TW448608B - Motor control system - Google Patents
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- TW448608B TW448608B TW87120845A TW87120845A TW448608B TW 448608 B TW448608 B TW 448608B TW 87120845 A TW87120845 A TW 87120845A TW 87120845 A TW87120845 A TW 87120845A TW 448608 B TW448608 B TW 448608B
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448608 五、發明說明（1) 本發明係關於一種控制電動馬達（electrie motor)的 裝置與方法，又’本發明雖不侷限但特別是關於無電刷式 (brushless)馬達的電子整流（electronic commutation)。 現有的伺服控制（servo-controlled)馬達乃感測馬達 目前的位置、速度、及/或轉矩（torque)並以之於—回授 控制迴路中’控制加於定子（stator)及/或轉子（r〇t〇r)線 圈（c 〇 i 1)的電流，以便得到或維持所要求的位置、速度及 /或輸出轉矩（torque)。無電刷式馬達也需要監測定子及 轉子的相對位置’以便控制定子及/或轉子線圈的驅動電 流的整流。目前’己有一種分離位置感測器（separate position sensor)可用來執行這兩種控制功能，特別是大 部份的系統以複數分置於定子周圍的霍爾效應感測器 (Hall effect sensor)(通常是相隔60。的三個感測器）來 控制整流’並用一光編碼器（opt i ca 1 enc〇der)或一解析 器（resolver)提供位置或速度或加速度回授，藉此控制加 於疋子及/或轉子線圈的驅動電流量大小’而能控制馬達 的位置、速度、及/或輸出轉矩。 霍爾效應感測器，雖然相當便宜而且可靠度高，卻存 在一些問題’包括因易受電磁干擾影響以及隨溫度變化的 輸出特性而導致輸出信號雜亂；又，使用複數個別的霍爾 效應感測器時，必須準確地安排其與定子間的相對位置， 以得到正確的整流信號相位間的相對關係，但，無論如何 準確排置’因為霍爾效應感測器彼此特性互有些許差異，448608 V. Description of the invention (1) The present invention relates to a device and method for controlling an electric motor, and the present invention is not limited, but particularly relates to electronic commutation of a brushless motor . Existing servo-controlled motors sense the current position, speed, and / or torque of the motor and use them in the feedback control loop to 'control the stator and / or the rotor' (Rotor) The current of the coil (c0i 1) in order to obtain or maintain the required position, speed, and / or output torque. Brushless motors also need to monitor the relative position of the stator and rotor 'to control the rectification of the drive current to the stator and / or rotor coils. At present, there is a separate position sensor that can be used to perform these two control functions. In particular, most systems use a Hall effect sensor with multiple points placed around the stator. (Usually three sensors separated by 60.) to control the rectifier 'and provide position or velocity or acceleration feedback using an optical encoder (opt i ca 1 encoder) or a resolver to control The amount of driving current applied to the mule and / or the rotor coil can control the position, speed, and / or output torque of the motor. Hall-effect sensors, although relatively cheap and highly reliable, have some problems, including the clutter of output signals due to susceptibility to electromagnetic interference and output characteristics that change with temperature; and the use of multiple individual Hall-effect sensors When measuring the sensor, the relative position between the stator and the stator must be accurately arranged to obtain the correct relative relationship between the phases of the rectified signal. However, it is accurately arranged no matter how it is because the Hall effect sensors have slightly different characteristics from each other.
448 6 0 8 _______ t " 1-------- 五、發明說明（2) 所以整流信號之誤差仍難以避免。 至於解析器的問喊則是，對所希望的馬達速度或馬達 負載的變化的響應時間不理想，這是因為其以具有一慣量 (inertia)的鐵心集式（ir〇n-cored pick — up)線圈來感測 位置，該慣量由鐵心的磁慣性而來。慣量使解析器對馬達 速度變化的響應時間增加；此外，置於定子上的線圈相當 重，卻又必須穩固地平衡於定子之上，才能在高速運轉時 不致於發生機械不平衡現象。 至於光感测器，增量型（incrementai)與絕對型 (a b s ο 1 u t e )光感測is兩者均適用。絕對型光感測器可用來 同時控制馬達之整流與驅動；但是’絕對型光位置感測器 相當貴’所以’用到光感測器的伺服馬達通常採用增量型 光感測器以提供位置或速度或加速度回授給控制器，該控 制器控制馬達的位置、速度、及/或輸出轉矩；回授也送 達個別的霍爾效應感測器以控制整流。光系統還有一個問 題是’其需要與環境隔離開來以免受塵污染。 本發明的一個目的是，提供一個採用交換型 (a 1 ter native type)位置感測器的無電刷式馬達。 根據本發明之目的，所提供的電動馬達，包括：一定 子與一個相對於定子的可動元件；複數可激式 (energising)線圈；開關裝置，用以切換一供應電流給予 上述一或多個可激式線圈；一位置感測器’用以感測上述 可動元件的位置，此位置感測器包括複數電路，各具有至 少兩個串聯並以反向感應（in opposite sense)纏繞的迴448 6 0 8 _______ t " 1 -------- V. Description of the invention (2) Therefore, the error of the rectified signal is still difficult to avoid. As for the parser, the response time to the desired change in motor speed or motor load is not ideal, because it uses an iron core-type pick-up with an inertia. ) Coil to sense the position, the inertia comes from the magnetic inertia of the core. The inertia increases the response time of the resolver to changes in the speed of the motor. In addition, the coil placed on the stator is quite heavy, but it must be firmly balanced on the stator to prevent mechanical imbalance at high speeds. As for the light sensor, both incremental (incrementai) and absolute (a b s ο 1 u t e) light sensors are applicable. Absolute light sensors can be used to control the rectification and driving of the motor at the same time; but 'absolute light position sensors are quite expensive' so 'servo motors using light sensors usually use incremental light sensors to provide The position or speed or acceleration is fed back to the controller, which controls the position, speed, and / or output torque of the motor; the feedback is also sent to individual Hall-effect sensors to control the rectification. Another problem with light systems is that they need to be isolated from the environment to avoid dust pollution. It is an object of the present invention to provide a brushless motor using an a 1 ter native type position sensor. According to the purpose of the present invention, an electric motor is provided, including: a stator and a movable element opposite to a stator; a plurality of energising coils; and a switching device for switching a supply current to the one or more of the above Excited coil; a position sensor 'for sensing the position of the movable element, the position sensor includes a plurality of circuits, each having at least two loops connected in series and wound in opposite sense
448608 五、發明說明（3) 路（loop); —個場（field)產生器，用以產生場， 2…至上述每：電路，以由該場產生器產生的生二 場來產生複數輸出仏號，各輪出信號與場產生 電路間的電磁耦合有關；以及一穿置， 益及上述各 信唬產生複數控制上述開關裝置的控制信號。 隨著施例中，上述輸出信號週期性地 鼢著上述相對位置變化且彼此異相（out 〇f汕 具—裝置用以改變上述信號的主 定子的位置的位置以及上述場產生器相對於上述 乃用體實施例中，位置感測器的輸出信號 乃用以於-回授控制迴路中控 或輸出轉矩。 且迷度及/ 掛務動t ί發明之丨|體實施例，位置感測器包括可相 、第一與第二構件（member);該第一構件包括第一 ΐ有至少兩個反向感應連接的迴路及第二電路；上 一場產生器，具有第-部份可與上述第二 1s ,丨目當疋量的電磁耦合，以及第二部份，該第二部份 二® 兩個串聯的迴路，並使於該至少兩個迴路中因共 二;=所產生的信號彼此反相；其中第二部份的迴路以 - 至上述第一電路的迴路，耦合量與上述第—及第 Λ #卜的相對位置成函數關係變化，而使上述場產生器由 π第一與第二電路之一的輸入驅動信號產生一電磁 葱u礤場於上述第一與第二電路之另一個輪流產生一448608 V. Description of the invention (3) loop;-a field generator for generating a field, 2 ... to each of the above: a circuit for generating a complex output with a second field generated by the field generator No. 各, each round-out signal is related to the electromagnetic coupling between the field generating circuits; and a perforation, which benefits the above-mentioned each signal, generates a plurality of control signals for controlling the above-mentioned switching device. With the embodiment, the output signal periodically changes the relative position and is out of phase with each other (out IF --- the device is used to change the position of the main stator of the signal and the position of the field generator relative to the above-mentioned In the embodiment, the output signal of the position sensor is used to control or output the torque in the feedback control loop. And the degree of instability and / or the service of the invention are described in the embodiment, the position sensing The generator includes a phase-capable, first and second member (member); the first member includes a first loop having at least two reverse inductive connections and a second circuit; the previous field generator has a-part which can communicate with The above-mentioned second 1s, the equivalent electromagnetic coupling, and the second part, the second part of the two series loops, and the at least two loops due to a total of two; = The signals are opposite to each other; the loop of the second part is from the loop of the first circuit to the first circuit, and the coupling amount changes as a function of the relative positions of the first and Λ # b, so that the field generator is changed from π to An input drive signal from one of the second circuit is generated. Generate an electromagnetic onion field in the other one of the first and second circuits in turn to generate a
斗48 6 08 五、發明說明（4) 輸出信號’輸出信號與上述第一及第二構件的相對位置成 函數關係變化。 本發明還有另一目的是提供一循類似於上述電動馬達 系統’差別在於不用位置感測器的輸出來控制可激式線圈 之驅動電流的整流，而由一控制器以位置感測器之輸出來 控制如馬達的位置 '速度 '及/或輸出轉矩等。 根據本發明之另一目的’所提供的電動馬達，包括： 一定子與一個相對於定子的可動元件；複數可激式 (energizing)線圈；開關裝置用以切換一供應電流給予上 述一或多個可激式線圈；一位置感測器用以感測上述可動 元件相對於定子的位置，並產生複數輸出信號，輸出信號 週期性地隨上述相對位置變化而且彼此異相；以及移相裝 置，用以將上述複數呈週期性變化的輸出信號移相，以產 生複數控制上述開關裝置的控制信號。 用於位 導體迴 相鄰者 一目的 迴路的 部份具 生的信 施例中 ’以使 反相， 本發明又提供一 兩個串聯反向感應的 以定義複數次迴路， 根據本發明之另 路，包括有至少一個 的第二部份，該第二 迴路中因共同磁場產 此電路之較佳實 心（concentric)迴路 磁場產生的信號彼此 路 反向感應。 ，提供一用於位置感測 第一部份以及和第—部 有數個串聯的迴路，並 號彼此反相。 ，第—部份包括複數串 於該至兩個趣路中因 如此，第一部份與第二 有至少 式排置 器的電 份串聯 使相鄰 聯的同 共同電 部份都Bucket 48 6 08 V. Description of the invention (4) Output signal 'The output signal changes as a function of the relative positions of the first and second members. Still another object of the present invention is to provide a system similar to the above-mentioned electric motor system. The difference is that the output of the position sensor is not used to control the rectification of the drive current of the excitable coil. Outputs are used to control eg the position 'speed' of the motor and / or output torque. According to another object of the present invention, the provided electric motor includes: a stator and a movable element opposite to the stator; a plurality of energizing coils; and a switching device for switching a supply current to the one or more of the above. An excitable coil; a position sensor for sensing the position of the movable element relative to the stator and generating a plurality of output signals, the output signals periodically changing with the relative position and out of phase with each other; and a phase shifting device for The output signal of the complex number periodically changing phase is shifted to generate a control signal of the complex number to control the switching device. In the embodiment of the part of the loop for the purpose of returning a bit conductor to a neighbor, in order to invert the phase, the present invention provides one or two series-reverse induction to define a plurality of loops. According to another aspect of the present invention, The circuit includes at least one second part, and signals generated in the second circuit due to a common magnetic field generated by a better concentric circuit magnetic field of the circuit are induced in opposite directions to each other. Provide a part for position sensing. There are several loops connected in series with the first part, and the numbers are opposite to each other. The first part includes a plurality of strings in the two interesting paths. Therefore, the first part and the second part have at least the arrangement of the electrical components in series, so that the adjacent common electrical parts are all
448608 五、發明說明（5) 較能防止電磁干擾。 根據本發明之又一目的，提供一用於位置感測器的電 路，包括複數串聯的同心迴路，使最外迴路的纏繞方向與 上述其他的同心迴路的纏繞方向相反。 本發明又提供一個馬達的控制方法，該馬達使用如前 所述之位置感測器。 本發明的具體實施例將配合所附之圖示作說明，其 中： 圖1 a繪示具有一位置編碼器架構於其上之馬達，該位 置編碼器可對馬達的轉子位置執行編碼； 圖lb緣示定子線圈及如圖1&之馬達的轉子； 圖2是一電路圖，可說明圖1中位置編碼器的信號控制 馬達定子線圈的驅動電流的方式； 圖3a說明由每一個接收繞阻（receive winding)所感 應的信號振幅峰值如何隨圖1之馬達轉子的角位置變化， 其中，該接收繞阻為如圖1所示之位置編碼器的構成組件 (part)； 圖3b說明控制定子線圈驅動電流切換的開關控制信號 如何隨圖1之轉子的角位置變化； 圖4a績示一個接收繞阻’其為如圖1所示之位置編碼 器的構成組件； 圖4b將圖4a所示之接收繞阻中迴路以細斜線區域標示 出； 圖4 c將圖4 b之細斜線部份改為標示出接收繞阻中兩個448608 V. Description of the invention (5) It can better prevent electromagnetic interference. According to another object of the present invention, a circuit for a position sensor is provided, which includes a plurality of concentric circuits connected in series, so that the winding direction of the outermost circuit is opposite to the winding direction of the other concentric circuits described above. The invention also provides a method for controlling a motor, which uses the position sensor as described above. The specific embodiment of the present invention will be described with reference to the accompanying drawings, in which: FIG. 1 a shows a motor having a position encoder structure thereon, the position encoder can perform coding on the rotor position of the motor; FIG. Lb Figure 2 shows the stator coil and the rotor of the motor as shown in Figure 1; Figure 2 is a circuit diagram illustrating the way in which the signal of the position encoder in Figure 1 controls the drive current of the motor stator coil; Figure 3a illustrates that each receiving winding resistance ( (receive winding) how the peak amplitude of the signal induced varies with the angular position of the motor rotor in FIG. 1, where the receiving winding is a component of the position encoder as shown in FIG. 1; FIG. 3b illustrates the control of the stator coil How the switch control signal for driving current switching changes with the angular position of the rotor in Figure 1; Figure 4a shows a receiving winding 'which is a component of the position encoder shown in Figure 1; Figure 4b shows the structure shown in Figure 4a The loop in the receiving winding is marked with a thin oblique line area; Figure 4c changes the thin oblique portion in Figure 4b to indicate two of the receiving windings.
