CN111693910A - 用于确定旋转构件的至少一个旋转参数的*** - Google Patents
用于确定旋转构件的至少一个旋转参数的*** Download PDFInfo
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Abstract
本公开涉及用于确定旋转构件的至少一个旋转参数的***。本发明涉及一种***,该***包括:编码器,该编码器具有被沿着螺距为p、角度为α的螺旋线延伸的过渡区(3)间隔开的交替的北磁极(2n)和南磁极(2s),所述磁道具有Npp对北极(2n)和南极(2s),并且具有沿着过渡区(3)的法线(N)测得的磁极宽度Lp,其使得:Npp=πa/l并且Lp=p*cosα;以及传感器,该传感器能够借助于至少两个灵敏磁性元件(41、42;51、52)检测由所述编码器发射的周期磁场,所述至少两个灵敏磁性元件部署在距磁道(2)径向读取距离处,所述灵敏元件相对于彼此部署成递送正交信号。
Description
技术领域
本发明涉及用于确定旋转构件的至少一个旋转参数的***,所述***包括发射周期性磁场的编码器以及能够检测所述磁场的传感器。
背景技术
在许多应用中,期望实时地并且以最优质量获知旋转构件的至少一个旋转参数,诸如其位置、其速度、其加速度或其移动方向。
为此,文献WO-2006/064169提出了一种编码器的使用,该编码器旨在与移动构件集成在一起并在其上形成磁道,该磁道能够在距包括若干灵敏元件的传感器读取距离处发射伪正弦磁场。
有利的是,每个灵敏元件可以包括至少一个具有隧道磁阻(TMR)材料基板的图案,隧道磁阻材料基板的电阻根据检测到的磁场而变化,例如,如文献WO-2004/083881中所描述的。
为了根据检测到的磁场的变化来确定移动构件的移动参数,文献WO-2006/064169提供了表示每个灵敏元件的电阻的信号的组合,以便递送正交且振幅相同的两个信号,它们可以用来计算所述参数。
文献WO-2018/051011提出了一种用于确定的***,其中编码器的轨道具有由过渡区隔开的交替的南北磁极,每个磁极沿着阿基米德螺线延伸。关于由编码器递送的磁场的轴向读数,这个实施例使得有可能分离磁极的数量、磁极的宽度和编码器的直径。因此有可能具有很少的磁极,同时仍具有其正弦曲线性良好的磁信号。
而且,一些应用要求径向读取由编码器递送的磁场,特别是由于关于可用空间的限制。为此,已知一种编码器,其包括主体,该主体具有在其上形成有磁道的圆柱形***,所述磁道具有与旋转轴对准的磁过渡区。
在这个实施例中,磁极的宽度是周长与磁极的数量之比,这导致磁极对的数量少(通常小于6个)的编码器出现问题,因为磁极宽度变得相当大,特别是大约十毫米。
这些宽的磁极提供了正弦性差的磁信号,其读取间隙低、变得充满奇次谐波、不适合进行精确的角度测量、要求远离磁道的灵敏元件,这不利于所述信号的振幅,因此不利于通过灵敏元件对其进行良好的检测。
此外,宽的磁极要求编码器的厚度也更大,以便保持磁信号的正弦性和振幅是足够的。这不利于编码器在小面积上的集成并且使磁化方法复杂化,因为必须使更大厚度的材料磁饱和。
发明内容
本发明旨在通过提出一种用于通过径向读取由编码器递送的磁场来进行确定的***来完善现有技术,其中可以在检测到的磁场的周期性和振幅之间达成折衷,而不会给编码器带来任何具体的尺寸约束,这与磁极对数量少的磁编码器特别相关。
特别地,根据本发明的具有径向读取的编码器使得每个磁极的极宽度与磁极对的数量无关,从而能够相对于要检测的磁场的正弦性和振幅协调具有适当定位的灵敏元件的少量磁极对。
为此,本发明提出一种用于确定旋转构件的至少一个旋转参数的***,所述***包括:
-编码器,旨在以与旋转构件一起移动的方式与旋转构件旋转地相关联,所述编码器包括具有圆柱形***的主体,该圆柱形***具有围绕旋转轴线的半径a,所述***具有被过渡区隔开的宽度为l的交替的南北磁极,所述过渡区中的每个过渡区沿着螺距为p、角度为α的螺旋线延伸从而形成多极磁道,该多极磁道能够发射表示所述编码器的旋转的周期性磁场,所述磁道具有Npp对南北极,并且具有沿着过渡区的法线测得的磁极宽度Lp,使得:Npp=πa/l并且Lp=p*cosα;
