CN201348929Y - Hall rotating transformer and Hall angle encoder manufactured by same - Google Patents
Hall rotating transformer and Hall angle encoder manufactured by same Download PDFInfo
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- CN201348929Y CN201348929Y CNU2008202071069U CN200820207106U CN201348929Y CN 201348929 Y CN201348929 Y CN 201348929Y CN U2008202071069 U CNU2008202071069 U CN U2008202071069U CN 200820207106 U CN200820207106 U CN 200820207106U CN 201348929 Y CN201348929 Y CN 201348929Y
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Abstract
The utility model relates to a Hall rotating transformer and a Hall angle encoder manufactured by the same, which aims to resolve the problem that the existing Hall rotating transformers are poor in precision. The Hall rotating transformer of the utility model is characterized in that an annular soft magnetic core (2) is mounted on a printed circuit board (4), the inner ring surface of the annular soft magnetic core is provided with a plurality of grooves (8) which have the same amount as linear Hall elements and are uniformly distributed, each linear Hall element is mounted in a groove corresponding to the same and is welded on the printed circuit board, and a magnetic sensitive surface of each linear Hall element is aligned to the magnetic pole surface of a permanent magnetic ring. The Hall rotating transformer with precision higher than that of a conventional electromagnetic induction rotating transformer is low in amplitude error, phase error and function error, insensitive in installation deviation, high in consistency and simple in structure and manufacturing process, and can be used for forming Hall angle encoders with various output modes.
Description
Technical field
The utility model relates to electric machines control technology, more particularly, relates to a kind of Hall resolver and by its Hall angle-position encoder of making, can be used for brushless servomotor.
Background technology
Traditional resolver (resolver) is a kind of electromagnetic sensor, claims synchronous decomposer again.It is a kind of rotating transducer of the usefulness that takes measurement of an angle, and is used for measuring the rotating shaft angular travel and the angular speed of rotating object, is made up of stator and rotor.Wherein stator winding is accepted exciting voltage as the former limit of transformer, and excitation frequency uses 400,3000 and 5000HZ etc. usually.The rotor winding obtains induced voltage as the secondary of transformer by electromagnetic coupled.The operation principle of resolver is similar substantially with common transformer, difference is that the former limit of common transformer, secondary winding are relatively-stationary, so output voltage and input voltage ratio are constants, the former limit of resolver, secondary winding are then with the change of the angular displacement generation relative position of rotor, thereby the size of its output voltage changes with rotor angular displacement, sinusoidal, cosine function relation that the voltage magnitude of output winding becomes with angle of rotor, or it is keep a certain proportionate relationship, or linear with corner in certain angle range.
At notification number is in the Chinese patent of CN2565123Y, a kind of Hall resolver is disclosed, printed board comprising linear hall element, permanent magnet magnetic ring, hollow shaft rotor, stator cage, rear chassis, stator core and Hall integrated circuit, four linear hall elements are installed on stator core, 90 ° of electrical degrees mutually stagger, and adopt specific many permanent magnet magnetic rings to the utmost point, and two ball bearings of support stator are arranged in the middle of the rotor, the stator front end has the spring leaf that connects usefulness.Existing problems are in this scheme: (1) needs to adopt specific many permanent magnet magnetic rings to the utmost point, to magnetic pole uniformity requirement height, and can not be general to the motor of different poles logarithm; (2) in a circle scope, be difficult to accomplish definite unique zero-bit, the detection of inconvenient absolute angular position; (3) monolithic construction and complex process are difficult to realize miniaturization.
At notification number is in the Chinese patent of CN200972824Y, a kind of Hall resolver that improves the problems referred to above is disclosed, comprising the printed circuit board of linear hall element, permanent magnet magnetic ring, hollow shaft, stator cage, stator core and connection Hall element, its permanent magnet magnetic ring is fixed on the hollow shaft; Its special character is: stator core is annular, 90 ° of space angles at least two installing holes that distributing at interval on stator core, and linear hall element is fixed in the installing hole, so that limit the locus of linear hall element.Yet position in the installing hole of linear hall element on stator core can be because the reasons such as overall dimension of assemblage gap, Hall element, and 6 degrees of freedom of the up, down, left, right, before and after in installing hole location deviation all.Again because permanent magnet magnetic ring is fixed on the hollow shaft location deviation and perpendicularity deviation etc., amplitude error, phase error, the function error that all can cause resolver to export.In addition, the quality of permanent magnet magnetic ring, installation also have very big relation to error, and traditional Hall resolver error is big and consistency error is very poor.