448608 五、發明說明（6) 迴路重疊區域； 圖4d繪示一印刷導體的頂層，該印刷導體為如圖4a所 示之印刷電路板之構成組件； 圖4 e繪示印刷導體的底層，該印刷導體為如圖4 a所示 之印刷電路板之構成組件； 圖5a繪示為共振器之一部份的印刷導體的頂層，其 中’該共振器為如圖1所示之位置編碼器之構成組件； 圖5b繪示為共振器之一部份的印刷導體的底層，其 中’該共振器為如圖1所示之位置編碼器之組件： 圖6為位置編碼器和用以產生控制馬達定子線圈的驅 動電流切換的控制信號的處理電路的方塊圖； 圖7為如圖6中處理電路構成組件的向量至相位 (vector-to-phase)轉換器的電路方塊圖； 圖8為如圖6中處理電路構成組件的相位至向量 (phase-to-vector)轉換器的電路圖； f 9為位置編碼器和用以產生控制馬達整流的處理電 路的架構方塊圖； 圖10為如圖1中處搜费· 、 竭·理電路構成組件的相位至向量轉換 器的電路圖； 彳里啊 處理= 和用以產生控制馬達速度及整流的 圖12a說明由每_相 應的信號振幅峰值如何阻（reCeiVe WindiM)所感 該接收繞阻為如圖u:隨馬達轉子的角位置變化，其中’ 不之位置編碼器的構成組件；448608 V. Description of the invention (6) Circuit overlap area; Figure 4d shows the top layer of a printed conductor, which is a component of the printed circuit board shown in Figure 4a; Figure 4e shows the bottom layer of a printed conductor, which The printed conductor is a component of the printed circuit board shown in FIG. 4a; FIG. 5a shows the top layer of the printed conductor as part of the resonator, where 'the resonator is the position encoder shown in FIG. 1 Figure 5b shows the bottom layer of a printed conductor that is part of a resonator, where 'the resonator is a component of a position encoder as shown in Figure 1: Figure 6 is a position encoder and used to generate a control motor A block diagram of a processing circuit for a control signal for switching the driving current of a stator coil. FIG. 7 is a circuit block diagram of a vector-to-phase converter that processes the components of the circuit as shown in FIG. 6; The circuit diagram of the phase-to-vector converter of the processing circuit components in 6; f 9 is a block diagram of the structure of the position encoder and the processing circuit used to generate the control motor rectification; FIG. 10 is as shown in FIG. 1 Search fees ·, The circuit diagram of the phase-to-vector converter constituting the components of the exhaust circuit; the processing of 彳 = = is used to generate the control motor speed and rectification. The winding resistance is as shown in Figure u: It varies with the angular position of the motor rotor, where the component components of the position encoder are not;
第10頁 448608 五、發明說明（7) 圖1 2b說明控制定子線圈驅動電流切換的開關控制信 號如何隨轉子的角位置變化； 圖1 3 a说明當不同相位移加於由每一個接收繞阻 (receive winding)所感應的信號時，信號振幅^值如何 隨馬達轉子的角位置變化，其中，該接收繞阻為如圖丨〗所 示之位置編碼器的構成組件（p a r t);以及 圖13b說明當不同相位移加於控制定子線圈驅動電流 切換的開關控制信號時，其如何隨轉子的角位置變化。 圖la繪示一無電刷式馬達，其可旋轉輸出軸3，該軸 之一端3a接至負載（未繪出），如圖ib所示，在本實施例 中，馬達包括三個定子線圈17，18，19，其以星形連接並 相隔120°纏繞於圍繞轉子20的定子（未繪出）上；在本實 施例中，轉子20為一整塊具有單一南北磁極對之永久磁 鐵：馬達1由一個具有可使馬達穩固的架設孔7和9的托架5 所支撐。操作時，驅動電流（在本實施例中為直流電，未 繪出）依序加於三個定子線圈上以令轉子旋轉’切換順序 取決於定子線圈數和轉子之磁極數，為確保馬達之有效運 轉，定子線圈的切換時序須依據馬達製造商所建議者。 在本實施例令，位置編碼器丨丨用來產生合適的控制定 子線圈的驅動電流切換的開關信號，如圖la所示，位置編 碼器11架設於馬達1之一端，並包括一個固定在托架5的 —印刷電路板13，以及一個以可轉動方式架設於輸出 的3b端上之第二印刷電路板15。在本實施例中，第一 電路板1 3具有三個接收繞阻（未繪出）和一個激勵 第11頁 448 608 五'發明說明（8) (excitation)繞阻（未繪出），第二印刷電路板】5具有一個 共振器（未緣出）。第-印刷電路板^ 3和第二印刷電路板^ 5 的間隔最好在0. 1至2刪間，以便能從接收繞阻得到 大的信號。 圖2是-電路圖，緣出激勵繞阻21、共振器（以標號^ 概示）和位置編碼器1 1的構成組件之接收繞阻25、27及 29。如圖示，在本實施例中，共振器23包括兩個串聯的繞 阻31、33，以及電容35。如下文所詳述者，共振器繞阻31 與激勵繞阻2 1電磁耦合，共振器繞阻3 3與每一接收繞阻 25、27及29電磁耦合。更明確地，激勵繞阻21及共振器繞 阻31排置成為可使兩者磁耦合不隨共振器23的角位置（θ) 變化，共振器繞阻33與每一接收繞阻25、27及29排置成為 可使其間的磁耦合與共振器23的角位置（0)成正弦函數關 係變化，該正弦函數隨共振器每一完整週期循環變化。 動作時’一個信號產生器39產生一個基頻fq為11^112的 方波激勵信號’其加於激勵繞阻21以激勵共振器23。在本 實施例中’共振器23之共振頻率與激勵信號的基頻F()相匹 配（match) ’而能提供最大信號位準。當共振器共振時， 一電流流經共振器繞阻3 3而產生一個共振器磁場，而在每 一接收繞阻25、27及29感生電動勢（Electro-Motive Force，EMF) ’其振幅因共振器23跟隨軸3旋轉呈正弦函數 變化。為使三個接收繞阻25、27及29感生之電動勢EMF能 產生適合的控制信號以切換驅動電流入定子線圈，三個接 收繞阻在電路板13周圍移轉120。 以配合定子線圈間之間Page 10 448608 V. Description of the invention (7) Figure 1 2b illustrates how the switch control signal that controls the drive current switching of the stator coil changes with the angular position of the rotor; Figure 1 3 a illustrates that when different phase displacements are added to each winding resistance received by (receive winding) how the amplitude of the signal varies with the angular position of the motor rotor when the signal is induced, where the receiving winding is a component of a position encoder as shown in Figure 丨; (part 13); and Figure 13b Explain how the different phase displacements change with the angular position of the rotor when they are added to the switching control signal that controls the drive current switching of the stator coil. FIG. La shows a brushless motor with a rotatable output shaft 3, and one end 3a of the shaft is connected to a load (not shown), as shown in FIG. Ib. In this embodiment, the motor includes three stator coils 17 , 18, 19, which are connected in a star shape and wound around a stator (not shown) surrounding the rotor 20; in this embodiment, the rotor 20 is a single piece of permanent magnet with a single north-south pole pair: motor 1 is supported by a bracket 5 having mounting holes 7 and 9 to stabilize the motor. During operation, the driving current (DC power in this embodiment, not shown) is sequentially applied to the three stator coils to rotate the rotor. The switching sequence depends on the number of stator coils and the number of magnetic poles of the rotor. During operation, the switching timing of the stator coils must be as recommended by the motor manufacturer. In this embodiment, the position encoder is used to generate a suitable switching signal for controlling the drive current switching of the stator coil. As shown in FIG. 1a, the position encoder 11 is mounted on one end of the motor 1, and includes a fixed The printed circuit board 13 of the frame 5 and a second printed circuit board 15 rotatably mounted on the output 3b end. In this embodiment, the first circuit board 13 has three receiving windings (not shown) and one stimulus. Page 11 448 608 Five 'Description of Invention (8) (excitation) windings (not shown), the first Two printed circuit boards] 5 has a resonator (not edged out). The interval between the first printed circuit board ^ 3 and the second printed circuit board ^ 5 is preferably between 0.1 and 2 in order to obtain a large signal from the reception winding. FIG. 2 is a circuit diagram showing the receiving windings 25, 27, and 29 of the constituent components of the excitation winding 21, the resonator (shown as ^) and the position encoder 11. As shown, in this embodiment, the resonator 23 includes two windings 31, 33 and a capacitor 35 connected in series. As detailed below, resonator winding 31 is electromagnetically coupled to excitation winding 21, and resonator winding 3 3 is electromagnetically coupled to each receiving winding 25, 27, and 29. More specifically, the excitation winding 21 and the resonator winding 31 are arranged so that the magnetic coupling of the two does not change with the angular position (θ) of the resonator 23. The resonator winding 33 and each receiving winding 25, 27 Arranged at positions 29 and 29, the magnetic coupling between them and the angular position (0) of the resonator 23 change in a sinusoidal function relationship, and the sinusoidal function changes cyclically with each complete cycle of the resonator. During the operation, 'a signal generator 39 generates a square wave excitation signal with a fundamental frequency fq of 11 ^ 112', which is added to the excitation winding 21 to excite the resonator 23. In this embodiment, the 'resonant frequency of the resonator 23 matches the fundamental frequency F () of the excitation signal' to provide the maximum signal level. When the resonator resonates, a current flows through the resonator winding 3 3 to generate a resonator magnetic field, and each receiving winding 25, 27, and 29 induces an Electro-Motive Force (EMF) 'its amplitude factor The resonator 23 changes in a sinusoidal function following the rotation of the shaft 3. In order for the three receiving windings 25, 27, and 29 to induce the electromotive force EMF to generate a suitable control signal to switch the driving current into the stator coil, the three receiving windings are transferred 120 around the circuit board 13. To fit between the stator coils
第12頁Page 12
448 608 五、發明說明（9) 隔。因此，接收繞阻25、27及29感生之電動勢EMF分別包 括下列成份： EMF2S = ^003 [ Θ ) COS {lKF〇t) EMF21 = A^COS Ιθ ~2π/3] COS [,2π F0t) EMF^ = A〇COS [ Θ -4^- / 3 ] COS [ 2π F0t) (1) 然後同步解調這些電動勢，此乃藉由將其分別於混合 器（mixer )41、43、45中乘以經90。相位移之激勵信號（補 償共振器23產生的相位變化）。混合器的信號輸出再由低 通濾波器（low pass filter)47、49及51濾波以移除不需 要的時變成份（time varying component)。圖3a說明這些 濾波信號食25、‘和良9如何隨共振器2 3的轉動角度（Θ ) 變化’如圖所示’由於接收繞阻間的周圍間距，相對應的 濾波仏號與另兩者呈1 2 0。相差。低通濾波器的信號輸出 再分別於比較器53、55、57中與接地位準（〇v)比較，以產 生相對應的方波信號Vqut53、ν〇υτ55以及v耐57，即如圖朴所 示:在^實施例+，這些方波信號ν·53、V〇u严以及W7乃 ^以由定子線圈開關電路63直接控制切換驅動電流至三個 定子線圈17、18和19 ’定子線圈開關電路63 流系統標準邏輯電路將 為適合的開關信Ϊ ^ 及V〇UT57轉換 20上的N-S磁極Λ二共振：和：收繞阻的位置已與轉子 ^ 什細對準，所以能如此做。 上文簡要討論激勵信號如何使共振器 數接收繞阻中產生一萨妓拉盟^ 撖而依欠於復 生隨共振器角位置變化之信號，關於這448 608 V. Description of the invention (9). Therefore, the EMF induced by receiving windings 25, 27, and 29 include the following components: EMF2S = ^ 003 [Θ) COS {lKF〇t) EMF21 = A ^ COS Ιθ ~ 2π / 3] COS [, 2π F0t) EMF ^ = A〇COS [Θ -4 ^-/ 3] COS [2π F0t) (1) Then demodulate these electromotive forces simultaneously by multiplying them in mixers 41, 43, 45 Take the 90. Phase shift excitation signal (compensates the phase change caused by the resonator 23). The signal output of the mixer is then filtered by low-pass filters 47, 49, and 51 to remove unnecessary time varying components. Figure 3a illustrates how these filtered signals 25, 'and Liang 9 change with the rotation angle (Θ) of the resonator 23, as shown in the figure. Due to the surrounding distance between the receiving windings, the corresponding filter number and the other two Was 1 2 0. difference. The signal output of the low-pass filter is then compared with the ground level (0v) in the comparators 53, 55, 57 to generate the corresponding square wave signals Vqut53, ν〇υτ55, and v resistance 57, as shown in the figure. Shown: In the embodiment, these square wave signals ν · 53, V0u, and W7 are controlled by the stator coil switch circuit 63 to switch the drive current to the three stator coils 17, 18, and 19 '. Switching circuit 63 The standard logic circuit of the flow system will be suitable for switching signals 及 and V〇UT57. NS magnetic pole Λ second resonance on the 20: and: the position of the winding resistance has been aligned with the rotor ^, so it can do this . The discussion above briefly discussed how the excitation signal caused the resonator to receive a saxophone ^^ and depend on the signal that regenerates with the angular position of the resonator.