-传感器,能够借助于至少两个灵敏磁性元件检测由所述编码器发射的周期磁场,所述至少两个灵敏磁性元件被部署在距磁道径向读取距离处,所述灵敏元件相对于彼此部署成递送正交信号。
附图说明
本发明的其它特点和优点将在以下参考附图的描述中出现,附图中:
[图1a]和[图1b]分别以透视图(图1a)和侧视图(图1b)示意性地示出了根据本发明的用于确定的***的编码器;
[图2]是图1a和1b的编码器的圆柱形***的平面图;
[图3a]和[图3b]分别示意性地示出了在相对于根据本发明的编码器的灵敏元件的径向读取距离处的布置的替代实施例;
[图4a]和图4b]分别示意性地示出了在相对于根据本发明的编码器的按组灵敏元件的径向读取距离处的布置的替代实施例;
[图5a]、[图5b]和[图5c]分别示意性地示出了在相对于根据本发明的编码器的按组灵敏元件的径向读取距离处的布置的替代实施例;
[图6]是示出根据组的灵敏元件之间的距离对三阶谐波进行滤波的曲线。
具体实施方式
结合这些图,描述了一种用于确定旋转构件相对于固定结构的至少一个旋转参数的***。特别地,旋转构件的参数可以从其位置、其速度、其旋转的方向、其加速度或其移动的方向(特别是轴)中选择。
在特定应用中,该***可以与无刷直流电动机的控制相关地使用,尤其使得可以知道转子的一对电动机极上相对于定子的绝对角位置。
用于确定的***包括编码器1,该编码器1旨在与旋转构件一体地形成为与其一起移动,所述编码器包括主体,该主体具有围绕旋转轴线X的半径为a的圆柱形***,在其上形成有磁道2,该磁道2能够发射代表所述编码器的旋转的周期性磁场。特别地,发射的磁场可以是正弦的或伪正弦的,即,具有至少一个可以通过正弦正确地近似的部分。
磁道2具有被过渡区3隔开的宽度为l的交替的北磁极2n和南磁极2s,所述过渡区中的每个过渡区沿着螺距为p、角度为α的螺旋线延伸。
因此,磁道具有Npp对北极和南极,并且具有沿着过渡区3的法线N测得的磁极宽度Lp,使得:Npp=πa/l和Lp=p*cosα。磁道2递送伪正弦磁信号,其沿着法线N的空间周期等于λ=2*Lp。
特别地,编码器1在一对磁极2n、2s上产生的磁场是为了确定参数而要被测量的完美基本正弦波分量与几个奇数阶谐波(3、5等)的组合。
如果假定编码器1以恒定的旋转速度ω旋转,那么可以按以下方式表示磁场:
H(t)=H1.sinωt+H3.sin3ωt+H5.sin5ωt+…
三阶谐波的振幅H3通常可以表示基波振幅H1的5%。根据传感器的位置和读取距离,三阶谐波的振幅H3的这个比例可能高得多。
磁道2的螺旋几何形状特别地使得磁极对2n、2s数量Npp以及磁极宽度Lp可以独立于磁道2的半径a来选择。关于图1a和1b,编码器1包括四对磁极2n、2s,这特别适用于控制具有四对磁极的电动机,该***在一对电动机磁极上提供绝对位置,即90°机械角。
根据实施例,编码器1由执行多极磁道2的圆柱形***上的磁体形成。特别地,磁体可以由环形基质形成,例如,由塑料或弹性体材料的基板制成,其中分散有磁性颗粒,特别是铁氧体或稀土(诸如NdFeB)的颗粒。
用于确定的***包括旨在与固定结构一体形成的传感器,所述传感器能够检测由编码器1发射的周期性磁场。为此,传感器包括至少两个灵敏的磁性元件4、5,所述至少两个灵敏的磁性元件4、5部署在距磁道2径向读取距离处,以便每个磁性元件递送表示编码器1的旋转的信号,所述灵敏元件彼此相对部署以便递送正交信号。
灵敏元件4、5中的每一个尤其可以选自磁灵敏探针。例如,霍尔、隧道磁阻(TMR)、各向异性磁阻(AMR)或巨磁阻(GMR)探针可以测量磁场的两个分量(与编码器1垂直和相切)中的每个分量。
特别地,如文献WO-2004/083881中所述,每个元件4、5通过包括参考磁性层、绝缘隔离层和对要检测的场灵敏的磁性层的堆叠而形成隧道结,该堆叠的电阻取决于磁性层的磁化强度的相对朝向。
