CN110726385A - Angle position detection device, method and motor - Google Patents
Angle position detection device, method and motor Download PDFInfo
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- CN110726385A CN110726385A CN201810781873.9A CN201810781873A CN110726385A CN 110726385 A CN110726385 A CN 110726385A CN 201810781873 A CN201810781873 A CN 201810781873A CN 110726385 A CN110726385 A CN 110726385A
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- 238000001514 detection method Methods 0.000 title claims description 11
- 238000000034 method Methods 0.000 title claims description 4
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 230000002093 peripheral effect Effects 0.000 claims abstract description 12
- 239000003086 colorant Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- ORFSSYGWXNGVFB-UHFFFAOYSA-N sodium 4-amino-6-[[4-[4-[(8-amino-1-hydroxy-5,7-disulfonaphthalen-2-yl)diazenyl]-3-methoxyphenyl]-2-methoxyphenyl]diazenyl]-5-hydroxynaphthalene-1,3-disulfonic acid Chemical compound COC1=C(C=CC(=C1)C2=CC(=C(C=C2)N=NC3=C(C4=C(C=C3)C(=CC(=C4N)S(=O)(=O)O)S(=O)(=O)O)O)OC)N=NC5=C(C6=C(C=C5)C(=CC(=C6N)S(=O)(=O)O)S(=O)(=O)O)O.[Na+] ORFSSYGWXNGVFB-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses motor includes: a housing; a rotating body rotatably mounted in the housing; and an angular position detecting device, wherein the angular position detecting device includes a light emitter on a rotatable outer peripheral surface of the rotary body and a light sensor fixedly mounted with respect to the housing and at a radial distance from the rotatable outer peripheral surface, a barrier fixed with respect to the housing is provided between the light emitter and the light sensor, and the barrier is formed with an opening so that the light sensor can receive only light emitted by the light emitter through the opening, the light emitter being at least three, viewed in a plane perpendicular to a rotation axis of the rotary body, spaced apart in a circumferential direction so that a color or brightness of light received by the light sensor through the opening changes as a rotational position of the rotary body changes.
Description
Technical Field
The present application relates generally to an angular position detection device for a motor and a motor equipped with the detection device, and also relates to an angular position detection method.
Background
To drive a permanent magnet synchronous motor, Field Oriented Control (FOC) is required. The prerequisite for achieving precise field-oriented control is the determination of the angular position of the rotor of the electrical machine. While rotor angular position sensors such as phase splitters, hall sensors, Giant Magnetoresistive (GMR) sensors or optical encoders can be used to provide information about the angular position of the rotor, they are generally expensive and do not ensure the required high accuracy and cost for applications such as electric vehicles. Furthermore, some sensors require a specific space to install, for example giant magneto-resistive sensors require a magnet to be arranged close to the sensor and the magnet to be attached on one end of the rotor shaft, which makes the shaft elongated and unsuitable for the case where the shaft is hollow.
Therefore, it is desirable to find measures that are simple, cost-effective and do not require additional space to determine the angular position of the rotor with greater accuracy.
Disclosure of Invention
In view of the above, the present application aims to provide an improved optical angular position sensor, so as to occupy a small space, be low in cost and have high accuracy when used in a motor.
According to one aspect of the application, an electrical machine, in particular a permanent magnet synchronous machine, is provided comprising:
a housing;
a rotating body rotatably mounted in the housing; and
an angular position detecting device, wherein the angular position detecting device includes a light emitter on a rotatable outer peripheral surface of the rotary body and a light sensor fixedly mounted with respect to the housing at a radial distance from the rotatable outer peripheral surface, a barrier fixed with respect to the housing is provided between the light emitter and the light sensor, and the barrier is formed with an opening so that the light sensor can receive only light emitted by the light emitter through the opening, the light emitter being at least three, viewed in a plane perpendicular to a rotation axis of the rotary body, spaced in a circumferential direction so that a color or brightness of light received by the light sensor through the opening changes as a rotational position of the rotary body changes.