448 608 五、發明說明¢10) 些電路如何相互作用來產生上述信號的詳細解釋，可參見 申請人較早的國際專利申請案（International Patent Applicati〇ns)W095/31 696 及 W098/ 0092 1，其内容藉此併 入參考。以下將參照圖4和圖5描述合適的激勵繞阻、共振 器繞阻和接收繞阻型式。 圖4a繪示一個置於印刷電路板13上的接收繞阻25的型 式，印刷電路板1 3環繞内緣1 4，内緣1 4則定義出將電路板 1 3固定於馬達托架5之上的架設孔；接收繞阻2 5在印刷電 路板13頂層上的部份以實線表示，而在印刷電路板13底部 上的的部份以虛線表示；接收繞阻25的端點（A和G點）由雙 絞線（twisted wire pair)71連接至混合器41(見圖2)。 如圖4 a所示，接收繞阻2 5由一些外擴及内縮（相對於 印刷電路板1 3的中心）的串接螺旋繞阻所構成。更明確 地，自接收繞阻2 5的一端點A，繞阻順時鐘外擴螺旋方向 延伸9 0 至B點’在B點，繞阻通至印刷電路板1 3的底面， 然後沿反時鐘外擴螺旋方向延伸270。至C點，在C點，繞 阻穿通印刷電路板1 3回至其頂層，然後仍沿反時鐘内縮螺 旋方向延伸360°至D點’在D點，繞阻穿通印刷電路板13 回至其底層’然後仍沿反時鐘外擴螺旋方向延伸9〇。至E 點，在E點’繞阻穿通印刷電路板1 3回至其頂廣，然後沿 順時鐘外擴螺旋方向延伸270 °至F點，在f點，繞阻穿通 印刷電路板1 3回至其底層’然後仍沿順時鐘内縮螺旋方向 延伸3 6 0 °至接收繞阻2 5的另一端點g。 如圖4 b所示為接收繞阻2 5以及當一電流自點a輸入繞448 608 V. Description of the invention ¢ 10) A detailed explanation of how these circuits interact to generate the above signals can be found in the applicant's earlier International Patent Applications W095 / 31 696 and W098 / 0092 1, Its contents are hereby incorporated by reference. Suitable excitation winding, resonator winding, and receiving winding patterns will be described below with reference to FIGS. 4 and 5. FIG. 4 a shows a type of the receiving winding 25 placed on the printed circuit board 13. The printed circuit board 13 surrounds the inner edge 1 4, and the inner edge 14 defines the fixing of the circuit board 13 to the motor bracket 5. The mounting holes on the top; the part of the receiving winding 25 on the top layer of the printed circuit board 13 is shown by a solid line, and the part on the bottom of the printed circuit board 13 is shown by a dotted line; the end point of the receiving winding 25 (A And point G) are connected to a mixer 41 by a twisted wire pair 71 (see FIG. 2). As shown in Fig. 4a, the receiving winding 25 is formed by a series of spiral windings which are expanded and contracted (relative to the center of the printed circuit board 13). More specifically, since one end A of the winding 25 is received, the winding extends in a clockwise outward spiral direction from 90 to point B. At point B, the winding passes to the bottom surface of the printed circuit board 13 and then follows the clock The outwardly extending spiral direction extends 270. To point C, at point C, the winding through the printed circuit board 13 back to its top layer, and then still extend 360 ° in the counterclockwise spiral direction to point D. At point D, the winding through the printed circuit board 13 returns to Its bottom layer then extends 90 ° in the counterclockwise outward spiral direction. Go to point E, at point E, wind through the printed circuit board 13 times to its top, and then extend 270 ° to point F in the clockwise outward spiral direction. At point f, wind the resistance through the printed circuit board 13 times. 'To its bottom layer' and then still extend in the clockwise constriction direction 360 ° to the other end g of the receiving winding 25. Figure 4b shows the winding resistance 25 and when a current flows from the point a input winding.
第14頁 448 6 0 8 五、發明說明（11) 阻2 5時’在燒阻每一部份的電流流向。由考慮繞阻2 5的電 流’可分出兩個獨立的迴路（斜線區域73和77)，兩個迴路 都延伸3 6 0。而且彼此的電流流向相反。第一迴路7 3延伸 自繞阻沿反時鐘方向至E點的交叉7 5 (靠近電路板的外 緣）；如箭頭所示，電流以順時鐘方向流繞迴路73。接收 繞阻25形成的第二迴路77延伸自反時鐘方向經近360°至B 點的交叉75 ;如示，電流以反時鐘方向流經迴路77。由於 兩個迴路7 3和7 7彼此的電流流向相反，在兩個迴路的重疊 區域79不會感應電動勢，因為一個迴路感應的電動勢會抵 消另一個迴路所感應的電動勢。因之，迴路73和77實際上 包括如圖4c所示的四個感測區域：73a、73b、77a和77b。 這四個感測區域：73a、73b、77a和77b表示出接收繞阻25 可感測出共振器23所產生的電磁場的四個部份。 定義這些區域的接收繞阻2 5的導體排置成所覆蓋的區 域幾乎相同，因此，使接收繞阻25相當可抗拒雜訊 (background)電磁干擾。亦即，如果一磁場入射至這幾個 區域’在73a和73b所感應的電動勢會抵消77a和77b所感應 的電動勢（因交感迴路73和77乃串聯連接）。其他兩個接收 繞組2 7和2 9各具有如接收繞阻2 5的外形，但與接故繞阻2 5 相對繞移± 1 2 0 ;為求清晰’圖4 a、圓4 b、圖4 c未畫出 接收繞組2 7和2 9 ’然而繪出接收繞组2 7的兩個端點8 1和8 3 以及接收繞組29的兩個端點85和87。圖4d繪示印刷電路板 13上導體的頂層’其顯示做為接收繞組μ、27和29的導體 和做為激勵繞阻2 1組件的導體。如圓所示，接收繞組2 γ的 第15頁 448608 t 五'發明說明（12) 兩個端點81和83連接至雙絞線91，雙絞線91將繞阻接到混 合器（mixer)43 ;接收繞組29的兩個端點85和87連接至雙 絞線93，雙絞線93將繞阻接到混合器（mixer)45 ;激勵繞 組21的兩個端點22和24連接至雙絞線95，雙絞線95將繞阻 接到信號產生器39。 圖4 e繪示電路板1 3的底層，為求明晰，印刷電路板！ 3 的底層以有如從頂層俯視的角度作缯示。如圖4(1和4e所 示’激勵繞組21包括印刷電路板1 3頂層及底層上的六個導 體迴路；如繞組21上的箭頭所示，電流在激勵繞組21的不 同迴路流向不同；亦即如圏所示，電流在最外圍迴路順時 鐘方向流動’接著’在下三個迴路反時鐘方向流動，最 後’在兩個内迴路順時鐘方向流動。如圖4d和4e所示，電 路板13兩面的迴路繞向不同。激勵繞組21的每一迴路所圍 住的區域排成如果有遠場電磁干擾（以致於每一迴路有等 量之干擾）’那麼，電路板13兩面的六個迴路所感應的電 動勢大致上會互相抵消，而使激勵繞組相當可抗拒此雜訊 之電磁干擾。每一迴路的繞向及迴路間的間距排成可使由 流經激勵繞组的電流所產生的磁場在最大與最小纏繞迴路 間所定義的圓環域（31111111115)内為最大，而且在圓環域外 為最小，因此能將激勵繞組21和接收繞組27，29間與激勵 繞组2 ]和轉軸間的任一交互耦合減至最小。 、 再參見圖5，圖5a和圖5b分別繪示載有共振器23的印 刷電路板1 5的頂層和底層；為求明晰，印刷電路板1 5的底 層以有如從頂層俯視的角度作繪示。如圖5所示，電路板Page 14 448 6 0 8 V. Explanation of the invention (11) When the resistance is 25, the current flow of each part is blocked. By considering the winding current 2 ', two separate circuits (slashed areas 73 and 77) can be divided, and both circuits extend 3 6 0. And the current flows in opposite directions. The first loop 7 3 extends from the winding in the counterclockwise direction to the intersection 7 5 (near the outer edge of the circuit board); as shown by the arrow, current flows around the loop 73 in a clockwise direction. The second loop 77 formed by the receiving winding 25 extends from the counterclockwise direction through a cross 75 of nearly 360 ° to point B; as shown, current flows through the loop 77 in the counterclockwise direction. Since the current flows of the two circuits 7 3 and 7 7 are opposite to each other, the electromotive force will not be induced in the overlapping area 79 of the two circuits, because the electromotive force induced by one circuit will cancel the electromotive force induced by the other circuit. Therefore, loops 73 and 77 actually include four sensing areas as shown in Figure 4c: 73a, 73b, 77a, and 77b. These four sensing areas: 73a, 73b, 77a, and 77b indicate that the receiving winding 25 can sense the four parts of the electromagnetic field generated by the resonator 23. The conductors defining the reception windings 25 of these areas are arranged so that the areas covered are almost the same, so that the reception windings 25 are quite resistant to background electromagnetic interference. That is, if a magnetic field is incident on these regions, the electromotive forces induced at 73a and 73b will cancel the electromotive forces induced by 77a and 77b (because the sympathetic circuits 73 and 77 are connected in series). The other two receiving windings 2 7 and 2 9 each have the same shape as the receiving winding resistance 2 5, but the relative winding resistance is shifted by ± 1 2 0 from the winding resistance 2 5; for clarity 'Figure 4a, Circle 4b, Figure 4 c does not show the receiving windings 2 7 and 2 9 ′ however the two end points 8 1 and 8 3 of the receiving winding 2 7 and the two end points 85 and 87 of the receiving winding 29 are shown. Fig. 4d shows the top layer of the conductor on the printed circuit board 13 ', which shows the conductor as the receiving windings µ, 27 and 29 and the conductor as the excitation winding 21 component. As shown by the circle, page 15 of the receiving winding 2 γ 448608 t Five 'invention description (12) The two end points 81 and 83 are connected to the twisted pair 91, and the twisted pair 91 will be wound to the mixer 43; the two ends 85 and 87 of the receiving winding 29 are connected to the twisted pair 93, the twisted pair 93 will be wound to the mixer 45; the two ends 22 and 24 of the excitation winding 21 are connected to the double The twisted pair 95 and the twisted pair 95 will be wound to the signal generator 39. Figure 4e shows the bottom layer of the circuit board 13. For clarity, the printed circuit board! The bottom of 3 is shown as if looking down from the top. As shown in FIG. 4 (1 and 4e), the 'excitation winding 21 includes six conductor loops on the top and bottom layers of the printed circuit board 13; as shown by the arrows on the winding 21, the current flows in different loops of the excitation winding 21; That is, as shown in Figure ，, the current flows in the clockwise direction in the outermost circuit, then flows in the counterclockwise direction in the next three circuits, and finally flows in the clockwise direction in the two inner circuits. As shown in Figs. The directions of the loops on the two sides are different. The area enclosed by each loop of the excitation winding 21 is arranged in the presence of far-field electromagnetic interference (so that each loop has an equal amount of interference). Then, the six loops on both sides of the circuit board 13 The induced electromotive force will substantially cancel each other, so that the excitation winding is quite resistant to the electromagnetic interference of this noise. The winding direction of each loop and the spacing between the loops are arranged so that the current generated by the current flowing through the excitation winding can be generated. The magnetic field is maximum in the ring domain (31111111115) defined between the maximum and minimum winding loops, and minimum outside the ring domain. Therefore, the excitation winding 21 and the receiving winding 27, 29 can be connected to the excitation winding 2 ] And any coupling between the rotating shaft is minimized. See FIG. 5, FIG. 5a and FIG. 5b show the top and bottom layers of the printed circuit board 15 carrying the resonator 23, respectively; for clarity, the printed circuit board The bottom layer of 1 5 is shown as viewed from above the top layer. As shown in Figure 5, the circuit board