Have radial position deviation 0.1mm if install, establish the external diameter 12mm of permanent magnet, the relative position deviation of the relative girth of 0.1mm is so: 0.1/ (π * 12)=0.265%.This deviation and 1 °/360 °=0.278% suitable illustrates in this Hall resolver that single position deviation will produce the error of 1 ° of degree.So the angular error of the Hall rotary transformer technology in the aforementioned techniques scheme can not be better than 1 °.Again for example, permanent magnet magnetic ring is fixed on the hollow shaft, has 0.5 ° of perpendicularity deviation, and just being equivalent to the radial position deviation is 12sin0.5 °=0.1mm, also can produce the error of 1 ° of degree.
Permanent magnet magnetic ring produces 3 d-space field, and the effect that linear hall element will be subjected to tangential magnetic field component and radial field component produces voltage output.At notification number is in the Chinese patent of CN200972824Y, use four linear hall elements, the output voltage of two linear hall elements of 180 ° of layouts is subtracted each other, it is eccentric to attempt to compensate the stator and rotor assembling, but owing to can't compensate simultaneously radially and the tangential magnetic field component, so can not play good compensation effect, and think it is the magnetic pole homogeneity question usually by mistake.
For above-mentioned reasons, in fact, the position deviation of existing Hall resolver can only reach about 2 °-3 °, and the consistency of error is very poor.
The precision and the precision consistency of existing Hall resolver are all very poor, and the precision of its ratio of precision traditional electrical magnetic inductive resolver is hanged down an order of magnitude, so can only be in extremely low precision applications.
In addition, though the Hall switch angle-position encoder is existing mature technology, yet its precision and resolution are equally very low, generally have only 100 lines, and the precision of Hall resolver of the prior art is suitable with it.
The utility model content
At the above-mentioned defective of prior art, the utility model will solve the relatively poor problem of precision of existing Hall resolver.
For solving the problems of the technologies described above, the utility model provides a kind of Hall resolver, comprising resolver stator, linear hall element, printed circuit board and permanent magnet magnetic ring, it is characterized in that, an annular soft magnet core is housed on described printed circuit board, be provided with, and equally distributed a plurality of grooves identical with the linear hall element number at the inner ring surface of described annular soft magnet core, each linear hall element is loaded in that corresponding with it groove and is welded on the described printed circuit board; And the magnetic sensitive area of each linear hall element aligns mutually with the pole surface of described permanent magnet magnetic ring.
In the Hall resolver of the present utility model, the thickness of described annular soft magnet core can be 1-4mm, is made by electrical pure iron or multi-disc dynamo steel sheet; The axial geometric center lines of described annular soft magnet core overlaps substantially with linear hall element magnetic sensitive area center line, and deviation is not more than 0.5mm.
In the Hall resolver of the present utility model, the size of each groove on the described annular soft magnet core is just in time put into for a linear hall element tight fit, and the depth dimensions of each groove is 0.05-0.2mm.
In the Hall resolver of the present utility model, described permanent magnet magnetic ring can be made by plastic bonding NdFeB material or Ferrite Material or NdFeB material; Described permanent magnet magnetic ring has the Surface field of Sine distribution, and is fixed on the motor shaft by axle sleeve, can produce the resolver rotor airgap magnetic field of Sine distribution when rotated; Air gap between described resolver stator and rotor is 5-25mm.
In the Hall resolver of the present utility model, the shell of described resolver stator and described annular soft magnet core can be structure as a whole, and the described axle sleeve that is used to install described permanent magnet magnetic ring can be by the shell of bearing fixing to described resolver stator.
In the Hall resolver of the present utility model, when the magnetic pole logarithm of described permanent magnet magnetic ring is P=1, the number of described linear hall element is 4, in the corresponding 90 ° of grooves distributed in 4 intervals that are provided with of the inner ring surface of described annular soft magnet core, the output of the ideal of each linear hall element is respectively V
1=V
0+ Vsin θ, V
2=V
0+ Vcos θ, V
3=V
0-Vsin θ, V
4=V
0-Vcos θ.
