CN108199539A - Holder - Google Patents
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- Publication number
- CN108199539A CN108199539A CN201810043773.6A CN201810043773A CN108199539A CN 108199539 A CN108199539 A CN 108199539A CN 201810043773 A CN201810043773 A CN 201810043773A CN 108199539 A CN108199539 A CN 108199539A
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- CN
- China
- Prior art keywords
- hall
- component
- annular magnet
- rotor
- components
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Brushless Motors (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The disclosure is directed to a kind of holders, belong to Motor Control Field.The holder includes the motor and controller that are electrically connected with each other, and the motor includes shell, rotor, stator, at least two Hall components and annular magnet, wherein：The rotor is installed in the housing with the annular magnet by same shaft, the at least two Halls component and the stator are fixedly mounted in the housing, angle between the vertical line of shaft that at least two Halls component arrives the rotor respectively is determined based on the number of pole-pairs of the annular magnet, the at least two Halls component is in the side of the annular magnet, the at least two Halls component, for the magnetic field based on the annular magnet, output voltage signal value is to the controller, the controller, for the voltage signal values exported based on at least two Halls component, determine position and the rotating speed of the rotor.Using the disclosure, the service life that can make motor is long.
Description
Technical field
The present invention relates to Motor Control Field, more particularly to a kind of holder.
Background technology
Holder is a kind of device for carrying picture pick-up device, by realizing AC servo motor therein to photographic device
Angle control, in the control aspect of the AC servo motor of holder, usually need to know position and the rotating speed of rotor,
It could be accurately controlled.
In the prior art, the angle turned over generally by potentiometer detection rotor, implementation method are：Potentiometer and rotor
Coaxially connected, when the rotor is turning, the brush of potentiometer can and then move, and determine voltage based on the displacement distance of brush
Value, then voltage value is exported to the controller of holder, by holder controller be based on voltage value, come determine the position of rotor and
Rotating speed.
Since rotor is turning always in use, the brush of potentiometer can have more physics always in movement
Abrasion, the service life for leading to motor are shorter.
Invention content
In order to solve the problems, such as the relevant technologies, present disclose provides a kind of holders.Technical solution is as follows：
According to the embodiment of the present disclosure in a first aspect, providing a kind of holder, the holder includes the electricity being electrically connected with each other
Machine and controller, the motor include shell, rotor, stator, at least two Hall components and annular magnet, wherein：
The rotor is installed in the housing with the annular magnet by same shaft；
At least two Halls component and the stator are fixedly mounted in the housing, at least two Hall
The angle that component is arrived respectively between the vertical line of the shaft of the rotor determined based on the number of pole-pairs of the annular magnet, it is described extremely
Few two Hall components are in the side of the annular magnet；
At least two Halls component, for the magnetic field based on the annular magnet, output voltage signal value to institute
State controller；
The controller for the voltage signal values exported based on at least two Halls component, determines described turn
The position of son and rotating speed.
Optionally, at least two Halls component is two Hall components.
In this way, the position of the rotor calculated and speed can be made more accurate.
Optionally, the number of pole-pairs of the annular magnet is n, and described two Hall components arrive the shaft of the rotor respectively
Vertical line between angle be 90/n degree, wherein, n is positive integer.
In this way, the position for calculating rotor and speed can be facilitated.
Optionally, described two Hall components are straight cutting packaged type Hall component or patch packaged type Hall member device
Part.
In this way, Hall component can be preferably installed.
Optionally, the motor further includes printing board PCB, and the PCB is fixed on the housing, it is described two suddenly
You fix on the pcb component.
In this way, Hall component can be preferably installed.
Optionally, described two Hall components and the annular magnet be in same level, and with the annular magnetic
The distance of the center of iron in the horizontal direction is the first numerical value, and the sensitive surface of described two Hall components and the rotor
Shaft is parallel.
Optionally, described two Hall components are in the top of the annular magnet, and with the center of the annular magnet
Distance in the horizontal direction is second value, and the sensitive surface of described two Hall components and the shaft of the rotor are hung down
Directly.
Optionally, described two Hall components are in the lower section of the annular magnet, and with the center of the annular magnet
Distance in the horizontal direction is third value, and the sensitive surface of described two Hall components and the shaft of the rotor are hung down
Directly.
Optionally, it magnetizes in the horizontal direction in the annular magnet.
