there is not the issuable amplitude error of multiple detecting element and phase error.
As shown in Figure 7, simultaneously see Fig. 8.Above-mentioned servo controller includes angle conversion circuit, this angle conversion circuit comprises: A/D modular converter, sinusoidal wave analog output voltage for being exported by linear hall element 2 converts digital quantity to, then to distinguish sinusoidal wave by the sign function that switch Hall element 3 provides be the ambiguity in cycle by 90 °; The digital quantity position signalling with uniqueness is obtained by the control core computing of servo controller.Preferably, position determination module can adopt digital signal DSP or single-chip microprocessor MCU, also can adopt on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
Secondly, three-phase polymorphic servo motor of the present invention both can be the inner rotor motor of number of pole-pairs P=3, groove number S=9, also can be magnetic pole logarithm was P=23, the outer rotor hub motor of groove number S=51 or magnetic pole logarithm are P=24, the outer rotor hub motor of groove number S=54.
As shown in Figure 1, when this servomotor is magnetic pole logarithm P=3, the inner rotor motor of groove number S=9, and motor is when rotating with angular velocity omega=P Ω speed stabilizing, the position signalling Vh=V0+Vsin3 θ of linear hall element 2, wherein sinusoidal wave amount: Vsin3 θ=Vsin3 ω t, θ=ω t, corner is the function of time, and A opposite potential eA (t) of motor=e1 (t)+e4 (t)+e7 (t), wherein e1 (t), e4 (t), e7 (t) is that A phase winding is around the back-emf in three stator poles respectively, A opposite potential eA (t)=e1 (t)+e4 (t)+e7 (t)=3e1 (t)=3Vmsin3 ω t, A opposite potential eA (t) is different from the phase place of e1 (t), also be, the position signalling Vh of linear hall element 2 and A opposite potential same-phase, this provides conveniently for controller.Notice that A phase is in series by A+ and A-double winding.
As shown in Figure 9, when this servomotor is the outer rotor hub motor of magnetic pole logarithm P=23, groove number S=51, and motor is when rotating with angular velocity omega=P Ω speed stabilizing, θ=ω t, corner is the function of time, the position signalling Vh=V0+VsinP θ of linear hall element 2, and the A opposite potential of motor:
wherein subscript is the sequence number of pole, show the locus of extremely going up winding back-emf, A opposite potential is in series by the back-emf that 17 are extremely gone up, because the phase place of each pole is different, after series connection, A opposite potential eA (t) is different from the phase place of e1 (t), there is a fixing phase difference
, phase difference
can measure or calculate, the phase difference of the present embodiment
can be biased phase difference by software or hardware approach, make the position signalling Vh same-phase of A opposite potential and linear hall element after biased, to facilitate controller.Notice that said A phase winding is in series by A+ and A-double winding.
As shown in Figure 10, when this servomotor is the outer rotor hub motor of magnetic pole logarithm P=24, groove number S=54, and motor is when rotating with angular velocity omega=P Ω speed stabilizing, θ=ω t, corner is the function of time, the position signalling Vh=V0+VsinP θ of linear hall element, and the A opposite potential of motor:
wherein subscript is the sequence number of pole, show the locus of extremely going up winding back-emf, A opposite potential is in series by the back-emf that 18 are extremely gone up, because the space phase of each pole is different, after series connection, A opposite potential eA (t) is different from the phase place of e1 (t), there is a fixing phase difference
, phase difference
can measure or calculate, the phase difference of the present embodiment
.Can be biased phase difference by software or hardware approach, make the position signalling Vh same-phase of A opposite potential and linear hall element after biased, to facilitate controller.Notice that said A phase winding is in series by A+ and A-double winding.
In addition, three-phase polymorphic servo motor of the present invention can be used for electric automobile, electric bicycle, battery-operated motor cycle and other servomotor application scenario, and therefore range of application is also very extensive.
Above embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement accordingly, can not limit the scope of the invention.All equalizations done with the claims in the present invention scope change and modify, and all should belong to the covering scope of the claims in the present invention.
Claims (10)
1. a three-phase polymorphic servo motor, it is characterized in that, comprise stator (1), rotor, servo controller, and be located at linear hall element (2) and the switch Hall element (3) for detecting position, described rotor field on described stator (1) end face; Described linear hall element (2) and switch Hall element (3) are all positioned on the periphery of described stator punching, electrical degree between described linear hall element (2) and switch Hall element (3) is 90 °, and described linear hall element (2) is all relative with the magnetic pole surfaces of described rotor with the magnetic susceptibility face of switch Hall element (3); Described linear hall element (2) and switch Hall element (3) are connected to described servo controller respectively; The stator poles of this servomotor is also wound with the three-phase windings (4) of two groups of series connection, after three-phase windings described in two (4) series connection, forms A phase end of incoming cables and A phase leading-out terminal, B phase end of incoming cables and B phase leading-out terminal and C phase end of incoming cables and C phase leading-out terminal; And the mid point of three-phase windings described in two (4) is connected together; Described servo controller comprises power driver module, the A phase H-bridge circuit of the power switch of described power driver module is connected with A phase leading-out terminal with described A phase end of incoming cables, the B phase H-bridge circuit of described power switch is connected with described B phase end of incoming cables and B phase leading-out terminal, and the C phase H-bridge circuit of described power switch is connected with described C phase end of incoming cables and C phase leading-out terminal.