In the Hall resolver of the present utility model, when the magnetic pole logarithm of described permanent magnet magnetic ring is P=N, N is during greater than 1 natural number, the number of described linear hall element is 3, in the corresponding 120 ° of electrical degree grooves distributed in 3 intervals that are provided with of the inner ring surface of described annular soft magnet core, the output of the ideal of each linear hall element is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °).Also can set up 3 additional linear hall elements, correspondingly, position relative 180 ° with original each groove on the inner ring surface of described annular soft magnet core respectively is provided with an additional groove, and then have 6 linear hall elements and 6 grooves, the ideal output of described 6 linear hall elements is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °), V
4=V
0-VsinN θ, V
5=V
0-VsinN (θ-120 °), V
6=V
0-VsinN (θ-240 °).
The utility model also provides a kind of Hall angle-position encoder, it comprises the corner translation circuit, also comprise aforementioned Hall resolver, comprise in the described corner translation circuit: the A/D modular converter, be used for converting the analog output voltage of Hall resolver output to digital quantity, obtain the resolver digital quantity of diphasic zone sign again by computing; Vector rotation transformation circuit, be used for to the output result of described A/D modular converter with feed back angle-position encoder output signal Φ and carry out vector rotation transformation computing, produce the output bias signal of vector rotation transformation circuit; Proportional and integral controller is used to make deviation signal to go to zero, and the output signal Φ that reaches encoder follows the tracks of the purpose of input rotational angle theta fully; Filter is used to obtain velocity output signal ω; Integrating circuit is used to obtain the output signal Φ of encoder and Φ=θ.
Hall angle-position encoder of the present utility model can adopt digital signal processor DSP or single-chip microprocessor MCU to realize, perhaps adopts the FPGA of pure hardware or ASIC to realize.
Owing to taked technique scheme, in the utility model, the annular soft magnet core has been proofreaied and correct the waveform of air-gap field, and the position of each Hall element can be well secured, and the ratio of precision traditional electrical magnetic inductive resolver of whole Hall resolver is higher, and its amplitude error, phase error, function error are very little, insensitive to installation deviation, high conformity, not only structure, manufacturing process are simple, also can constitute the angle-position encoder of multiple output form.
Description of drawings
Figure 1A is the partial structurtes schematic diagram of Hall resolver among embodiment of the utility model;
Figure 1B be the C of Figure 1A to view, wherein omitted some minor components;
Fig. 2 is the oscillogram of the simulation output of four linear hall elements among embodiment of the utility model;
Fig. 3 is the oscillogram after simulation output shown in Figure 2 is subtracted each other;
The theory diagram of Hall angle-position encoder among embodiment of Fig. 4 the utility model;
Fig. 5 is 360 ° of output digital quantities of Hall angle-position encoder shown in Figure 4;
Fig. 6 is the delta pulse digital quantity of Hall angle-position encoder among embodiment of the utility model.
Among the figure, the 1st, resolver stator, the 2nd, annular soft magnet core, the 3rd, linear hall element, the 4th, printed circuit board, the 5th, permanent magnet magnetic ring, the 6th, axle sleeve, the 7th, motor shaft, the 8th, little groove, 4 linear hall element H0, H90, H180, H270.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is further described.Shown in Figure 1A and Figure 1B, the Hall resolver of present embodiment comprises: resolver stator 1, linear hall element 3, connect Hall element printed circuit board 4, be installed in the permanent magnet magnetic ring 5 on the resolver rotor axle sleeve 6.Wherein, permanent magnet magnetic ring 5 has the Surface field of Sine distribution, and the magnetic pole logarithm is P=1, is fixed on the motor shaft 7 the resolver rotor airgap magnetic field that just can produce Sine distribution during the motor rotation by axle sleeve 6.An annular soft magnet core 2 is housed on printed circuit board 4,2P=4 the little groove 8 of 90 ° of distributions at interval arranged on the annular soft magnet core, 2P=4 linear hall element H0, H90, H180, H270 mutual deviation are welded on the printed circuit board 4 for 90 °, and are close in the little groove.The magnetic sensitive area of linear hall element 3 aligns mutually with the pole surface of permanent magnet magnetic ring 5, and keeps having even air gap between resolver stator and rotor.The ideal output of 2P=4 linear hall element is respectively: V
1=V
0+ Vsin θ, V
2=V
0+ Vcos θ, V
3=V
0-Vsin θ, V
4=V
0-Vcos θ.Fig. 2 is the oscillogram of the simulation output of four linear hall elements.