Optionally, described two Hall components are the first Hall component and the second Hall component；
The controller, for being based on formulaDetermine position and the speed of the rotor,
Wherein, θ is respectively relative to the angle that the first Hall component and the second Hall component turn over, V for the rotor1
For the voltage signal values of the first Hall component output, V10Hall for preset correspondence the first Hall component is believed
Number offset, A be the preset first Hall component hall signal amplitude, V2For the second Hall component
The voltage signal values of output, V20The offset of hall signal for preset correspondence the second Hall component, B are preset
The amplitude of the hall signal of the second Hall component.
The technical scheme provided by this disclosed embodiment can include the following benefits：
In the embodiment of the present disclosure, holder includes the motor and controller that are electrically connected with each other, motor include shell, rotor,
Stator, at least two Hall components and annular magnet, wherein：Rotor is mounted on shell with annular magnet by same shaft
In, at least two Hall components and stator are fixedly mounted in the shell, and at least two Hall components arrive turning for rotor respectively
Angle between the vertical line of axis determines that at least two Hall components are in the side of annular magnet based on the number of pole-pairs of annular magnet
Portion, at least two Hall components, for the magnetic field based on annular magnet, output voltage signal value to controller, controller is used
In the voltage signal values exported based at least two Hall components, position and the rotating speed of rotor are determined.In this way, due in holder
Not using potentiometer, and contactless Hall component is employed to detect the angle that rotor turns over, so not having object
Reason abrasion, the service life for making motor are long.
It should be understood that above general description and following detailed description are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and for explaining the principle of the disclosure together with specification.In the accompanying drawings：
Fig. 1 is the structure diagram according to the holder shown in an exemplary embodiment；
Fig. 2 is the structure diagram according to the PCB shown in an exemplary embodiment；
Fig. 3 is the structure diagram according to the placement location of Hall component in the holder shown in an exemplary embodiment；
Fig. 4 is the structure diagram according to the placement location of Hall component in the holder shown in an exemplary embodiment；
Fig. 5 is the structure diagram according to the placement location of Hall component in the holder shown in an exemplary embodiment.
Marginal data
1st, motor 11, shell
12nd, rotor 13, stator
14th, Hall component 15, annular magnet
16th, PCB 2, processor
Pass through above-mentioned attached drawing, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
The range for limiting the disclosure by any mode and conceiving is not intended to word description, but is by reference to specific embodiment
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
A kind of holder is provided in the embodiment of the present disclosure, as shown in Figure 1, holder includes 1 He of motor being electrically connected with each other
Controller 2, motor 1 include shell 11, rotor 12, stator 13, at least two Hall components 14 and annular magnet 15, wherein：
Rotor 12 is mounted on by same shaft in shell 11 with annular magnet 15, and at least two Hall components 14 and stator 13 are fixed
In shell 11, the angle between the vertical line of shaft that at least two Hall components 14 arrive rotor 12 respectively is based on annular
The number of pole-pairs of magnet 15 determines that at least two Hall components 14 are in the side of annular magnet 15, at least two Hall components
14, for the magnetic field based on annular magnet 15, output voltage signal value to controller 2, controller 2, for being based at least two
The voltage signal values that Hall component 14 exports determine position and the rotating speed of rotor 12.
Wherein, number of pole-pairs refers to the half of number of magnetic poles in magnet, and magnetic pole refers to N poles or S poles, for example, there are 4, S in N poles in magnet
Pole has 4, and number of magnetic poles has 8, number of pole-pairs 4.
In force, holder includes motor 1 and controller 2, passes through electric connection between motor 1 and controller 2.Motor 1
Include shell 11, rotor 12, stator 13, at least two Hall components 14 and annular magnet 15.
Rotor 12 is made of magnet, and annular magnet 15 is laterally magnetizes, that is, magnetize in the horizontal direction, rotor 12 and ring
Shape magnet 15 is all mounted in shell 11, and when mounted, rotor 12 and annular magnet 15 are installed, and the two is consolidated by same shaft
Fixed connection, in this way, rotor 12 is in rotation, annular magnet 15 also with rotating together.
Stator 13 is made of three-phase windings coil, is fixedly mounted in shell 11, it is impossible to which opposite shell 11 is moved.
At least two Hall components 14 are linear Hall components 14, and at least two Hall components 14 are fixedly mounted on
In shell 11, it is impossible to be moved relative to shell 11, at least two Hall components 14 may be mounted at annular magnet 15
Side, can be specifically outside portion, and the angle between the vertical line of at least two Hall components 14 to the shaft of rotor 12 is base
It is determined in the number of pole-pairs of annular magnet 15.At least two Hall components 14 include two sensitive surfaces, the magnetic force of different densities
When line passes through sensitive surface, the voltage signal values that Hall component 14 exports can change.