第16頁 448 6 08 五、發明說明（13) 1 5是圓形’而且中間具有一由板的内緣丨6所定界的孔洞以 容納馬達1的軸3。共振器23包括兩個串聯連接而分置於電 路板兩面的繞阻31和33 ;繞阻31置於靠近印刷電路板15的 中心：繞阻33置於靠近電路板1 5的外緣。 如圖5b所示，在繞阻31的外圍迴路有兩個接墊42和 44 ’用以接連一個表面承載電容（surface mount capacitor)並與兩個繞阻3!和33串接。 如圖5a和圖5b所示，繞阻31的捲繞方式與激勵繞組21 捲繞於印刷電路板13上的方式相同，這可確使共振器的此 一部份能抗拒雜訊電磁場，而且，不論共振器的角位置為 何’都能提供在激勵繞組21和共振器23間的定磁耦合。 又’共振器23的外圍繞阻33包括印刷電路板15各面上的四 個導體迴路34a、34b、36a及36b，如箭頭所示並由不同的 斜線所代表’迴路34a和34b的捲繞與迴路36a和36b的捲繞 為反向感應，由各迴路34和36圍住的區域安排成相同而使 共振器23的外圍繞阻33也相當能抗拒雜訊電磁干擾。 熟悉本行技藝人士可由圖5a和5b與圖4c的比較中明 瞭’當電路板15以可轉動方式架設於轴3，而且電路板13 鄰接架設於軸3上，電路板13的内緣14和電路板15的内緣 16同軸心，迴路34a和36a排成可與接收繞組的73a和77a區 域父互作用’而且迴路34b和36b排成可與迴路73b和77b區 域交互作用。更明確地說，這些迴路排成可以使得在共振 器旋轉時’共振器23的迴路34和36和接收繞組的73和77 區域間的電磁耦合隨共振器旋轉角（6>)作正弦函數變化，Page 16 448 6 08 V. Description of the invention (13) 15 is circular 'and has a hole delimited by the inner edge of the plate 6 in the middle to accommodate the shaft 3 of the motor 1. The resonator 23 includes two windings 31 and 33 connected in series and placed on both sides of the circuit board; the winding 31 is placed near the center of the printed circuit board 15; the winding 33 is placed near the outer edge of the circuit board 15. As shown in FIG. 5b, in the peripheral circuit of the winding 31, there are two pads 42 and 44 'for connecting a surface mount capacitor and being connected in series with the two windings 3! And 33. As shown in FIG. 5a and FIG. 5b, the winding 31 is wound in the same manner as the excitation winding 21 is wound on the printed circuit board 13. This can ensure that this part of the resonator can resist the electromagnetic field of noise, and Regardless of the angular position of the resonator, it can provide a fixed magnetic coupling between the excitation winding 21 and the resonator 23. Also, 'the outer surrounding resistance 33 of the resonator 23 includes four conductor loops 34a, 34b, 36a, and 36b on each side of the printed circuit board 15, as shown by the arrows and represented by different oblique lines' windings of the loops 34a and 34b The windings of the loops 36a and 36b are reverse induction, and the area surrounded by the loops 34 and 36 is arranged in the same way, so that the outer surrounding resistance 33 of the resonator 23 is also quite resistant to noise electromagnetic interference. Those skilled in the art can understand from the comparison between FIGS. 5a and 5b and FIG. 4c that when the circuit board 15 is rotatably mounted on the shaft 3, and the circuit board 13 is adjacently mounted on the shaft 3, the inner edge 14 of the circuit board 13 and The inner edge 16 of the circuit board 15 is coaxial, and the loops 34a and 36a are arranged to interact with the 73a and 77a areas of the receiving windings' and the loops 34b and 36b are arranged to interact with the areas 73b and 77b. More specifically, these circuits are arranged so that when the resonator rotates, the electromagnetic coupling between the circuits 34 and 36 of the resonator 23 and the 73 and 77 regions of the receiving winding changes as a sinusoidal function with the rotation angle of the resonator (6>). ,
第17頁 448608 五、發明說明（14) ' ' 而正弦函數變化的週期等於電路板15轉動一整週的週期。 也可以用其他接收繞阻25、27和29的不同設計（也可 抗電磁干擾）和共振器23的不同設計來產生如此一個隨共 振器板15的旋轉所作的正弦函數變化，這樣的設計範例可 參見在上文所提到的申請人更早的國際專利申請案。但’ 以前段所述之設計較佳，因為，每一接收繞組、激勵繞阻 及共振器繞阻由於具有一些串聯連接並以反向感應迴繞的 迴路而大致上均可抗電磁干擾。又，本實施例所用的接收 繞組及共振器繞阻的圖樣還有以下的優點’ 一是將接收繞 組對磁場的敏感更集中在接收繞組所置之區域，因為，每 —感應（sensing)區域73a，73b，77a和77b鄰置於另一反 向電磁敏感區域（其降低在激勵繞阻和接收繞組間的直接 耦合導致的干擾）；另一優點是，接收繞組對於共振器板 1 5的側移（通常轉為共振器位置顯著的角偏移）較不敏感。 如上文實施例所示’旋轉位置編碼器丨丨的信號輸出用 來由標準邏輯電路直接控制定子繞阻67，69和71的驅動電 流的切換，而無須由一微處理器控制切換β這是可行的， 因為接收繞阻25、27和29的幾何形狀與定子線圈的幾何形 狀相當，就相位數目而言’有三個接收繞阻和三個定子線 圈’就極位數目而言，印刷電路板13周圍的每一接收繞阻 的週期數和轉子周圍的N-S極對數目相同。 上述實施例相較於前案運用霍爾效應、解析器及/或 光編碼器的系統，具有以下的優點： i)使用高頻交流激勵電場’所以，操作速度比傳統的Page 17 448608 V. Description of the invention (14) '' And the period of the sine function change is equal to the period of one full revolution of the circuit board 15. Different designs of receiving windings 25, 27, and 29 (also resistant to electromagnetic interference) and different designs of resonator 23 can also be used to generate such a sine function change with the rotation of resonator plate 15, such a design example See earlier applicant's international patent applications mentioned above. But the design described in the previous paragraph is better, because each receiving winding, excitation winding, and resonator winding are generally immune to electromagnetic interference because they have some loops connected in series and wound in reverse induction. In addition, the receiving winding and resonator winding patterns used in this embodiment also have the following advantages. First, the sensitivity of the receiving winding to the magnetic field is more concentrated in the area where the receiving winding is placed, because each sensing area 73a, 73b, 77a, and 77b are adjacent to another reverse electromagnetic sensitive area (which reduces interference caused by direct coupling between the excitation winding and the receiving winding); another advantage is that the receiving windings are Side shifts (usually a significant angular shift of the resonator position) are less sensitive. As shown in the above embodiment, the signal output of the 'rotary position encoder' is used to directly control the switching of the stator windings 67, 69 and 71's drive current by standard logic circuits, without the need to be controlled by a microprocessor. Feasible, because the geometry of the receiving windings 25, 27, and 29 is equivalent to the geometry of the stator coils, in terms of the number of phases 'there are three receiving windings and three stator coils' in terms of the number of pole positions, the printed circuit board The number of cycles of each receiving winding around 13 is the same as the number of NS pole pairs around the rotor. The above embodiment has the following advantages compared to the previous system using the Hall effect, parser, and / or optical encoder: i) The use of a high-frequency AC excitation electric field ’, therefore, the operating speed is faster than the conventional
第18頁 448608 五、發明說明（15) 解析器速度快，這個可行性是因為系統使用簡單的印刷電 路板繞阻，而非鐵心接收線圈。 1 1 )因為接收電路和共振器的對稱安排，位置編 對於未調準的敏感度較低，#且，可使有效 ： 馬達所需的準確度較高。 父供磁阻 一其他更多的好處包括：其為一便宜的無接觸編碼器， 相當能抗拒雜訊電磁場的干擾，而且不需要微處理器控制 馬達的整流。因此，可使系統高速操作並節省成本D 修改與替代實施例 在上文實施例中’電路板15上的共振器繞阻和電路板 1 3上的接收繞阻必須與轉子上的N_ s磁極位置做恰當地調 準’以便比較器的輸出信號相位可直接對應於用來切換定 子線圈的驅動電流的正確切換角度；這是可行的，但，只 要妥當處理接收繞阻的信號’以有效改變比較器的輸出信 號的相位’調準的動作就不再須要了，達成此方式的第二 實施例將參照圖6至圖8來說明。第二實施例中，激勵、共 振器、接收繞阻與第一實施例所用者相同。 圖6之實施例中’激勵信號由數位波形產生器丨0 1產 生’數位波形產生器1〇1接收自晶體振盪器來的振盪輸 入。在本實施例中，激勵信號是一具有1 MHz基頻Fe的方波 電壓信號’其施加於激勵驅動器丨〇 5上以激勵激勵繞阻 21。使共振器23共振，交替產生一磁場，而在每一接收 繞阻2 5、27和29感應一電動勢。如同第一實施例，在接收 繞阻中產生的電動勢包括如上式1的成份。此三個電動勢Page 18 448608 V. Explanation of the invention (15) The parser is fast. This feasibility is because the system uses a simple printed circuit board winding instead of a core receiving coil. 1 1) Because of the symmetrical arrangement of the receiving circuit and the resonator, the sensitivity of the position editor to the non-alignment is low, and ###### It can be effective: The accuracy required by the motor is higher. The parent magnetoresistance-Other more benefits include: it is a cheap contactless encoder, which is quite resistant to noise electromagnetic field interference, and does not require a microprocessor to control the rectification of the motor. Therefore, the system can operate at high speed and save costs. D Modification and alternative embodiment In the above embodiment, the 'resonator winding on the circuit board 15 and the receiving winding on the circuit board 13 must match the N_s magnetic pole on the rotor. Properly adjust the position so that the phase of the output signal of the comparator can directly correspond to the correct switching angle used to switch the drive current of the stator coil; this is feasible, but as long as the received winding signal is properly processed, it can be effectively changed The operation of adjusting the phase of the output signal of the comparator is no longer necessary. The second embodiment for achieving this method will be described with reference to FIGS. 6 to 8. In the second embodiment, the excitation, resonator, and reception windings are the same as those used in the first embodiment. In the embodiment of FIG. 6, the 'excitation signal is generated by a digital waveform generator 丨 0 1' The digital waveform generator 101 receives an oscillation input from a crystal oscillator. In this embodiment, the excitation signal is a square wave voltage signal with a fundamental frequency Fe of 1 MHz, which is applied to the excitation driver 05 to excite the windings 21. The resonator 23 is caused to resonate to generate a magnetic field alternately, and an electromotive force is induced at each receiving winding 25, 27, and 29. As in the first embodiment, the electromotive force generated in the reception winding includes a component as shown in Equation 1 above. These three emf