Wherein, utilize the magnet accumulating cap that is contained in the annular soft magnet core 2 on the printed circuit board 4, all convert the tangential component in the rotor airgap magnetic field of permanent magnet magnetic ring 5 generations to radial component; The geometry of annular soft magnet core has determined the waveform of air-gap field, so orthogonality of four little grooves that interval 90 is spent on the annular soft magnet core, the orthogonality of decision linear hall element output signal, and irrelevant substantially with the welding deviation of linear hall element on printed circuit board; The groove width size of each little groove is as the criterion just in time to put down linear hall element, and so, the phase error of Hall resolver can be very little.Permanent magnet magnetic ring wherein adopts the plastic bonding NdFeB material.
In the present embodiment, utilize the magnet accumulating cap of annular soft magnet core 2, making linear hall element 3 magnetic sensitive areas to the distance of the pole-face of permanent magnet magnetic ring 5 is 15 millimeters, because the amplitude of the high order harmonic component of air-gap field becomes the decay of high order power with harmonic number, therefore the relationship between quality of the sine of air-gap field and permanent magnet magnetic ring 5 is little, so the function error of Hall resolver is minimum in the present embodiment, and irrelevant with the axial installation dimension of stator and rotor.
Wherein, the thickness of annular soft magnet core 2 is 3.5mm, adopts electrical pure iron, and the axial geometric center lines of annular soft magnet core 2 should overlap substantially with linear hall element 3 magnetic sensitive area center lines, and axially installation deviation is not more than 0.5mm.Wherein, air gap between resolver stator and rotor can be between 5-25mm, relevant with the saturation magnetic induction of the permanent magnet magnetic ring that adopts different materials, linear hall element, the magnetic energy of permanent magnet magnetic ring is high more, air gap is big more, the saturation magnetic induction of linear hall element is high more, air gap is big more, gets 15 millimeters in the present embodiment.
With above-mentioned Hall resolver and the combination of corner translation circuit, can constitute angle-position encoder, wherein, the output of four linear hall elements links to each other with the corner translation circuit, this corner translation circuit is by the A/D modular converter, with the analog output voltage V of four linear hall elements
1, V
2, V
3, V
4(as shown in Figure 2), change digital quantity D V into
1, D V
2, D V
3, D V
4Carry out Dcos θ=D V again
1-D V
3With Dsin θ=D V
2-D V
4Digital operation, the resolver digital quantity of acquisition Dcos θ and Dsin θ diphasic zone sign.Because the effect of annular soft magnet core and eliminated tangential component in the very big part rotor airgap magnetic field,, can not produce the amplitude and the phase deviation of Dcos θ and Dsin θ two phase signals so the rotor relative stator exists on a small quantity radially, axial installation deviation.
For the magnet accumulating cap of annular soft magnet core is described, establishing radially, installation deviation produces V
1, V
2, V
3, V deviation be ± Δ V, so:
V
1＝V
0+(V+ΔV)sinθ
V
2＝V
0+(V+ΔV)cosθ
V
3＝V
0-(V-ΔV)sinθ
V
4＝V
0-(V-ΔV)cosθ
V
1-V
3＝2Vsinθ
V
2-V
4＝2Vcosθ
Fig. 3 is the oscillogram after the simulation output of four linear hall elements in the present embodiment is subtracted each other, and they and installation deviation have nothing to do.
As shown in Figure 4, then with V
2-V
4=2Vcos θ and V
1-V
2The resolver digital quantity of the digital quantity Dcos θ of=2Vsin θ and Dsin θ diphasic zone sign is delivered to vector rotation transformation (cordic algorithm) circuit, do vector rotation transformation computing with the output signal φ that feeds back to the angle-position encoder in this circuit, produce the output Ksin (deviation signal of θ-φ) of vector rotation transformation circuit; Deliver to proportional integral (PI) adjuster again, the effect of adjuster goes to zero deviation signal, and the output signal φ that reaches encoder follows the tracks of the purpose of input rotational angle theta, the variation of the output direct ratio θ of proportional integral (PI) adjuster fully; And then deliver to filter and obtain velocity output signal ω; Deliver to the output signal φ that integrating circuit obtains encoder more simultaneously, and φ=θ.Figure 5 illustrates the relation of 360 ° of digital quantity signal φ of Hall angle-position encoder and 360 ° of mechanical corners.