By the Magnetic Induction Density Distribution of annular magnet 15 it is found that it is sinusoidal magnetic that the magnetic field of magnetic field loop magnet 15, which is waveform,
, when at least two Hall components 14 detect that the magnetic line of force passes through sensitive surface, at least two Hall components 14 can be distinguished
Output voltage signal value to holder controller 2, controller 2 receive at least two Hall components 14 output voltage signal
After value, controller 2 can use voltage signal values, the angle that rotor 12 turns over be calculated, in this way, using the angle and Hall that turn over
The initial position of component 14, it is possible to determine the position of rotor 12, rotating speed can be equal to the angle turned over divided by time, control
After device 2 processed determines position and the rotating speed of rotor 12, controller 2 can be based on the current position of rotor 12, by voltage value with one
Fixed logical relation distributes to 13 each phase winding of stator of motor 1, and motor 1 is made to generate continual torque.
Optionally, at least two Hall components 14 are two Hall components 14, and two Hall components 14 are linear
Hall component.
Optionally, two Hall components 14 are the first Hall component 14 and the second Hall component 14, and controller 2 is true
The rotating speed of rotor 12 and the processing procedure of position can be as follows：
Controller 2, for being based on formulaDetermine position and the speed of rotor 12.
Wherein, θ is respectively relative to the angle that the first Hall component 14 and the second Hall component 14 turn over for rotor 12,
V1For the voltage signal values of the first Hall component 14 output, V10Hall signal for preset the first Hall of correspondence component 14
Offset, A be preset first Hall component 14 hall signal amplitude, V2For the output of the second Hall component 14
Voltage signal values, V20The offset of hall signal for preset the second Hall of correspondence component 14, B are preset second Hall
The amplitude of the hall signal of component 14.
In force, two Hall components 14 are the first Hall component 14 and the second Hall component 14, in reality
Before making holder, technical staff in the case where rotor 12 does not rotate, can determine the electricity of the first Hall component 14 output
Signal value is pressed, by the voltage signal values, is determined as the offset of the hall signal of the first Hall component 14, i.e. V10.And skill
Art personnel in the case where rotor 12 does not rotate, can determine the voltage signal values of the second Hall component 14 output, by the electricity
Signal value is pressed, is determined as the offset of the hall signal of the second Hall component 14, i.e. V20.And rotor 12 is controlled at the uniform velocity to turn over
One circle, for the first Hall component 14, since the voltage signal values of output are changed according to sinusoidal waveform, so having one
The voltage signal values Vmax of an a maximum and minimum voltage signal values Vmin, since the voltage signal values of output are according to sine
Waveform variation, Vmax and Vmin generally opposite number each other both can calculate the average value of absolute value, be determined as the first Hall
The amplitude A of the hall signal of component 14.And rotor 12 is controlled at the uniform velocity to turn over a circle, for the second Hall component 14, by
In the voltage signal values of output changed according to sinusoidal waveform, so, there are one maximum voltage signal values Vmax and one
Minimum voltage signal values Vmin, changes, Vmax is generally mutual with Vmin due to the voltage signal values of output according to sinusoidal waveform
For opposite number, the average value of the two absolute value can be calculated, is determined as the amplitude B of the hall signal of the second Hall component 14.
Assuming that θ is the angle that rotor 12 is turned over relative to the first Hall component 14, θ is rotor 12 relative to the second Hall
The angle that component 14 turns over, for the first Hall component 14, the voltage signal values of output can meet：V1=A*sin θ+V10,
Due to the first Hall component 14 and the second Hall component 14, in 12 uniform rotation of rotor, output be phase difference is 90
The sine wave signal of degree, so, for the second Hall component 14, the voltage signal values of output can meet：V2=B*cos θ+
V20, the two simultaneous, you can obtain：Since other than θ, other amounts are all known quantities, use
The formula can calculate the size of θ, in this way, using the angle turned over and the initial position of Hall component 14, it is possible to really
The position of rotor 12 is made, rotating speed can be equal to the angle turned over divided by time, and controller 2 is determined the position of rotor 12 and turned
After speed, voltage value can be distributed to determining for motor 1 by controller 2 based on the current position of rotor 12 with certain logical relation
Sub 13 each phase windings, make motor 1 generate continual torque.