第19頁 五、發明說明（16) 1 Ο 2、1 〇 4和1 〇 6輸入一個向量至相位轉換器1 0 7 ’以將三個 電動勢合成來產生一個單一正弦時變信號’該正弦時變信 號的相位隨共振器2 3的相對於接收繞阻2 5、2 7和2 9的角位 置（β )變化。 圖7繪示在本實施例中向量至相位轉換器1 0 7的排置’ 如圖示，三個感應電動勢102、104和106分別送到混合器 1 〇 9、1 1 1和11 3各自乘上混合信號1 1 5、11 7和1 1 9。每一混 合信號1 1 5、11 7和11 9包括兩個週期性時變成份。每一混 合器的第一成份（')都相同，其為一方波電壓，與加於激 勵繞阻2 1之方波電壓相當，但有9 〇。的補償，以補償由共 振器23引起的相位變化《第二成份（ν2)也是一個方波電 Μ，與加於激勵繞阻2 1之方波電壓相當，但具有比激勵信 號的基頻較低的10.417ΚΗΖ基頻FQ，而且其在每一混合器 的相位不同。特別是，每一第二成份的相位選為可與相當 的接收電動勢信號的相位匹配者。第一成份有效解調在接 收繞阻上感應之相當的電動勢調幅，帛二成份再調變其為 將方波信號與來自相關的接收繞阻輸入信 處是，數位波形產生器61能僅藉由冰 〇的好 XOR函數即將這兩個信號一起相乘：這 ^皮成份」^執打 高位準代表+1而低位準代表一 為方波信號的 容易證明。此外，因採用方波混人 閘的真值表即可 和113能以一類比(：_積體電路開〇關實儿施。混合器、Π1 熟悉信號的傅立葉分析者可瞭解，一週期性方波信號Page 19 V. Description of the invention (16) 1 0 2, 1 0 4 and 1 0 6 Input a vector to phase converter 10 7 'to combine three electromotive forces to produce a single sinusoidal time-varying signal' The phase of the variable signal varies with the angular position (β) of the resonator 23 with respect to the reception windings 25, 27, and 29. FIG. 7 shows the arrangement of the vector-to-phase converter 107 in this embodiment. As shown in the figure, the three induced electromotive forces 102, 104, and 106 are sent to the mixers 1 0, 1 1 1 and 11 3 respectively. Multiply the mixed signals 1 1 5, 11 7 and 1 1 9. Each mixed signal 1 1, 5, 11 7 and 11 9 includes two periodic time-varying components. The first component (') of each mixer is the same, it is a square wave voltage, which is equivalent to the square wave voltage applied to the excitation winding resistance 21, but there is 90. The second component (ν2) is also a square wave electric M, which is equivalent to the square wave voltage added to the excitation winding 21, but has a lower frequency than the fundamental frequency of the excitation signal. A low 10.417KZZ fundamental frequency FQ, and its phase is different at each mixer. In particular, the phase of each of the second components is selected as a phase matcher with an equivalent phase of the received emf signal. The first component effectively demodulates the equivalent electromotive force amplitude modulation induced on the receiving winding, and the second component modulates it into a square wave signal from the relevant receiving winding input signal. The digital waveform generator 61 can only borrow Multiplying these two signals together by Bing0's good XOR function: this ^ skin component "^ It is easy to prove that a high level represents +1 and a low level represents a square wave signal. In addition, since the truth table of the square wave mixing gate can be used, it can be compared with 113 (: _Integral circuit opens and closes the actual application. Mixer, Π1 Fourier analysts who are familiar with the signal can understand that a periodic Square wave signal
4 4 8 6 0 8 五、發明說明（17) 可由與方波相同週期的基本正弦和基頻的較高階奇諧波 (odd harmonics)的和來表示。因此，乘法運算可於混合 器109、111和113中執行並以下式表示： (A〇COST〔 0〕CQ^〔2jrF0i〕）x = (COS〔 2 〕+ 奇馆波)x (⑽〔2心〆〕+奇諧波） (AqCOSI θ -2π/3) COS[2KF〇t) )χ = + 奇諧波)χ (0^〔2；ζ^ί-27Ζ：/3〕+ 奇諧波） (AqCC^〔 0 —4JT/3〕COS〔2；Γ V〕）χ μ113 = (can2；riV〕+ 奇諧波)x (0^〔2叫卜472：/3〕+ 奇諧波） (2) 執行此一運算並移項（忽略高頻奇諧波）可得如17混合 器109、111和113的輸出M1Q9、Mm和M1I3的表示式： U^A^IAiCOSllKFjpt+Q ) +COS {2π FlFt-Θ ))4 4 8 6 0 8 V. Description of the invention (17) can be expressed by the sum of the higher order odd harmonics of the basic sine and fundamental frequency with the same period as the square wave. Therefore, the multiplication operation can be performed in the mixers 109, 111, and 113 and expressed by the following formula: (A〇COST [0] CQ ^ [2jrF0i]) x = (COS [2] + odd hall wave) x (⑽ [2 Heart 〆] + odd harmonic) (AqCOSI θ -2π / 3) COS [2KF〇t)) = + odd harmonic) χ (0 ^ 〔2; ζ ^ ί-27Z: / 3] + odd harmonic ) (AqCC ^ [0 —4JT / 3] COS [2; Γ V]) χ μ113 = (can2; riV] + odd harmonics) x (0 ^ [2 is called Bu 472: / 3] + odd harmonics) (2) Perform this operation and shift the terms (ignoring high-frequency odd harmonics) to obtain the expressions of the outputs M1Q9, Mm, and M1I3 of the 17 mixers 109, 111, and 113: U ^ A ^ IAiCOSllKFjpt + Q) + COS { 2π FlFt-Θ))
Min = A^iA{COSilKF!Ft+ θ -2πί^] +COS{2nF]Ft -θ +2/Γ/3〕） M105=A〇/4(C^[2^F/Fi+ Θ -4ff/3j +COS{2KF1Ft -Θ +4ff/3j ) (3) 這些信號再於加法器1 2 1中相加而得到：Min = A ^ iA {COSilKF! Ft + θ -2πί ^] + COS {2nF] Ft -θ + 2 / Γ / 3]) M105 = A〇 / 4 (C ^ [2 ^ F / Fi + Θ -4ff / 3j + COS {2KF1Ft -Θ + 4ff / 3j) (3) These signals are then added to the adder 1 2 1 to obtain:
第21頁 五、發明說明（18) our 3^/4(00^ [ 2KFIFt~ Θ J ) (4) 因此，加法器121的輸出信號V0UT包括中間頻率Fip的單 正弦函數’其相位隨旋轉軸3的角位置（0 )改變。熟悉本 行技藝者可瞭解，其他中間頻率成份可由特別選擇中間頻 率信號的相位而抵消^加法器1 2 1的輪出信號νουτ也包括高 頻奇諧波成份，但由低通濾波器1 2 3移除。VotT的單一中間 頻率Fif再藉由於比較器中與零電位比較而轉換成相關的方 波。有關上述處理的細節可參考申請人較早的國際專利申 請案W0 98/00921，該案也描述可用以形成加法器121的單 一輸出信號的其他相位。 由向量至相位轉換器輸出的方波相位信號127再送到 一相位至向量轉換器丨33 ’其藉由使該相位信號與由數位 波形產生器1 01產生的三個個別的混合信號丨3 5、1 3 7及丨3 9 相乘’而將相位信號轉換回三個向量信號。圖8更詳細績 示出相位至向量轉換器丨33的組成元件，如圖所示，方波 相位信號1 27送到混合器1 41、1 43和1 45以分別和混合信號 135、137及139相混成，混合信號135、137及139是具有與 方波相位信號127相同基頻F IF的方波信號，但須選擇不同 的相位以確保可得正確的開關時序（這些相位的設定可在 製造時由操作人員由使用者介面100可程式規劃數位波形 產生器1 0 1而得）。在本實施例中，混合信號i 3 5、丨3 7及 139的波形如下表示式：Page 21 V. Description of the invention (18) our 3 ^ / 4 (00 ^ [2KFIFt ~ Θ J) (4) Therefore, the output signal V0UT of the adder 121 includes a single sine function of the intermediate frequency Fip, whose phase varies with the rotation axis The angular position (0) of 3 changes. Those skilled in the art can understand that other intermediate frequency components can be cancelled by the phase of the intermediate frequency signal. ^ The round-out signal νουτ of the adder 1 2 1 also includes high-frequency odd harmonic components, but the low-pass filter 1 2 3 Remove. VotT's single intermediate frequency Fif is then converted into an associated square wave by comparison with the zero potential in the comparator. Details of the above processing can be referred to the applicant's earlier international patent application WO 98/00921, which also describes other phases that can be used to form a single output signal of the adder 121. The square-wave phase signal 127 output from the vector-to-phase converter is then sent to a phase-to-vector converter. 33 'It uses the phase signal and the three individual mixed signals generated by the digital waveform generator 1 01. 3 5 , 1 3 7 and 丨 3 9 'to convert the phase signal back to three vector signals. Figure 8 shows the components of the phase-to-vector converter 33 in more detail. As shown in the figure, the square wave phase signal 1 27 is sent to the mixers 1 41, 1 43 and 1 45 to be mixed with the mixed signals 135, 137 and The 139 phase is mixed. The mixed signals 135, 137, and 139 are square wave signals with the same fundamental frequency F IF as the square wave phase signal 127, but different phases must be selected to ensure the correct switching timing (the settings of these phases can be set in At the time of manufacture, the operator can program the digital waveform generator 101 from the user interface 100). In this embodiment, the waveforms of the mixed signals i 3 5, 3, 7 and 139 are as follows:
第22頁 448608Page 448 608
五、發明說明（19) 这 13S= COS [^71 Fjp· _ φ〕 S^^COSilKF^ -(φ+2πί^)) ^139 = [2^: —(^Φ + 4ff / 3^) j 其中φ是所需要的相位移以確保可得正確的開關時序，因 此，在相乘及移項之後’混合器的輸出信號如下： 叫35=〇〇^〔 θ -Φ〕+時變成份 θ -γφ+2ίζ73」〕+ 時變成份 M139 = CQS〔 0 〕+ 時變成份 （6) 14些信號再各自由一低通濾波器丨4 7、1 4 9和丨5 1濾波 以移除時變成份，而使三個成份互為異相的相位隨旋轉 3的角位置（0)改變。 如 個別的 相關的 在 定的相 號相加 求。在 前，可 一相位 號中之 在 ，-丨-二π里付佚森丨<^的1δ號输出再送到 比較，53、55和57中，其中正弦時變成份再轉換成 方波彳§號’用以直接控制定子線圈開關電路丨61。 上述，施例中，數位波形產生器丨〇丨用來將工廠設 位變置（φ )與用以控制定子線圈開關電路的控制信 爯=上所述，這可降低準確對準共振器和轉子的需 由蔣i ΐ位偏移的中間信號以再生三個向量信號之 移Μ ^里至相位轉換器1〇7輸出的相位信號127送經 、置，或以用在向量至相位轉換器中的混合信 5，位來得到相近的相位變量。 述只細例中’接收繞阻和定子線圈的數目相當，V. Description of the invention (19) This 13S = COS [^ 71 Fjp · _ φ] S ^^ COSilKF ^-(φ + 2πί ^)) ^ 139 = [2 ^: — (^ Φ + 4ff / 3 ^) j Where φ is the required phase shift to ensure that the correct switching timing can be obtained. Therefore, the output signal of the 'mixer after multiplication and shift term is as follows: Call 35 = 〇〇 ^ [θ -Φ] + time-varying component θ- γφ + 2ίζ73 ″] + Time-varying component M139 = CQS 〔0〕 + Time-varying component (6) 14 These signals are each filtered by a low-pass filter 4 7, 1 4 9 and 5 1 to become The phase where the three components are out of phase with each other changes with the angular position (0) of rotation 3. Such as the individual related addition at a fixed phase number. In the past, the phase number can be in one of the two phases, and the 1δ output of ^ ^ 2 π and ^^ is then sent to the comparison, 53, 55, and 57 where the sinusoidal time-varying component is converted into a square wave. § No. 'is used to directly control the stator coil switching circuit. As mentioned above, in the embodiment, the digital waveform generator is used to change the factory setting (φ) and the control signal used to control the switching circuit of the stator coil. As described above, this can reduce the accurate alignment of the resonator and The rotor's intermediate signal needs to be shifted by Jiang to regenerate the shift of three vector signals to the phase signal 127 output by the phase converter 107, or it can be used in the vector-to-phase converter. In the mixed letter 5, the bits are used to get similar phase variables. In the detailed example, the number of 'receiving windings' is equal to the number of stator coils.