In the Hall angle-position encoder of present embodiment, the corner translation circuit adopts the single-chip microprocessor MCU that includes the A/D module to realize, integrating circuit obtains the output signal Φ of encoder, is digital quantity, by numeral mouthful output; Also can utilize the sheet choosing, select the interior D/A conversion module of sheet to export with analog quantity.
Wherein, described corner translation circuit can adopt the FPGA of pure hardware to realize, also can adopt the ASIC of pure hardware to realize, described integrating circuit obtains the output signal Φ of encoder, is digital quantity, by numeral mouthful output; Also can utilize the interior D/A conversion module of sheet to export with analog quantity.
In the present embodiment, the rotor magnetic pole logarithm is P=1, can detect 360 ° of mechanical corners, so be absolute value Hall resolver and Hall angle-position encoder; In order to enlarge its application, can be with detected 360 ° of absolute values machinery angular signal with the method for numeral its amount of information that descends, be converted to the angular signal of incremental form and mouthful export by numeral.Fig. 6 is Hall angle-position encoder delta pulse digital quantity signal output waveform, wherein U
zBe the Z pulse signal, U
a, U
bIt is two-phase delta pulse signal.
In this enforcement, the stator casing of resolver and annular soft magnet core 2 are one, and the resolver rotor axle sleeve 6 that permanent magnet magnetic ring 5 is installed to stator casing, forms the assembly type resolver by bearing fixing.The precision of present embodiment Hall resolver can reach 1-3 angle branch; The precision of Hall angle-position encoder can reach 1-3 angle branch, and resolution can be up to more than 16.
Another embodiment of the present utility model is a multipole Hall resolver, and permanent magnet magnetic ring wherein has the Surface field of Sine distribution, and the magnetic pole logarithm is P=N=4, is 8 utmost point Hall resolvers; Permanent magnet magnetic ring is fixed on the motor shaft by axle sleeve, the resolver rotor airgap magnetic field that just can produce Sine distribution during the motor rotation; An annular soft magnet core is housed on printed circuit board, the little groove that has the 120 ° of electrical degrees in 3 intervals to distribute on the annular soft magnet core, 120 ° of electrical degrees of 3 linear hall element mutual deviations are welded on the printed circuit board and are close in the little groove; The magnetic sensitive area of linear hall element aligns mutually with pole surface, and keeps having even air gap between resolver stator and rotor; The ideal output of 3 linear hall elements is respectively V
1=V
0+ Vsin θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °).
There is of the influence of a small amount of radially installation deviation in order to compensate the rotor relative stator to output, at 180 ° of relative mechanical locations of 3 little grooves of annular soft magnet core, increase by 3 little grooves again, correspondingly increase by 3 linear hall elements again, so the output of the ideal of 6 linear hall elements is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °), V
4=V
0-VsinN θ, V
5=V
0-VsinN (θ-120 °), V
6=V
0-VsinN (θ-240 °).The precision of the multipole Hall resolver of present embodiment can reach 1-3 angle branch; The precision of Hall angle-position encoder can reach 1-3 angle branch, and resolution can be up to more than 16.
Among the another embodiment of the utility model, also be a multipole Hall resolver, its permanent magnet magnetic ring has the Surface field of Sine distribution, and the magnetic pole logarithm is P=180, is 360 utmost point Hall resolvers; So the output of the ideal of 6 linear hall elements is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °), V
4=V
0-VsinN θ, V
5=V
0-VsinN (θ-120 °), V
6=V
0-VsinN (θ-240 °).The precision of the multipole Hall resolver of present embodiment can reach the 1-3 rad.The precision of this multipole Hall angle-position encoder can reach the 1-3 rad, and resolution can be up to 21.
Claims (10)
1, a kind of Hall resolver, comprising resolver stator (1), linear hall element (3), printed circuit board (4) and permanent magnet magnetic ring (5), it is characterized in that, an annular soft magnet core (2) is housed on described printed circuit board (4), be provided with, and equally distributed a plurality of grooves (8) identical with the linear hall element number at the inner ring surface of described annular soft magnet core, each linear hall element is loaded in that corresponding with it groove and is welded on the described printed circuit board; And the magnetic sensitive area of each linear hall element aligns mutually with the pole surface of described permanent magnet magnetic ring.