In the context of the present application, a rotatable outer circumferential surface of a rotary body refers to an outer circumferential surface of the rotary body parallel to its axis of rotation.
Optionally, the at least three light emitters are equally angularly spaced from each other along the circumferential direction, and the light sensor comprises a color sensor.
Optionally, the at least three light emitters are non-equiangularly spaced from each other along the circumferential direction, and a circumferential angle between two circumferentially adjacent light emitters is less than 180 °.
Alternatively, the light emitters are three light emitters, capable of emitting red, green and blue light, respectively, and spaced at circumferential angles of 120 ° from each other along the circumferential direction.
Optionally, the light emitter emits monochromatic light, and the light sensor includes a brightness sensor.
Optionally, the light emitter is capable of emitting light of different colors.
Optionally, the light sensor comprises a color sensor.
Optionally, the light sensor comprises a housing, the barrier being constituted by the housing.
Optionally, the barrier is disposed around the rotator.
Alternatively, the rotating body is a rotor of the motor or a rotating shaft supporting the rotor.
Optionally, the light emitter is a light emitting diode.
Optionally, the light sensor is located within the housing.
According to another aspect of the present application, there is provided an angular position detecting apparatus including:
at least three light emitters on a rotatable outer peripheral surface of a rotating body, the at least three light emitters being circumferentially spaced from one another, wherein the rotating body is rotatably mounted within a housing; and
a light sensor fixedly installed with respect to the housing at a radial distance from the rotatable outer circumferential surface, a barrier fixed with respect to the housing being provided between the light emitter and the light sensor, and the barrier being formed with an opening so that the light sensor can receive only light emitted from the light emitter through the opening, the light emitter being configured such that a color or brightness of light received by the light sensor through the opening changes with a change in a rotational position of the rotary body.
According to another aspect of the present application, there is also provided a method for detecting an angular position of a rotating body, including:
a rotating body rotatably mounted in a housing;
a light emitter is arranged on the rotatable peripheral surface of the rotating body;
providing a light sensor such that the light sensor is a radial distance from the rotatable peripheral surface;
a barrier fixed relative to the housing is provided between the light emitter and the light sensor, and an opening is formed in the barrier such that the light sensor can receive only light emitted by the light emitter through the opening, the number of the light emitters being at least three as viewed in a plane perpendicular to the rotational axis of the rotary body, the at least three light emitters being spaced circumferentially such that the color or brightness of light received by the light sensor through the opening varies as the rotational position of the rotary body varies.
By adopting the technical scheme, the angle position of the motor rotating shaft can be simply, conveniently, accurately and cheaply measured without remarkably changing the structure of the existing motor.
Drawings
The foregoing and other aspects of the present application will be more fully understood from the following detailed description, taken together with the following drawings. It is noted that the drawings may not be to scale for clarity of illustration and will not detract from the understanding of the present application. In the drawings:
fig. 1 schematically shows a side view of the interior of an electric machine, in which an angular position detection device according to one embodiment of the present application is arranged;
fig. 2 schematically shows a distribution diagram of the angular position detection apparatus in relation to fig. 1;
fig. 3 schematically shows a distribution diagram of an angular position detection apparatus according to another embodiment of the present application.
Detailed Description
In the various figures of the present application, features that are structurally identical or functionally similar are denoted by the same reference numerals.
It will be clear to a person skilled in the art that the term "electric machine" referred to in the description refers to any electric machine that requires determination of the angular position of the rotor, including but not limited to permanent magnet synchronous machines.
Fig. 1 schematically shows an interior side view of an electric machine 1. The electrical machine 1 comprises a housing 10 (only partially shown), a stator (not shown) fixed within the housing 10, and a rotor 20 rotatably mounted within the housing 10. The rotor 20 includes a rotation shaft 30 rotatably supported with respect to the housing 10. According to one embodiment of the present application, the motor 1 further includes an angular position detection device 100 provided inside the housing 10.