第23頁 五、發明說明（20) '一~~ 如上所时4 ’這使來自接收繞阻的信號可用以直揍控制定 子線圈驅動電流的開關。然而，若運用上文參考圖6描述 之第二實施例中的向量至相位轉換器和相位至向量轉換 Is ’這一點就不再須要了，因為相位至向量轉換器可以輸 出任意數目的具任何相位關係的向量信號。例如圖9繪示 之實施例中的處理電路，其中有四個定子繞阻（未繪示）均 佈於轉子周圍，卻搭配一個具有三個繞阻的位置編碼器。 如圖不’在本實施例中，數位波形產生器丨〇 1產生四個信 號171、173、175和177，與由向量至相位轉換器107輸出 的相位信號〗27混合。圖1 〇更仔細地繪出在此一實施例中 相位至向量轉換器133’的組成元件，如圖示，相位至向量 轉換器包括四混合器1 8 1、1 8 3、1 8 5和1 8 7，以將相位信號 1 27與如下四個混合信號丨7ι、丨73、1 75和丨7?相混合： ^71=CC^〔2；Γί> -φ〕 —(φ + 12)、 —(φ+ π)) ^177 {^2jr Fjp —(Φ +3^· /4J ] (7) 其產生以下四個混合器輸出信號M171、il173、M175和比77 : Λί⑺6> -Φ〕+時變成份Page 23 V. Description of the invention (20) '一 ~~ As above 4' This allows the signal from the receiving winding to be used to directly control the switch that drives the stator coil. However, if the vector-to-phase converter and the phase-to-vector conversion Is' in the second embodiment described above with reference to FIG. 6 are used, it is no longer necessary because the phase-to-vector converter can output any number of Vector signals in phase relationship. For example, the processing circuit in the embodiment shown in FIG. 9 includes four stator windings (not shown) arranged around the rotor, but is equipped with a position encoder with three windings. As shown in the figure, in this embodiment, the digital waveform generator 1 generates four signals 171, 173, 175, and 177, which are mixed with the phase signal 27 output from the vector-to-phase converter 107. FIG. 10 illustrates the components of the phase-to-vector converter 133 'in this embodiment in more detail. As shown, the phase-to-vector converter includes four mixers 1 8 1, 1 8 3, 1 8 5 and 1 8 7 to mix the phase signal 1 27 with the following four mixed signals 丨 7ι, 丨 73, 1 75, and 丨 7 ?: ^ 71 = CC ^ [2; Γί > -φ] — (φ + 12) , — (Φ + π)) ^ 177 {^ 2jr Fjp — (Φ + 3 ^ · / 4J] (7) It generates the following four mixer output signals M171, il173, M175, and ratio 77: Λί⑺6 > -Φ] + Time-varying composition
Af1?3 = CC^〔 0 -ΓΦ + ;τ/2」〕+ 時變成份 M1?5 = C(^〔 0 -沖+幻〕+時變成份Af1? 3 = CC ^ [0 -ΓΦ +; τ / 2 ″] + time-varying component M1? 5 = C (^ [0 -rush + magic] + time-varying component
Mm = COSi θ -(Φ+3π/4)) + (8)Mm = COSi θ-(Φ + 3π / 4)) + (8)
第24頁 4 48 608 五、發明說明（21) 這些輸出信號再由濾波器191、193、195和197濾波以移除 時變成份’經渡波後的信號再送到個別的可產生相當的方 波信號的比較器2 0 1、2 0 3、2 0 5和2 0 7，該相當的方波信號 用以直接控制四個定子線圈的驅動電流的開關。 在如上的實施例中’相位偏移由工廠中作業人員以電 子控制方式加入’改變由數位波形產生器產生的信號。 但、’ Ϊ 一可變速度馬達中’整流控制信號的最佳相位（例 如為彳于最佳馬達效率者）會隨著如馬達的速度和負載等變 化°因此’在較佳實施例中’即在可變速度馬達中使用如 上所述之位置編碼器，加於整流控制信號上的相位偏移量 須根據馬達的操作條件作連續控制。此一實施例將參考圖 1 1和圖1 2作說明。在本實施例中除了使用位置編碼器u =2出：號控制定子線圈驅動電流之整流外，位置編碼器 、輪出信號也用來控制定子線圈驅動電流之流量以控制轉 子的速度及/或位置。 在本實施例中，激勵、共振器和接收繞阻和第一實施 :所用者相，。位置編碼器的的處理方式和第二實施例類 敕j控制定子線圈之驅動電流（由電源供應器209提供） 位本實施例+，向量至相位轉換器107的輪出相 目2 =127也加於控制單元211，以從信號127的相位取得 ^ ^的位置。控制單元211再輸出適當的控制信號21 3 轉+ ί : /個所需的設定點217(如所需要的轉子速度或 )來控制定子線圈開關及驅動電路2 1 5。控制單元 川可以用簡單的比例、積分及/或差動控制技術來執=Page 24 4 48 608 V. Description of the invention (21) These output signals are then filtered by filters 191, 193, 195, and 197 to remove the time-varying component. The signal after crossing the wave is sent to an individual square wave that can generate a corresponding square wave. The signal comparators 2 0 1, 2 0 3, 2 0 5 and 2 0 7 are equivalent square wave signals for directly controlling the switching of the driving currents of the four stator coils. In the above embodiment, 'phase shift is added electronically by a worker in the factory' to change the signal generated by the digital waveform generator. However, the optimal phase of the rectified control signal in a 'Ϊ variable speed motor' (for example, the one with the best motor efficiency) will vary with the speed and load of the motor, so 'in the preferred embodiment' That is, in the variable speed motor using the position encoder as described above, the phase offset added to the rectification control signal must be continuously controlled according to the operating conditions of the motor. This embodiment will be described with reference to FIGS. 11 and 12. In this embodiment, in addition to using the position encoder u = 2 to control the rectification of the stator coil drive current, the position encoder and wheel output signals are also used to control the flow of the stator coil drive current to control the speed of the rotor and / or position. In this embodiment, the excitation, resonator, and reception windings are the same as those of the first implementation. The processing method of the position encoder and the second embodiment class 敕 j control the drive current of the stator coil (provided by the power supply 209). In this embodiment +, the phase-out phase of the vector-to-phase converter 107 = 127 also It is added to the control unit 211 to obtain the position of ^^ from the phase of the signal 127. The control unit 211 then outputs an appropriate control signal 21 3 turns + ί: / a required set point 217 (such as the required rotor speed or) to control the stator coil switch and the drive circuit 2 1 5. The control unit can be implemented using simple proportional, integral and / or differential control techniques.