2, Hall resolver according to claim 1 is characterized in that, the thickness of described annular soft magnet core is 1-4mm, is made by electrical pure iron or multi-disc dynamo steel sheet; The axial geometric center lines of described annular soft magnet core overlaps substantially with linear hall element magnetic sensitive area center line, and deviation is not more than 0.5mm.
3, Hall resolver according to claim 2 is characterized in that, the size of each groove on the described annular soft magnet core is just in time put into for a linear hall element tight fit, and the depth dimensions of each groove is 0.05-0.2mm.
4, Hall resolver according to claim 1 is characterized in that, described permanent magnet magnetic ring is made by plastic bonding NdFeB material or Ferrite Material or NdFeB material; Described permanent magnet magnetic ring has the Surface field of Sine distribution, and is fixed on the motor shaft by axle sleeve, can produce the resolver rotor airgap magnetic field of Sine distribution when rotated; Air gap between described resolver stator and rotor is 5-25mm.
5, Hall resolver according to claim 4, it is characterized in that, the shell of described resolver stator (1) and described annular soft magnet core are integrative-structures, are used to install the described axle sleeve of described permanent magnet magnetic ring by the shell of bearing fixing to described resolver stator (1).
6, according to each described Hall resolver among the claim 1-5, it is characterized in that, the magnetic pole logarithm of described permanent magnet magnetic ring is P=1, the number of described linear hall element is 4, in the corresponding 90 ° of grooves distributed in 4 intervals that are provided with of the inner ring surface of described annular soft magnet core, the output of the ideal of each linear hall element is respectively V
1=V
0+ Vsin θ, V
2=V
0+ Vcos θ, V
3=V
0-Vsin θ, V
4=V
0-Vcos θ.
7, according to each described Hall resolver among the claim 1-5, it is characterized in that the magnetic pole logarithm of described permanent magnet magnetic ring is P=N, N is the natural number greater than 1; The number of described linear hall element is 3, and in the corresponding 120 ° of electrical degree grooves distributed in 3 intervals that are provided with of the inner ring surface of described annular soft magnet core, the output of the ideal of each linear hall element is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °).
8, Hall resolver according to claim 7, it is characterized in that, also comprise 3 additional linear hall elements, correspondingly, position relative 180 ° with original each groove on the inner ring surface of described annular soft magnet core respectively is provided with an additional groove, and then having 6 linear hall elements and 6 grooves, the ideal output of described 6 linear hall elements is respectively V
1=V
0+ VsinN θ, V
2=V
0+ VsinN (θ-120 °), V
3=V
0+ VsinN (θ-240 °), V
4=V
0-VsinN θ, V
5=V
0-VsinN (θ-120 °), V
6=V
0-VsinN (θ-240 °).
9, a kind of Hall angle-position encoder, it comprises the corner translation circuit, it is characterized in that, also comprise each described Hall resolver among the claim 1-8, comprise in the described corner translation circuit: the A/D modular converter, be used for converting the analog output voltage of Hall resolver output to digital quantity, obtain the resolver digital quantity of diphasic zone sign again by computing; Vector rotation transformation circuit, be used for to the output result of described A/D modular converter with feed back angle-position encoder output signal Φ and carry out vector rotation transformation computing, produce the output bias signal of vector rotation transformation circuit; Proportional and integral controller is used to make deviation signal to go to zero, and the output signal Φ that reaches encoder follows the tracks of the purpose of input rotational angle theta fully; Filter is used to obtain velocity output signal ω; Integrating circuit is used to obtain the output signal Φ of encoder and Φ=θ.
10, Hall angle-position encoder according to claim 9 is characterized in that, described corner translation circuit adopts digital signal processor DSP or single-chip microprocessor MCU to realize, perhaps adopts the FPGA of pure hardware or ASIC to realize.
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| CNU2008202071069U CN201348929Y (en) | 2008-12-31 | 2008-12-31 | Hall rotating transformer and Hall angle encoder manufactured by same |
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|---|---|---|---|
| CNU2008202071069U CN201348929Y (en) | 2008-12-31 | 2008-12-31 | Hall rotating transformer and Hall angle encoder manufactured by same |
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2008
- 2008-12-31 CN CNU2008202071069U patent/CN201348929Y/en not_active Expired - Fee Related
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