As further shown in fig. 2, the angular position detecting device 100 includes three light emitters 101, 102, and 103 mounted on a circumferential side surface of the rotating shaft 30 of the rotor 20 and a light sensor 104 fixedly arranged with respect to the housing 10. In the present application, the three light emitters 101, 102 and 103 are capable of emitting red, green and blue light, respectively. Particularly preferably, the three light emitters 101, 102 and 103 are red, green and blue LED (light emitting diode) light emitters, respectively.
The three light emitters 101, 102 and 103 are located substantially in the same plane perpendicular to the axis of rotation 30 and are spaced from each other by the same circumferential angle, i.e. 120. Further, the light sensor 104 is coplanar with the three light emitters 101, 102, and 103. The light sensor 104 includes a housing 104a and a color sensor 104b provided inside the housing 104 a. In addition, an opening 104c is opened in the housing 104 a. Any one of the three light emitters 101, 102, and 103 can be aligned with the opening 104c when the shaft 30 is rotated. The opening 104c is, for example, in the form of a slit parallel to the central axis of the rotation shaft 30, and the width of the slit is several micrometers to several millimeters, preferably the minimum width through which light emitted from the light emitter can pass.
The color sensor 104b may be any type of color sensor currently available on the market, such as TCS34725, for example. Specifically, the color sensor may recognize sensed output values of red, green, and blue light, i.e., RGB values. For example, when pure red light is input into the opening 104c, the RGB value output by the color sensor is [255,0,0 ]; when pure green light is input into the opening 104c, the RGB value output by the color sensor is [0,255,0 ]; when pure blue light is input into the opening 104c, the RGB values output from the color sensor are [0,255 ]. When the color of the input light is between red and green, the RGB values output by the color sensor may be values between [255,0,0] and [0,255,0 ]. Here, RGB values are understood to be three-dimensional vector values, [ x, y, z ], where x, y, z are integers between 0 and 255.
The light emitters 101, 102 and 103 are connected to a power source (not shown) via wires (not shown), and they and the color sensor 104b are in data connection with an electronic control unit (not shown). The electronic control unit is used to control the activation of the light emitters and receives the output RGB data from the color sensor 104 b. Thus, when the shaft 30 of the motor is stationary, the initial angular position of the shaft 30 can be determined by first activating the respective light emitters 101, 102 and 103 and recording the corresponding RGB values by the color sensor 104 b. After a certain time following the rotation of the shaft 30 of the motor, when the shaft 30 is again stationary, the respective light emitters 101, 102 and 103 are activated again and the corresponding RGB values are recorded by the color sensor 104b, whereby the current angular position of the shaft 30 can be determined. Therefore, with the above-described optical sensor 104, theoretically, the circumferential position measurement accuracy of the rotating shaft 30 can reach 360 °/(256 × 256 × 256) ≈ 0.00002 °.
In an alternative embodiment, the three light emitters 101, 102 and 103 may also be mounted directly on the rotor windings of the rotor 20. For example, the light emitter may be mounted on a rotatable outer circumferential surface of a rotating body within the housing 10, wherein the rotor 20 or the rotating shaft 30 may constitute the rotating body. The rotatable outer peripheral surface is parallel to the central rotational axis of the rotary body. Alternatively, the light sensor 104 may be mounted on the stator of the motor.
Although in the embodiment shown in fig. 2 the three light emitters 101, 102 and 103 are evenly circumferentially spaced from each other, in an alternative embodiment the three light emitters 101, 102 and 103 may be spaced at different circumferential angles from each other. For example, as shown in fig. 3, in another embodiment, the light emitters 101, 102 may be spaced apart by a circumferential angle of 110 ° and the light emitters 101, 103 may be spaced apart by a circumferential angle of 110 °, as long as it is ensured that the circumferential angle between two circumferentially adjacent light emitters is less than 180 °. In the case of such an asymmetric arrangement as shown in fig. 3, by calibration in advance, the angular position of the rotating shaft 30 can also be determined from the RGB values of the light input into the opening 104c of the light sensor 104 when the light emitter on the rotating shaft 30 emits light.