第25頁 五、發明說明（22) 制，並不須要用一微處理器。但，在本實施例中，控制單 元2 1 1也安排來控制每一整流信號的相位，此乃藉由將適 當的控制信號21 9送到數位波形產生器1 0 1來執行。為此， 控制單元2 1 1也用來監測馬達的效率一段時間，這就須要 用一微處理器。或者，控制單元211可以用一個將如馬達 的速度和輸出轉矩關聯於必要控制信號2 1 9的查值表來產 生正確的開關時間。 圖12a表示相位至向量轉換器的輸出信號221，223和 224隨旋轉軸3的角位置（0)改變的方式。由比較圖3a的等 效信號’可見每一信號έ221、έ223和£225已偏移一相位偏移 量Φ。因此’如圖12b所示，從比較器53、55和57輸出之 相當的整流控制信號也受偏移此一相位偏移量。 在如上實施例中，使用同一位置編碼器以提供信號給 控制器’該控制器控制馬達的速度及/或位置以及定子線 圈的驅動電流的整流。這是可行的，因為上述之位置編碼 器是一絕對位置編碼器（如整流所希望者）又具有足夠的準 蜂度作為馬達的速度及/或位置的控制之用。尤其是，上 述之位置編碼器能為轉軸的角位置編碼至在〇.1。的準確 度内。此外’由於它不必依賴鐵心感應線圈，其對於馬達 速度和負載等的變化的響應速度較快，可以用在整體延遲 須小於10//S的控制迴路中。它也具有架在轉動軸上的繞 阻由很輕的印刷電路板做成的好處，所以在例如轉速大於 20 00 Orpin的高轉速下，仍然容易在軸上平衡。 第26頁 448608 五、發明說明（23) 由恰當 相位也是可 轉效率。由 如，在轉子 有可能產生 角度。在這 驅動電流切 改變可以用 將變量併入 分別繪示在 應的比較器 式。 比較器輸出的 馬達的最佳運 須要如此。例 轉子周圍；還 論上最佳交換 各定子線圈的 制信號的相位 ’或是，持續 。圖 13a 和13b 器的輸出和對 (Θ )變化的方 處理接收繞阻的信號來改變每一 行的’改變量各自不同，以得到 於馬達製造時可能不精密，所以 上的南北磁極可能沒有平均置於 其他的製造瑕疵而改變馬達的理 種情況下’最好能改變用來控制 換的各個控制信號的相位。各控 如圖6所示的方法於工廠中執行， 如圖1 1所描述之回授控制迴路中 此一實施例中，相位至向量轉換 的輸出信號可能隨轉軸的角位置 以上的貫施例使用一個具單一 N _ s磁極對的轉子。上 一實施例只要藉由增加印刷電路板丨3上的接收繞阻的週期 就可容易地修改為適於多磁極轉子操作。例如，如果轉子 具有二組N - S磁極對’就必須使用具有三個週期的接收繞 阻。在此一實施例中，每一接收繞阻的輸出信號將隨轉軸 的角位置（Θ)做正弦函數變化’該正弦函數變化每三分之 一個轉軸迴轉一圈時間就重複。可甩以達成該目的的複數 接收繞阻、一共振器和一激勵繞阻的描述見於申請人較早 的國際專利申請案W098/0092i，在此不重複敘述。 在如上實施例中，自位置編碼器的信號用來控制定子 線圈的驅動電流的開關。為做實證目的或低功率的狀況 下’亦即驅動效率不很重要時，位置編碼器的信號可以用Page 25 5. Invention Description (22) does not require a microprocessor. However, in this embodiment, the control unit 2 1 1 is also arranged to control the phase of each rectified signal, which is performed by sending an appropriate control signal 21 9 to the digital waveform generator 1 0 1. For this reason, the control unit 2 1 1 is also used to monitor the efficiency of the motor for a period of time, which requires a microprocessor. Alternatively, the control unit 211 may generate a correct switching time by using a look-up table that relates, for example, the speed and output torque of the motor to the necessary control signal 2 1 9. Fig. 12a shows how the output signals 221, 223 and 224 of the phase-to-vector converter change with the angular position (0) of the rotation axis 3. By comparing the equivalent signals' of FIG. 3a, it can be seen that each of the signals 221, 223, and £ 225 has been shifted by a phase shift amount Φ. Therefore, as shown in Fig. 12b, the equivalent rectified control signals output from the comparators 53, 55, and 57 are also shifted by this phase shift amount. In the above embodiment, the same position encoder is used to provide a signal to the controller 'which controls the speed and / or position of the motor and the rectification of the drive current of the stator coil. This is possible because the position encoder described above is an absolute position encoder (such as that desired by the rectifier) and has sufficient accuracy to control the speed and / or position of the motor. In particular, the position encoder described above can encode the angular position of the shaft to 0.1. Within accuracy. In addition, since it does not need to rely on the core induction coil, its response speed to changes in motor speed, load, etc. is fast, and it can be used in a control loop where the overall delay must be less than 10 // S. It also has the advantage that the winding mounted on the rotating shaft is made of a very light printed circuit board, so it is still easy to balance on the shaft at high speeds such as higher than 20,000 Orpin. P.26 448608 V. Description of the invention (23) From the proper phase, the efficiency can also be converted. For example, the rotor may have an angle. Here the driving current can be changed by combining the variables into the respective comparator types which are shown in the corresponding. This is required for optimal operation of the comparator output motor. For example, around the rotor; let ’s say that the phase of the control signal of each stator coil is optimally exchanged, or is continuous. The output of Figure 13a and 13b and the processing of the (Θ) change receive the signal of winding resistance to change the 'change amount' of each row, respectively, so that it may not be precise when the motor is manufactured, so the north and south magnetic poles may not be average If it is placed under other manufacturing defects and the motor is changed, it is better to change the phase of each control signal used to control the switch. Each control method shown in FIG. 6 is executed in the factory. In this embodiment of the feedback control circuit as shown in FIG. 11, the output signal of phase-to-vector conversion may follow the angular position of the rotating shaft. Use a rotor with a single N_s magnetic pole pair. The previous embodiment can be easily modified to be suitable for multi-pole rotor operation by increasing the period of the reception winding on the printed circuit board 3. For example, if the rotor has two sets of N-S magnetic pole pairs', it is necessary to use a receiving winding with three cycles. In this embodiment, the output signal of each receiving winding will change with a sinusoidal function of the angular position (Θ) of the rotating shaft ', and the sinusoidal function change will be repeated every one third of the rotating time of the rotating shaft. The description of the plural receiving windings, a resonator and an excitation winding which can be thrown to achieve this purpose is found in the applicant's earlier international patent application W098 / 0092i, and will not be repeated here. In the above embodiment, the signal from the position encoder is used to control the switching of the drive current of the stator coil. For empirical purposes or low-power conditions, that is, when the driving efficiency is not important, the signal of the position encoder can be used
第27頁 448608 五、發明說明（24) 線性放大器放大’並直接控制馬達線圈的驅動。 在如上實施例中，個別的混合器、濾波器、加法器和 比較器都已做過說明。此電路可用數位ASIC(Appl icat ion Specific Integrated Circuit，特殊應用積體電路）來實 施，因為每一功能都能在這一晶片（ch i p )中以類比方式執 行（也就是說’沒有微處理器的使用、成本或處理速度的 限制）。這樣一個AS IC的設計降低整體成本及設計複雜 度’為更進一步節省成本及集積設計，驅動電子電路可和 接收線圈共用同一電路板。 如上實施例使用一直流電源供應器；或者，一個未經 整流的單相交流電源供應器可與轉換開關一同使用。轉換 開關可以疋閘極關閉雙向二極體（gate-turn-off triacs) 或複閘流 關閉其他 式整流， 電源運轉 的每一端 來實施此 雙向三極 視應用領 和電路而 制單元可 元須要量 雖然 體（multiple thyristors)(其中thyristors 用來 的thyristors)。或者，輸入的交流電源可經橋 即可用單極性開關元件。為使馬達能由三相交流 ，須使用一個開關矩陣，藉此可使每一定子繞阻 可和電源的任一相位連接。很多種開關元件可用 一設計，如 IGBTs，FETs，閘流體（thyristor)， 體（triac)或複閘流體（muitipie thyristors)， 域以及現有可用於基本類比控制系統的開關技術 定。除了可以控制轉子的速度及/或位置外，控 用來控制轉子的輸出轉矩。然而，為此，控制單 測加於定子線圈的電流或直接量測轉矩。 ’上文描述實施例時’強調本發明提供的馬達的Page 27 448608 V. Description of the invention (24) The linear amplifier amplifies and directly controls the driving of the motor coil. In the above embodiment, individual mixers, filters, adders and comparators have been described. This circuit can be implemented with a digital application specific integrated circuit (ASIC), because each function can be performed analogously in this chip (ch ip) (that is, 'no microprocessor Usage, cost, or processing speed). The design of such an AS IC reduces overall cost and design complexity. 'For further cost savings and integrated design, the driving electronic circuit and the receiving coil can share the same circuit board. The above embodiment uses a DC power supply; alternatively, a single-phase AC power supply without rectification can be used with the transfer switch. The transfer switch can be gate-turn-off triacs or other types of rectifiers. Each end of the power supply is used to implement this bi-directional tripolar depending on the application collar and circuit. The unit can be required. Quantities (multiple thyristors) (of which thyristors are used). Alternatively, the input AC power can be bridged to use unipolar switching elements. In order for the motor to be able to have three-phase AC, a switch matrix must be used, so that each stator winding can be connected to any phase of the power supply. Many switching elements are available in a design, such as IGBTs, FETs, thyristors, triacs or muitipie thyristors, domains, and existing switching technologies that can be used in basic analog control systems. In addition to controlling the speed and / or position of the rotor, the control is used to control the output torque of the rotor. However, for this purpose, the control measures the current applied to the stator coils or directly measures the torque. "In the above description of the embodiment", the emphasis of the motor provided by the present invention is emphasized.
IBH1 第28頁IBH1 Page 28
五、發明說明（25) 整流控 的以微 太複雜 礎的設 的相當 中，位 理器中 一個系 續的而 功能強 制系統 處理器 而無法 計。此 ，但若 置編碼 的碼將 統仍然 且開關 ，因為 不須使 為基礎 以類比 時，接 相當， 器11將 據此位 比霍爾 時刻不 它具有 用微處 的設計 電路實 收繞阻 會使設 提供連 置決定 效應系 須*** 更大的 理器， 。若一 施時， 的相位 計變得 續的轉 功率開 統功能 0 這一 操作速 回授或 就須使 和週期 各易。 動位置 關元件 強，因 個系統 度範圍 也適用 控制迴 用微處 性就不 在這樣 回授， 的開關 為位置 也比解 路的條件 理器為基 必和馬達 —個系統 而且微處 點。這樣 回授是連 析器系統 在以上的實施例中’每一激勵繞阻、共振器繞阻及接 收繞組大致上均可抗電磁干擾，這是因為其具有—些串聯 連接的交感迴路。在一可替代的實施例中，激勵繞阻和共 振器繞阻可以不須有如此的可抗電磁干擾性。然而，這樣 會使來自接收繞組的信號品質降低，並不是比較好的作 法’雖說這樣一個系統仍然可用上述方式來控制馬達。 在以上實施例中’共振器用來產生磁場，該磁場隨共 振is轉動作變化。其他的電磁元件’如短電路線圈（sh〇rt circuit coil)或金屬屏幕（metal screen)，也可用來產 生近似的磁場。短電路線圈的實施例可採用上述如圖5所 示的繞阻3 1和3 3。在這一實施例中，傳送與接收繞組間的 磁通量耦合受到有無短電路線圈或金屬屏幕的影響，仔細 設計線圈和屏幕的位置可產生複數近似於呈正弦變化的接 收繞組輸出信號。因此，同樣的信號處理可用來產生定子V. Description of the invention (25) The design of the rectifier control based on the micro-complexity is quite reasonable. A continuous and powerful system processor in the processor cannot be counted. Therefore, if the coding code is set, it will still be on and off, because it is not necessary to use the analogy as the basis, the connection is equivalent, and the device 11 will be based on this bit, and it will not have a trivial design circuit to receive winding resistance. It will make the device to provide the tandem effect to insert a larger processor. If it is applied, the phase meter becomes continuous and the power switch function is 0. This operation speed feedback or you must make the sum cycle easy. The dynamic position close element is strong, because the system degree range is also applicable. The control reuse is not used in this way. The switch for the position is also better than the solution condition. The processor is based on the system and the motor is a small point. In this way, the feedback is the analyzer system. In the above embodiments, each of the excitation winding, the resonator winding, and the receiving winding is generally resistant to electromagnetic interference because it has some series-connected sympathetic loops. In an alternative embodiment, the excitation winding and the resonator winding need not be so resistant to electromagnetic interference. However, this will degrade the signal quality from the receiving winding, which is not a good practice. 'Although such a system can still use the above methods to control the motor. In the above embodiments, the 'resonator is used to generate a magnetic field, which changes in accordance with the resonance isoscillation action. Other electromagnetic components, such as short circuit coils or metal screens, can also be used to generate approximate magnetic fields. Embodiments of the short circuit coil may use the winding resistances 31 and 33 shown in FIG. 5 described above. In this embodiment, the coupling of the magnetic flux between the transmitting and receiving windings is affected by the presence or absence of short circuit coils or metal screens. Careful design of the position of the coils and screens can produce complex winding output signals that approximate a sinusoidal change. Therefore, the same signal processing can be used to generate the stator