It should be noted that Hall component 14 is during use, with the passage of usage time, formula V1=A*
sinθ+V10In, the size of A is can be changed, although θ can be also obtained only with a Hall component 14, due to A
Variation, the θ determined is inaccurate, can influence the accurate control of motor 1, and in the embodiment of the present disclosure, using two suddenly
Your component 14, the A in two Hall components 14 can change, byIt is found that in reality
When border calculates, A and B can be divided by, even if A and B changes, result of calculation there will not be too after being actually divided by
Big influence so the θ calculated can be used more accurate, and then can more accurately control motor 1.
Optionally, when motor 1 includes two Hall components 14, two Hall components 14 arrive the shaft of rotor 12 respectively
Vertical line between angle and the relationship of the number of pole-pairs of annular magnet 15 can be as follows：
The number of pole-pairs of annular magnet 15 is n, between the vertical line of shaft that two Hall components 14 arrive rotor 12 respectively
Angle is 90/n degree.
In force, it is assumed that the number of pole-pairs of annular magnet 15 is n, and n is positive integer, and two Hall components 14 arrive respectively to be turned
Angle between the vertical line of the shaft of son 12 is 90/n degree, in this way, when rotor 12 at the uniform velocity rotates, two Hall components 14 export
Be sine voltage signal that phase difference is 90 degree.For example, the number of pole-pairs of annular magnet 15 is 1, two Hall components 14
The angle arrived respectively between the vertical line of the shaft of rotor 12 is 90 degree, and the number of pole-pairs of annular magnet 15 is 2, two Hall components
14 angles arrived respectively between the vertical line of the shaft of rotor 12 are 45 degree, and the number of pole-pairs of annular magnet 15 is 3, two Hall member devices
The angle that part 14 is arrived respectively between the vertical line of the shaft of rotor 12 is 30 degree.
Optionally, two Hall components 14 can be straight cutting packaged type Hall component 14, can pass through straight cutting
Mode is fixed on the shell 11 of click, and two Hall components 14 or patch packaged type Hall component 14 can pass through
The mode of welding is fixed on the shell 11 of motor 1.
Optionally, as shown in Fig. 2, motor 1 further includes PCB16 (Printed Circuit Board, printed circuit board),
PCB16 is fixed on shell 11, and two Hall components 14 are fixed on pcb 16, in this way, can be with more convenient two Hall members
The installation of device 14.
In force, motor 1 further includes PCB16, and PCB16 is fixed on shell 11, and annular magnet 15 passes through the PCB16,
If two Hall components 14 are straight cutting packaged type Hall components 14, it can be directly inserted on PCB16, if two Halls
Component 14 is patch packaged type Hall component 14, the mode of welding can be used to install on pcb 16.
Optionally, Hall component 14 can be as follows with the position relationship of annular magnet 15：
As shown in figure 3, two Hall components 14 with annular magnet 15 in same level, and with annular magnet 15
The distance of center in the horizontal direction is the first numerical value, and the sensitive surface of two Hall components 14 and the shaft of rotor 12 are put down
Row.
Wherein, the first numerical value can be preset by technical staff, such as 1 centimetre, and first=numerical value is more than annular magnet 15
Radius.
In force, two Hall components 14 are in the side of annular magnet 15, specifically, can exist with annular magnet 15
In same level, and it is the first numerical value with the center distance in the horizontal direction of annular magnet 15, in this way, annular magnet 15 exists
When being rotated with rotor 12, annular magnet 15 will not encounter Hall component 14.There are two sense for two Hall components 14
Face, and it is parallel with the shaft of rotor 12, it, can be from Hall component 14 close to annular magnet 15 for the magnetic line of force of N poles
Sensitive surface passes through, and for the magnetic line of force of S poles, the sensitive surface far from annular magnet 15 can be passed through from Hall component 14.
It should be noted that this mounting means usually both can be adapted for straight cutting packaged type Hall component 14,
It can be adapted for patch packaged type Hall component 14, but due to the sensitive surface of straight cutting packaged type Hall component is parallel to
The shaft of rotor, usually suitable for straight cutting packaged type Hall component 14.
Optionally, Hall component 14 can be as follows with the position relationship of annular magnet 15：
As shown in figure 4, two Hall components 14 are in the top of annular magnet 15, and with the center of annular magnet 15 in water
Square upward distance is second value, and the sensitive surface of two Hall components 14 is vertical with the shaft of rotor 12.