In the illustrated embodiment, when the light emitters 101, 102, and 103 emit light, the light passes through the opening 104c of the light sensor 104 and is received by the color sensor 104b of the light sensor 104. It will be clear to those skilled in the art that in an alternative embodiment, a cylinder fixed relative to the housing 10 may be provided around the light emitters 101, 102 and 103 and provided with an opening similar to the opening 104c, so that when the light emitters 101, 102 and 103 emit light, different colors of light may be observed through the openings and received by the color sensor 104b as the shaft 30 rotates to different positions. In this alternative embodiment, the opening 104c of the photo sensor 104 may also be omitted. Thus, whether the housing 104a shown in fig. 2 and 3 or the cylinder, they form a barrier so that the sensor in the light sensor can only receive light from the light emitter through the opening.
In alternative embodiments, the light emitter may be arranged to emit light of other colors in addition to red, green and blue light. Further, the number of light emitters is not limited to three, and may be more. Further, in an alternative embodiment, each light emitter may emit monochromatic light, such as white light, and the color sensor 104b of the angular position detection device 100 is replaced with a brightness sensor; further, the light emitters can be arranged at non-uniform intervals around the axis of rotation 30 in the manner shown in fig. 3, but it is ensured that the circumferential angle between two light emitters that are circumferentially adjacent is less than 180 °. Thus, at any angular position of the shaft 30, the intensity of the light emitted by the light emitter at the position of the brightness sensor is different. In this way, the angular position of the rotating shaft 30 can also be determined by the brightness sensor.
In addition, although the light sensor 104 is located on the inner wall of the housing 10 in the illustrated embodiment, in an alternative embodiment, the light sensor 104 may be located on the outer wall of the housing 10, and a through hole is formed on the outer wall to communicate with the opening 104 c.
It should be clear to a person skilled in the art that the embodiments presented herein can be combined with each other at will. Although specific embodiments of the present application have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the application. Further, it should be clear to those skilled in the art that the various embodiments described in this specification can be used in combination with each other. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present application.
Claims (14)
1. An electric machine (1), in particular a permanent magnet synchronous machine, comprising:
a housing (10);
a rotating body rotatably mounted in the housing (10); and
an angular position detection device (100) comprising a light emitter on the rotatable peripheral surface of the rotating body and a light sensor fixedly mounted with respect to the housing (10) and at a radial distance from the rotatable peripheral surface, a barrier fixed relative to the housing (10) is provided between the light emitter and the light sensor, and the barrier is formed with an opening (104c) so that the light sensor can receive only the light emitted from the light emitter through the opening (104c), at least three light emitters, viewed in a plane perpendicular to the axis of rotation of the rotary body, which are spaced apart in the circumferential direction, so that the color or brightness of light received by the light sensor through the opening (104c) changes as the rotational position of the rotating body changes.
2. The electrical machine (1) according to claim 1, characterized in that said at least three light emitters are equally angularly spaced from each other along the circumferential direction and said light sensor comprises a color sensor (104 b).
3. The electrical machine (1) according to claim 1, characterized in that the at least three light emitters are spaced at unequal angles to each other in the circumferential direction and the circumferential angle between two circumferentially adjacent light emitters is less than 180 °.
4. The machine (1) according to claim 1, characterized in that said light emitters are three light emitters, capable of emitting red, green and blue light, respectively, and circumferentially spaced from each other by a circumferential angle of 120 °.
5. The electrical machine (1) according to claim 1 or 3, characterized in that the light emitter emits monochromatic light and the light sensor comprises a brightness sensor.
6. An electric machine (1) as in claim 3, characterized by the fact that the light emitters can emit light of different colors.
7. The electrical machine (1) according to claim 6, characterized in that said light sensor comprises a color sensor (104 b).