2. three-phase polymorphic servo motor according to claim 1, is characterized in that, described A phase H-bridge circuit comprises bridge T1, T2 and lower bridge T7, T8; Described B phase H-bridge circuit comprises bridge T3, T4 and lower bridge T9, T10; Described C phase H-bridge circuit comprises bridge T5, T6 and lower bridge T11, T12.
3. three-phase polymorphic servo motor according to claim 1, is characterized in that, the notch of described stator punching first winding slot is provided with the linear hall element groove matched with the size of described linear hall element (2); Described stator punching first stator poles is provided with the switch Hall groove matched with described switch Hall element (3) size; The center of described stator punching linear Hall groove and the center of described switch Hall groove differ the electrical degree of 90 ° in space; Described linear hall element (2) is arranged in described linear hall element groove, and described switch Hall element (3) is arranged in described switch Hall groove.
4. three-phase polymorphic servo motor according to claim 1, it is characterized in that, the uniqueness of the position of this servomotor within the scope of 360 ° of electrical degrees and rotating speed is determined by following parameter: the magnetic pole logarithm P=N defining this servomotor, the ideal of described linear hall element (2) exports as Vh=V0+VsinN θ, the ideal of described switch Hall element (3) exports as Vk=± Sig ∣ sinN (θ+90 ° of) ∣, wherein, N be more than or equal to 1 natural number, θ is the rotating speed of this servomotor.
5. three-phase polymorphic servo motor according to claim 1, is characterized in that, described servo controller comprises angle conversion circuit, velocity transformation circuit; The described angle conversion circuit sinusoidal wave analog output voltage comprised for being exported by described linear hall element (2) converts the A/D modular converter of digital quantity to, the sign function that digital quantity through described A/D modular converter gained passes through described switch Hall element (3) and provides distinguishes the ambiguity that sine wave is the cycle by 90 °, and the control core computing finally by described servo controller obtains the digital quantity position signalling with uniqueness.
6. three-phase polymorphic servo motor according to claim 5, is characterized in that, the control core of described servo controller is digital signal DSP or single-chip microprocessor MCU.
7. three-phase polymorphic servo motor according to claim 5, is characterized in that, the control core of described servo controller comprises on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
8. the three-phase polymorphic servo motor according to any one of claim 1-7, is characterized in that, this servomotor is magnetic pole logarithm is P=3, the inner rotor motor of groove number S=9.
9. the three-phase polymorphic servo motor according to any one of claim 1-7, is characterized in that, this servomotor is magnetic pole logarithm is P=23, the outer rotor hub motor of groove number S=51.
10. the three-phase polymorphic servo motor according to any one of claim 1-7, is characterized in that, this servomotor is magnetic pole logarithm is P=24, the outer rotor hub motor of groove number S=54.
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| PCT/CN2011/080214 WO2013044443A1 (en) | 2011-09-27 | 2011-09-27 | Three-phase polymorphic servo motor |
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| CN106976391A (en) * | 2017-02-22 | 2017-07-25 | 安徽易威斯新能源科技股份有限公司 | A kind of wheel hub motor for allowing hand over torsion and its torsion switching method |
| CN108063523A (en) * | 2017-12-19 | 2018-05-22 | 深圳市哈博森科技有限公司 | A kind of horizontal stage electric machine and its rotor position angle detection method |
| CN108599635A (en) * | 2018-04-16 | 2018-09-28 | 东南大学 | A kind of brshless DC motor angle measurement speed measuring device and method |
| CN109639211B (en) * | 2019-02-22 | 2024-02-06 | 深圳市嘉昱机电有限公司 | Gate control system and control method |
| CN111371350B (en) * | 2020-03-30 | 2021-09-24 | 沈阳揽月工业设计有限公司 | Control method of full-magnetic-field direct-current motor system |
| CN111740672B (en) * | 2020-05-26 | 2023-07-25 | 东南大学深圳研究院 | Permanent magnet synchronous motor angle detection method and system based on linear Hall sensor |
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| CN201403039Y (en) * | 2009-03-10 | 2010-02-10 | 常州合泰微特电机有限公司 | Permanent magnet brushless direct current motor for servo system |
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Also Published As
| Publication number | Publication date |
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| CN103222167A (en) | 2013-07-24 |
| WO2013044443A1 (en) | 2013-04-04 |
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