有利的是,每个灵敏元件4、5可以包括至少一个具有磁阻材料基板的图案,特别是具有隧道效应的图案,磁阻材料基板的电阻根据磁场而变化,灵敏元件4、5能够包括串联或并联连接的单个模体(motif)或一组模体。
替代地,例如可以使用霍尔元件来测量仅由编码器1递送的磁场的法向分量。单独使用法向场是有利的,因为它比切向场更正弦化。
为了能够确定旋转构件的旋转参数,由灵敏元件4、5递送的信号优选地必须正交,即,在几何上偏移90°除以Npp。特别地,已知通过在传感器中或在相关联的计算器中使用此类正交信号,例如,使用查找表(LUT)或CORDIC类型的方法通过直接计算反正切函数来确定编码器1的角位置。
为此,相对于图3a和3b,传感器包括至少两个灵敏元件4、5,其被间隔开沿着过渡区3的法线N测得的距离d,该距离d等于Lp/2mod Lp。换句话说,当灵敏元件4面对过渡区3定位时,另一个灵敏元件5被定位在平行于所述过渡区的螺旋上并与之间隔开沿着法线N测得的距离d。
因此,在正弦性和检测到的信号的振幅之间获得了良好的折衷。特别地,可以利用在2mm与6mm之间的磁极宽度Lp,然后甚至利用编码器1的Npp(该数量小于6)对磁极2n、2s来获得该最佳定位。
关于该***在控制电动机中的应用,递送给控制计算器的信号具有良好的正弦性从而特别地允许:
-更好的性能,特别是在启动时,例如在达到速度设置或位置设置的时间方面;
-更“温和”的操作,在稳定状态下不会发生转矩移位;
-较少的能耗;
-较低的操作温度;
-更大的最大扭矩。
特别地,图3a示出了两个灵敏元件4、5,其沿着过渡区3的法线N对准,所述元件在图3b中周向对准,特别是在编码器1的***的中间位置处对准,以便尽可能多地与所述编码器的边缘分开。替代地,两个灵敏元件4、5可以沿着旋转轴线X对准。
相对于图4a至5c,传感器包括至少两组两个灵敏元件41、42;51、52,其中一组灵敏元件41、42;51、52的引力中心与另一组灵敏元件41、42;51、52的引力中心分开沿着过渡区3的法线N测得的距离d,d等于Lp/2mod Lp。
因此,相对于图3a和3b的实施例的灵敏元件4、5的这种重复,这两组允许对来自外部(例如来自电动机或相邻互连)的噪声进行滤波。
实际上,假定传感器还包括用于减去由这些组中的每一组的两个灵敏元件41、42;51、52递送的信号(V1,V2)的设备,如果磁场在不同的灵敏元件41、42;51、52上包括相同的噪声分量,则该相同的噪声分量将从输出信号中被减去。
通过分别在磁相φ1和φ2处定位一组灵敏元件41、42;51、52,即,通过将它们间隔开沿着过渡区3的法线N测得的距离e,使得由所述灵敏元件41、42;51、52中的每一个递送的信号V1,V2可以被写为:
G是灵敏元件41、42;51、52的假定的相同增益,ω是旋转的速度,Hi是对于i=1的基频振幅和对于i=3、5等等的第i阶谐波的振幅。
减法器电路计算差值,然后该差值被写为:
关于图4a和4b,e=Lp mod 2Lp,即,一组灵敏元件41、42;51、52偏移180°mod 360°,该差值被写为:
可以看出,在进行减法运算之后,三阶和五阶谐波被保留并具有与基波相同的增益2。
为了获得对旋转参数的精确确定,要测量至少三阶谐波的经滤波的信号。但是,难以对谐波产生的误差进行任何固定的补偿,特别是因为它取决于测量条件(传感器的间隙、位置)。此外,对于大体积和低成本应用,校准也是困难的。
关于其中距离e基本上等于2/3Lp mod 2Lp或4/3Lp mod 2Lp的图5a至5c,差值被写为:
在这种情况下,三阶谐波被抵消,在减法运算之后,基波和五阶谐波的增益为1.73。然后执行了三阶谐波空间滤波器,同时仍保留86.5%的基波。
一般而言,关于图6,考虑到如果三阶谐波滤波器从其值中去除至少3dB而没有相对于基波的振幅进行滤波,那么它会发挥作用,因此要求:
以距离表示,为了获得对三阶谐波的滤波,因此要求一组灵敏元件41、42;51、52间隔开沿着过渡区3的法线N测得的距离e,其使得:
0.55Lp mod 2Lp<e<0.82Lp mod 2Lp;或者
1.18Lp mod 2Lp<e<1.45Lp mod 2Lp
特别地,一组灵敏元件41、42;51、52之间的距离e可以在上文中提到的范围内变化,以便优化耦合滤波-增益。此外,根据可用空间,一组灵敏元件41、42;51、52可以沿着过渡区3的法线N(图4a和5b)或沿着圆周(图5c)对准。替代地,一组灵敏元件41、42;51、52可以相对于另一组的那些灵敏元件在圆周上偏移(图4b和5a)。
抑制或至少衰减处理后的信号中的三阶谐波以确定旋转参数不仅相对于所述确定的精度是有益的,而且对于执行以下操作的信号的处理算法也是有益的:
-删除所述信号的偏移;
-平衡所述信号的振幅;
-所述信号之间的相位校正。
Claims (11)
1.一种用于确定旋转构件的至少一个旋转参数的***,所述***包括:
-编码器(1),旨在以与旋转构件一起移动的方式与旋转构件旋转地相关联,所述编码器包括具有圆柱形***的主体,所述圆柱形***围绕旋转轴线(X)的半径a,所述***具有被过渡区(3)间隔开的宽度为l的交替的北磁极(2n)和南磁极(2s),所述过渡区中的每个过渡区沿着螺距为p、角度为α的螺旋线延伸从而形成多极磁道(2),所述多极磁道(2)能够发射表示所述编码器的旋转的周期性磁场,所述磁道具有Npp对北极(2n)和南极(2s),并且具有沿着过渡区(3)的法线(N)测得的磁极宽度Lp,使得:Npp=πa/l并且Lp=p*cosα;
-传感器,能够借助于至少两个灵敏磁性元件(4、5;41、42;51、52)检测由所述编码器发射的周期磁场,所述至少两个灵敏磁性元件被部署在距磁道(2)径向读取距离处,所述灵敏元件相对于彼此部署成递送正交信号。
2.根据权利要求1所述的用于确定的***,其特征在于,所述传感器包括至少两个灵敏元件(4、5),所述至少两个灵敏元件(4、5)间隔开沿着过渡区(3)的法线(N)测得的距离d,d等于Lp/2mod Lp。
3.根据权利要求2所述的用于确定的***,其特征在于,所述两个灵敏元件(4、5)沿着周向对准。
4.根据权利要求2所述的用于确定的***,其特征在于,所述两个灵敏元件(4、5)沿着过渡区(3)的法线(N)对准。
5.根据权利要求2所述的用于确定的***,其特征在于,所述两个灵敏元件(4、5)沿着旋转轴线(X)对准。
6.根据权利要求1所述的用于确定的***,其特征在于,所述传感器包括至少两组两个灵敏元件(41、42;51、52),其中一组灵敏元件(41、42;51、52)的引力中心与另一组灵敏元件(51、52、41、42)的引力中心分开沿着过渡区(3)的法线(N)测得的距离d,d等于Lp/2mod Lp。
7.根据权利要求6所述的用于确定的***,其特征在于,所述传感器还包括用于减去由所述组中的每个组的两个灵敏元件(41、42;51、52)递送的信号(V1,V2)的设备。
8.根据权利要求6或7之一所述的用于确定的***,其特征在于,一组灵敏元件(41、42;51、52)间隔开沿着过渡区(3)的法线(N)测得的距离e,该距离e使得:e=Lp mod 2Lp。
9.根据权利要求6或7之一所述的用于确定的***,其特征在于,一组灵敏元件(41、42;51、52)间隔开沿着过渡区(3)的法线(N)测得的距离e,该距离e使得:
0.55Lp mod 2Lp<e<0.82Lp mod 2Lp;或者
1.18Lp mod 2Lp<e<1.45Lp mod 2Lp。
10.根据权利要求9所述的用于确定的***,其特征在于,所述距离e基本上等于2/3Lpmod 2Lp或4/3Lp mod 2Lp。
11.根据权利要求6至10中的任一项所述的用于确定的***,其特征在于,所述灵敏元件(41、42;51、52)是对准的。
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