Wherein, second value can be preset by technical staff, such as 1 centimetre, and second value is generally higher than annular magnet 15
Radius.
In force, two Hall components 14 are in the side of annular magnet 15, specifically, can be in annular magnet 15
Oblique upper, can be in the top of annular magnet 15, and can be the with the distance of the center of annular magnet 15 in the horizontal direction
Two numerical value, in this way, annular magnet 15, when being rotated with rotor 12, annular magnet 15 will not encounter Hall component 14.Two
There are two sensitive surfaces, i.e. two sensitive surfaces, and up and down vertical with the shaft of rotor 12 for Hall component 14.
It should be noted that this mounting means is usually to be suitable for patch packaged type Hall component 14.
Optionally, Hall component 14 can be as follows with the position relationship of annular magnet 15：
As shown in figure 5, two Hall components 14 are in the lower section of annular magnet 15, and with the center of annular magnet 15 in water
Square upward distance is third value, and the sensitive surface of two Hall components 14 is vertical with the shaft of rotor 12.
Wherein, third value can be preset by technical staff, such as 1 centimetre, and third value is generally higher than annular magnet 15
Radius.
In force, two Hall components 14 are in the side of annular magnet 15, specifically, can be in annular magnet 15
Obliquely downward, can be in the lower section of annular magnet 15, and can be the with the distance of the center of annular magnet 15 in the horizontal direction
Three numerical value, in this way, annular magnet 15, when being rotated with rotor 12, annular magnet 15 will not encounter Hall component 14.Two
There are two sensitive surfaces, i.e. two sensitive surfaces, and up and down vertical with the shaft of rotor 12 for Hall component 14.
It should be noted that this mounting means is usually to be suitable for patch packaged type Hall component 14.
It should also be noted that, the first numerical value mentioned above, second value, third value are typically all equal, it is
It is convenient to draw, and includes PCB in motor in above-mentioned Fig. 3 to Fig. 5, actually can not also including PCB.
In the embodiment of the present disclosure, holder includes the motor and controller that are electrically connected with each other, motor include shell, rotor,
Stator, at least two Hall components and annular magnet, wherein：Rotor is mounted on shell with annular magnet by same shaft
In, at least two Hall components and stator are fixedly mounted in the shell, and at least two Hall components arrive turning for rotor respectively
Angle between the vertical line of axis determines that at least two Hall components are in the side of annular magnet based on the number of pole-pairs of annular magnet
Portion, at least two Hall components, for the magnetic field based on annular magnet, output voltage signal value to controller, controller is used
In the voltage signal values exported based at least two Hall components, position and the rotating speed of rotor are determined.In this way, due in holder
Not using potentiometer, and contactless Hall component is employed to detect the angle that rotor turns over, so not having object
Reason abrasion, the service life for making motor are long.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as illustratively, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a kind of holder, which is characterized in that the holder includes the motor and controller that are electrically connected with each other, and the motor includes
Shell, rotor, stator, at least two Hall components and annular magnet, wherein：
The rotor is installed in the housing with the annular magnet by same shaft；
At least two Halls component and the stator are fixedly mounted in the housing, at least two Halls member device
The angle that part is arrived respectively between the vertical line of the shaft of the rotor determined based on the number of pole-pairs of the annular magnet, described at least two
A Hall component is in the side of the annular magnet；
At least two Halls component, for the magnetic field based on the annular magnet, output voltage signal value to the control
Device processed；
The controller for the voltage signal values exported based on at least two Halls component, determines the rotor
Position and rotating speed.
2. holder according to claim 1, which is characterized in that at least two Halls component is two Hall member devices
Part.
3. holder according to claim 2, which is characterized in that the number of pole-pairs of the annular magnet be n, described two Halls
The angle that component is arrived respectively between the vertical line of the shaft of the rotor is 90/n degree, wherein, n is positive integer.
4. holder according to claim 2, which is characterized in that described two Hall components are straight cutting packaged type Hall
Component or patch packaged type Hall component.
5. holder according to claim 2, which is characterized in that the motor further includes printing board PCB, the PCB
It fixes on the housing, described two Hall components are fixed on the pcb.
6. holder according to claim 5, which is characterized in that described two Hall components are with the annular magnet same
On one horizontal plane, and it is the first numerical value, and described two Halls with the distance of the center of the annular magnet in the horizontal direction
The sensitive surface of component is parallel with the shaft of the rotor.