8. The electrical machine (1) according to any of claims 1 to 7, wherein said light sensor comprises a housing (104a), said barrier being constituted by said housing (104 a).
9. The electrical machine (1) according to any of claims 1 to 7, characterized in that the barrier is arranged around the rotating body.
10. The electrical machine (1) according to any of claims 1 to 9, characterized in that the rotating body is a rotor (20) of the electrical machine (1) or a rotating shaft (30) supporting the rotor (20).
11. The electrical machine (1) according to any of claims 1 to 10, wherein said light emitter is a light emitting diode.
12. The electrical machine (1) according to any of claims 1 to 11, characterized in that said light sensor is located inside said housing (10).
13. An angular position detecting device comprising:
at least three light emitters on a rotatable outer circumferential surface of a rotating body, said at least three light emitters being circumferentially spaced from one another, wherein said rotating body is rotatably mounted within a housing (10); and
a light sensor disposed at a radial distance from the rotatable outer circumferential surface and fixed with respect to the housing (10), a barrier fixed with respect to the housing (10) is provided between the light emitter and the light sensor, and the barrier is formed with an opening (104c) so that the light sensor can receive only light emitted from the light emitter through the opening (104c), the light emitter being configured such that the color or brightness of light received by the light sensor through the opening (104c) changes with a change in the rotational position of the rotating body.
14. A method for detecting an angular position of a rotating body, comprising:
a rotating body rotatably mounted in a housing (10);
a light emitter is arranged on the rotatable peripheral surface of the rotating body;
providing a light sensor such that the light sensor is a radial distance from the rotatable peripheral surface;
a barrier fixed relative to the housing (10) is provided between the light emitter and the light sensor, and an opening (104c) is formed in the barrier such that the light sensor can receive only light emitted by the light emitter through the opening (104c), the number of the light emitters being at least three as viewed in a plane perpendicular to the rotational axis of the rotary body, the at least three light emitters being spaced circumferentially such that the color or brightness of light received by the light sensor through the opening (104c) changes as the rotational position of the rotary body changes.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810781873.9A CN110726385B (en) | 2018-07-17 | 2018-07-17 | Angular position detection device, angular position detection method and motor |
| PCT/EP2019/067805 WO2020016008A1 (en) | 2018-07-17 | 2019-07-03 | Angular position detection apparatus, method and electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810781873.9A CN110726385B (en) | 2018-07-17 | 2018-07-17 | Angular position detection device, angular position detection method and motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110726385A true CN110726385A (en) | 2020-01-24 |
| CN110726385B CN110726385B (en) | 2023-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810781873.9A Active CN110726385B (en) | 2018-07-17 | 2018-07-17 | Angular position detection device, angular position detection method and motor |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110726385B (en) |
| WO (1) | WO2020016008A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113783392A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Brushless direct current motor control method |
| CN114777688A (en) * | 2022-05-10 | 2022-07-22 | 宁波安芯美半导体有限公司 | Device and method for measuring light-emitting angle |
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2018
- 2018-07-17 CN CN201810781873.9A patent/CN110726385B/en active Active
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2019
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| DE3840934A1 (en) * | 1988-12-05 | 1990-06-07 | Harm Drecoll | Angle and/or length sensor (transmitter) |
| JPH11264743A (en) * | 1998-03-17 | 1999-09-28 | Seiko Precision Inc | Rotation angle detecting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113783392A (en) * | 2021-09-09 | 2021-12-10 | 芜湖德力电机有限公司 | Brushless direct current motor control method |
| CN114777688A (en) * | 2022-05-10 | 2022-07-22 | 宁波安芯美半导体有限公司 | Device and method for measuring light-emitting angle |
| CN114777688B (en) * | 2022-05-10 | 2024-04-23 | 宁波安芯美半导体有限公司 | Measuring device and measuring method for luminous angle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020016008A1 (en) | 2020-01-23 |
| CN110726385B (en) | 2023-08-04 |
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