第29頁 4 8 6-0 8 五、發明說明（26) 線圈的整流控制信號。此位置編碼器的好處是，比共振器 的設計便宜，因為短電路線圈或金屬屏幕可做成是轉子的 一部份’如一壓層片（stamped laminate)，軋鋼（pressed steel) ’ 機製鋼（machined steel)或鑄鋼（cast steel)。 然而’共振器的設計還是較佳的選擇，因為它提供更大的 輸出信號位準並可用脈衝迴音模式（pUlse-ech〇 m〇de)動 作（其中，激勵信號的突波（burst)加在可激繞阻上，而接 收繞阻上的信號僅在突波結束後才予以處理，這是可行 的’因為在移除激勵信號後共振器仍成環圍ing))。 在以上實施例中’激勵信號加在激勵繞阻21上，接收 繞阻25、27和29上感應的信號則用來決定軸3的位置。一 個可替代的實施例是，激勵信號可輪流加在每一個接收繞 阻2 5、27和29上以激勵共振器，激勵電路21上由共振器所 感應的信號則傳送位置訊息。 在以上實施例中，使用永久磁鐵型式轉子。也可用其 他種型式的轉子’如交換磁阻馬達所用的鐵壓層片式 (iron laminate)轉子 〇 件。在：in，置有一個隨馬達的軸旋轉的被動元 :i Λ上的實施例是，使用功率線圈(--ed coil)，此時不須要用裝於雷故 此非^ ^ ,泯於電路板1 3上的可激繞阻。但， 7Λ Λ, s ^ ^ ^ 4 ^ t 步。在此Λ:；" ’電路板13的轉動與轉子的旋轉同 少在一些貫施例中，葡右 -組齒輪連接至轉子的轴路板15可裝在藉由 在沒情況下，若接收繞阻的Page 29 4 8 6-0 8 V. Description of the invention (26) Rectified control signal of the coil. The advantage of this position encoder is that it is cheaper than the design of the resonator, because short circuit coils or metal screens can be made as part of the rotor 'such as a stamped laminate, pressed steel', and mechanical steel ( machined steel) or cast steel. However, the design of the 'resonator is still a better choice because it provides a higher output signal level and can be actuated in a pulse echo mode (pUlse-echomode) (where the burst of the excitation signal Excitable winding, and the signal on the receiving winding is processed only after the surge is over, which is feasible 'because the resonator is still ringed after removing the excitation signal)). In the above embodiment, the 'excitation signal' is applied to the excitation winding 21, and the signals induced on the reception windings 25, 27, and 29 are used to determine the position of the shaft 3. An alternative embodiment is that the excitation signal may be alternately applied to each of the receiving windings 25, 27, and 29 to excite the resonator, and the signal induced by the resonator on the excitation circuit 21 transmits position information. In the above embodiments, a permanent magnet type rotor is used. Other types of rotors can also be used, such as iron laminate rotors used in exchange reluctance motors. In: in, there is a passive element that rotates with the axis of the motor: The embodiment on i Λ is to use a power coil (--ed coil). At this time, it is not necessary to install it in a lightning circuit. Therefore, it is not necessary to use it in a circuit. Excitable winding on plate 1 3. But, 7Λ Λ, s ^ ^ ^ 4 ^ t steps. Here Λ: " 'The rotation of the circuit board 13 is the same as the rotation of the rotor. In some embodiments, the shaft plate 15 of the Portuguese right-group gear connected to the rotor can be installed. In no case, if Receive winding
448608 五、發明說明¢27) 輸出信號用來直接控制定子線圈的整流，接收繞阻的週期 必須考慮到齒輪比。 上文實施例描述旋轉馬達的整流。本發明還可修改為 使位置感測器的輸出可用來控制線性馬達的整流，此一實 施例中’疋子線圈可排成線性路徑’切換加至定子線圏的 驅動電流可控制如永久磁鐵的線性運動。在這個案例中， 如申請人較早的國際專利申請案w〇95/31 696中所述的線性 位置感測器可用來控制此整流。 在以上實施例中，複數定子線圈裝在定子上來激勵轉 子。上文實施例中所用的整流方式也可用於—轉子上有線 圈以及定子為永久磁鐵式的馬達，或用於定子和轉子上都 有線圈的馬達。然而，這樣的實施例須提供一個滑環 (slip ring)以便能夠將每一轉子線圈與開關線路相 接。 $ 在上文參考圖6、9、u所描述之實施例中有—個 是’定子線圈的切換時序可由使用者或連續於一 中做電子可程式規劃。若使用不同的位置編碼器^圮 置加以編碼，也可得到同樣的好處。舉例而言 、子位 個解析器或一個光位置編碼器來產生輸入向量至相以用一 器的信號。然而，如圖4 ' 5所描述之位置感測界，轉換 的實施例，其優點已述於前文。 °°疋較佳 隹上文參考®*0、y ' 11所描述怠X狍例中，向 位轉換器使用一個比較器比較低通濾波器的信號輪出至^ 不是必要的，從加法器輸出的正弦時變相位信# ^ 认&448608 V. Description of the invention ¢ 27) The output signal is used to directly control the rectification of the stator coil. The period of receiving winding resistance must consider the gear ratio. The above embodiment describes the rectification of the rotary motor. The present invention can also be modified so that the output of the position sensor can be used to control the rectification of the linear motor. In this embodiment, the 'window coil can be arranged in a linear path'. The driving current applied to the stator line can be controlled such as a permanent magnet. Linear motion. In this case, a linear position sensor as described in the applicant's earlier international patent application WO95 / 31 696 can be used to control this rectification. In the above embodiments, a plurality of stator coils are mounted on the stator to excite the rotor. The rectification method used in the above embodiments can also be applied to a motor with a permanent magnet and a coil on the rotor, or a motor with coils on both the stator and the rotor. However, such an embodiment must provide a slip ring so that each rotor coil can be connected to the switching circuit. $ In the embodiments described above with reference to Figs. 6, 9, and u, one is that the switching timing of the stator coil can be electronically programmable by the user or continuously. If different position encoders are used for encoding, the same benefits can be obtained. For example, a sub-resolver or an optical position encoder is used to generate the input vector to the phase to use the signal of a device. However, the advantages of the position-sensing boundary, conversion embodiment as described in Fig. 4'5 have been described above. °° 疋 preferred. In the example of idle X described in the reference above ** 0, y '11, the bit shifter uses a comparator to compare the signal of the low-pass filter to ^. It is not necessary to add from the adder. Output sine time-varying phase letter
第31頁 448 6 0 8 修正曹 案號 87120845 年ϋΊ/少曰 五、發明說明（28) I---補兄丨 相位至向量轉換器。但是，比較器是較佳的選擇，因其可 重建信號》 符號說明 1 ~無電刷式馬達； 3 a、3 b ~ 軸端； 7、9〜架設孔； 1 3〜第一印刷電路板； 1 4〜第一印刷電路板内緣 1 5〜第二印刷電路板； 1 6 ~第二印刷電路板内緣 17、18、Η〜定子線圈； 2 1 ~激勵繞阻； 23〜共振器； 31、33~共振器繞阻； 34a 、 34b '36a '36b 35〜電容； 4 3、4 5〜混合器 3〜輸出車由； 5〜托架； 1 1〜位置編碼器 20〜轉子； 2 2、2 4〜端點； 25、27、29〜接收繞阻 導體迴路； 3 9〜信號產生器； 41、43、45〜混合器； 42、44〜接墊； 47、49、5卜低通濾波器；53、55、57〜比較器； 61〜數位波形產生器； 63~定子線圈開關電路 67、69、71~定子繞阻； 73、77~迴路； 73a、73b、77a、77b〜感測區域； 93、95〜雙絞線； 數位波形產生器 81、83、85、87〜端點； 91 100-使用者介面； 101 102、104、106〜感應電動勢；Page 31 448 6 0 8 Revised case No. 87120845 ϋΊ / Shao Yue V. Description of the invention (28) I --- Complement 丨 phase to vector converter. However, the comparator is a better choice because it can reconstruct the signal. "Symbol description 1 ~ brushless motor; 3 a, 3 b ~ shaft end; 7, 9 ~ mounting holes; 1 3 ~ the first printed circuit board; 1 4 ~ inner edge of first printed circuit board 1 5 ~ second printed circuit board; 16 ~ inner edge of second printed circuit board 17, 18, Η ~ stator coil; 2 1 ~ excitation winding; 23 ~ resonator; 31, 33 ~ resonator winding resistance; 34a, 34b '36a' 36b 35 ~ capacitor; 4 3,4 5 ~ mixer 3 ~ output car; 5 ~ carriage; 1 1 ~ position encoder 20 ~ rotor; 2 2, 2 4 to endpoints; 25, 27, 29 to receive winding conductor loops; 3 9 to signal generators; 41, 43, 45 to mixers; 42, 44 to pads; 47, 49, and 5 low Pass filters; 53, 55, 57 ~ comparators; 61 ~ digital waveform generators; 63 ~ stator coil switch circuits 67, 69, 71 ~ stator windings; 73, 77 ~ loops; 73a, 73b, 77a, 77b ~ Sensing area; 93, 95 ~ twisted pair; Digital waveform generator 81, 83, 85, 87 ~ endpoint; 91 100-user interface; 101 102, 104, 106 ~ induced electromotive force;
3019-2221PFl;Calvin.ptc 第32頁 448608 _案號87120845_年月日__ 五、發明說明（29) 105:激勵驅動器； 107-相位轉換器； 1 0 9、1 11、11 3 ~ 混合器； 1 1 5、11 7、11 9〜混合信號； 1 21 ~加法器； 1 2 3〜低通濾波器； 127〜方波相位信號； 133、133’〜向量轉換器； 135、137、139〜混合信號； 141 、 143 、 145~ 混合器； 147、149、15卜低通濾波器； 161〜定子線圈開關電路； 171、173、175、177~ 混合信號； 181、183、185、187〜混合器； 191 、 193 、 195 、 197~ 濾波器； 201 、203、205、207〜比較器； 209〜電源供應器； 211〜控制單元； 2 1 5〜驅動電路； 2 1 9〜必要控制信號； 221、223、224〜輸出信號。3019-2221PFl; Calvin.ptc Page 32 448608 _Case No. 87120845_Year Month Day__ V. Description of the invention (29) 105: Excitation driver; 107-phase converter; 1 0 9, 1 11, 11 3 ~ mixed 1 1 5、11 7、11 9 ~ mixed signal; 1 21 ~ adder; 1 2 3 ~ low-pass filter; 127 ~ square wave phase signal; 133, 133 '~ vector converter; 135, 137, 139 ~ mixed signal; 141, 143, 145 ~ mixer; 147, 149, 15 low pass filter; 161 ~ stator coil switching circuit; 171, 173, 175, 177 ~ mixed signal; 181, 183, 185, 187 ~ Mixer; 191, 193, 195, 197 ~ filter; 201, 203, 205, 207 ~ comparator; 209 ~ power supply; 211 ~ control unit; 2 1 5 ~ drive circuit; 2 1 9 ~ necessary control Signal; 221, 223, 224 ~ output signals.
3019-2221PFl;Calvin.ptc 第33頁3019-2221PFl; Calvin.ptc Page 33
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW87120845A TW448608B (en) | 1998-12-15 | 1998-12-15 | Motor control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW87120845A TW448608B (en) | 1998-12-15 | 1998-12-15 | Motor control system |
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| Publication Number | Publication Date |
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| TW448608B true TW448608B (en) | 2001-08-01 |
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| TW87120845A TW448608B (en) | 1998-12-15 | 1998-12-15 | Motor control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI399029B (en) * | 2009-09-25 | 2013-06-11 | Syntec Inc | Method, controller and manufacturing system for controlling motor speed |
| US10180736B2 (en) | 2014-11-26 | 2019-01-15 | Synaptics Incorporated | Pen with inductor |
| CN111278712A (en) * | 2017-11-08 | 2020-06-12 | 大众汽车有限公司 | Electromechanical steering drive system for providing steering support for a steering system |
-
1998
- 1998-12-15 TW TW87120845A patent/TW448608B/en not_active IP Right Cessation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI399029B (en) * | 2009-09-25 | 2013-06-11 | Syntec Inc | Method, controller and manufacturing system for controlling motor speed |
| US10180736B2 (en) | 2014-11-26 | 2019-01-15 | Synaptics Incorporated | Pen with inductor |
| CN111278712A (en) * | 2017-11-08 | 2020-06-12 | 大众汽车有限公司 | Electromechanical steering drive system for providing steering support for a steering system |
| CN111278712B (en) * | 2017-11-08 | 2022-12-27 | 大众汽车有限公司 | Electromechanical steering drive system for providing steering assistance to a steering system |
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