7. holder according to claim 5, which is characterized in that described two Hall components are in the upper of the annular magnet
Side, and be second value with the distance of the center of the annular magnet in the horizontal direction, and described two Hall components
Sensitive surface is vertical with the shaft of the rotor.
8. holder according to claim 5, which is characterized in that described two Hall components are under the annular magnet
Side, and be third value with the distance of the center of the annular magnet in the horizontal direction, and described two Hall components
Sensitive surface is vertical with the shaft of the rotor.
9. holder according to claim 2, which is characterized in that magnetize in the horizontal direction in the annular magnet.
10. according to any holder of claim 2 to 9, which is characterized in that described two Hall components are the first Hall
Component and the second Hall component；
The controller, for being based on formulaDetermine position and the speed of the rotor, wherein,
θ is respectively relative to the angle that the first Hall component and the second Hall component turn over, V for the rotor1For institute
State the voltage signal values of the first Hall component output, V10Hall signal for preset correspondence the first Hall component
Offset, amplitudes of the A for the hall signal of the preset first Hall component, V2It is exported for the second Hall component
Voltage signal values, V20The offset of hall signal for preset correspondence the second Hall component, B are preset described
The amplitude of the hall signal of second Hall component.
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|---|---|---|---|
| CN201810043773.6A CN108199539B (en) | 2018-01-17 | 2018-01-17 | Cloud platform |
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|---|---|---|---|
| CN201810043773.6A CN108199539B (en) | 2018-01-17 | 2018-01-17 | Cloud platform |
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| CN108199539A true CN108199539A (en) | 2018-06-22 |
| CN108199539B CN108199539B (en) | 2020-04-14 |
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| CN201810043773.6A Active CN108199539B (en) | 2018-01-17 | 2018-01-17 | Cloud platform |
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| CN109617324A (en) * | 2018-12-13 | 2019-04-12 | 湘电莱特电气有限公司 | A kind of permanent magnet machine rotor sine and cosine wave generating device |
| WO2020000854A1 (en) * | 2018-06-25 | 2020-01-02 | 深圳市道通智能航空技术有限公司 | Electric motor, pan-tilt, camera assembly and unmanned aerial vehicle |
| CN113162333A (en) * | 2021-03-19 | 2021-07-23 | 浙江仕优驱动科技有限公司 | Brushless motor's magnetic ring encoder structure and brushless motor |
| CN113853729A (en) * | 2020-08-26 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Method and device for measuring rotation angle of motor rotor, motor, cradle head and unmanned aerial vehicle |
| CN114583898A (en) * | 2022-03-10 | 2022-06-03 | 广东工业大学 | Motor reducer absolute angle detection device and method based on annular magnet |
| WO2024051568A1 (en) * | 2022-09-05 | 2024-03-14 | 杭州研极微电子有限公司 | Gimbal, control method for gimbal, and photographing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203377747U (en) * | 2013-08-16 | 2014-01-01 | 深圳市大疆创新科技有限公司 | Brushless motor, and holder with application of same |
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| CN203377747U (en) * | 2013-08-16 | 2014-01-01 | 深圳市大疆创新科技有限公司 | Brushless motor, and holder with application of same |
| CN106224715A (en) * | 2016-09-14 | 2016-12-14 | 天津汇讯视通科技有限公司 | Cloud platform assembly method is from recognition device |
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| WO2020000854A1 (en) * | 2018-06-25 | 2020-01-02 | 深圳市道通智能航空技术有限公司 | Electric motor, pan-tilt, camera assembly and unmanned aerial vehicle |
| CN109617324A (en) * | 2018-12-13 | 2019-04-12 | 湘电莱特电气有限公司 | A kind of permanent magnet machine rotor sine and cosine wave generating device |
| CN113853729A (en) * | 2020-08-26 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Method and device for measuring rotation angle of motor rotor, motor, cradle head and unmanned aerial vehicle |
| CN113162333A (en) * | 2021-03-19 | 2021-07-23 | 浙江仕优驱动科技有限公司 | Brushless motor's magnetic ring encoder structure and brushless motor |
| CN114583898A (en) * | 2022-03-10 | 2022-06-03 | 广东工业大学 | Motor reducer absolute angle detection device and method based on annular magnet |
| CN114583898B (en) * | 2022-03-10 | 2024-04-16 | 广东工业大学 | Device and method for detecting absolute angle of motor reducer based on ring magnet |
| WO2024051568A1 (en) * | 2022-09-05 | 2024-03-14 | 杭州研极微电子有限公司 | Gimbal, control method for gimbal, and photographing device |
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