TWI489089B - Absolute angle analysis device - Google Patents
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- TWI489089B TWI489089B TW102136153A TW102136153A TWI489089B TW I489089 B TWI489089 B TW I489089B TW 102136153 A TW102136153 A TW 102136153A TW 102136153 A TW102136153 A TW 102136153A TW I489089 B TWI489089 B TW I489089B
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Description
本發明係與馬達位置感測技術有關,特別是關於一種絕對式之角度解析裝置。The present invention relates to motor position sensing technology, and more particularly to an absolute angle analysis device.
解角器(resolver)是一種輸出電壓隨轉子轉角成一定函數關係的角位移感測器,藉由激發線圈及感應線圈,當轉子旋轉時產生正弦與餘弦兩種電壓振幅調變訊號,透過對該等訊號之解析以獲得位置之資訊,是項技術內容由於具有成本低廉、環境耐受性佳以及解析度高之優點,而有效地克服習用以光學尺、磁性尺、霍爾元件及旋轉型光電編碼器等作為位置回饋裝置技術內容,所存在之成本高昂、解析度不佳與環境耐受性不佳等缺失,而被廣泛地應用作為旋轉馬達之位置回饋裝置。The resolver is an angular displacement sensor whose output voltage is a function of the rotor angle. The excitation coil and the induction coil generate two sinusoidal and cosine voltage amplitude modulation signals when the rotor rotates. The analysis of these signals to obtain the location information is a technical content that effectively overcomes the advantages of optical scale, magnetic ruler, Hall element and rotary type due to its advantages of low cost, good environmental tolerance and high resolution. Photoelectric encoders, etc., as the technical content of position feedback devices, are widely used as position feedback devices for rotary motors because of their high cost, poor resolution, and poor environmental tolerance.
而於美國第6958602號專利案中所揭露之角度解析技術,其乃係由兩組解角器所組成者,並使第一組解角器之轉子構件具有(N-1)個凸極,其中,而第二組解角器之轉子構件則具有N個凸極,並使N值係為不小於3之自然數,據此,乃可藉由第一組解角器之定子產生(N-1)個調變訊號,同時藉由第二組解角器之定子產生N個調變訊號,從而,當馬達轉子轉動之際,該第一組解角器之定子所產生之調變訊號,係作為第二組解角器之激發訊號,俾以藉由該第二組解角器所產生之調變訊號以解析出馬達轉子的旋轉角度與位置,是等專利前案所揭露之技術內容,雖然得以進行旋轉馬 達之轉子角度解析,惟,囿於其構造上之限制,難以企求其具有較高之解析度。The angle analysis technique disclosed in U.S. Patent No. 6,958,602 is composed of two sets of anglers, and the rotor members of the first set of resolvers have (N-1) salient poles. Wherein, the rotor members of the second set of resolvers have N salient poles, and the N value is a natural number not less than 3, according to which the stator of the first set of resolvers can be generated (N -1) a modulation signal, and at the same time, N modulation signals are generated by the stator of the second set of resolvers, so that when the motor rotor rotates, the modulation signal generated by the stator of the first set of resolvers As the excitation signal of the second set of resolvers, the modulation angle generated by the second set of resolvers is used to resolve the rotation angle and position of the motor rotor, which is the technology disclosed in the patent case. Content, although it is possible to rotate the horse The analysis of the angle of the rotor is limited, but it is difficult to find a higher resolution due to its structural limitations.
因此,本發明之主要目的乃係在提供一種絕對式之角度解析裝置,其係可提供高精度絕對位置解析所需之調變訊號,以提高解析之精度,同時使該絕對式之角度解析裝置於設計時得以快速地獲得適當之定子或轉子極之相對數量,縮短開發之時程者。Therefore, the main object of the present invention is to provide an absolute angle analysis device capable of providing a modulation signal required for high-precision absolute position analysis to improve the accuracy of analysis while making the absolute angle analysis device. The relative number of appropriate stator or rotor poles can be quickly obtained at design time, shortening the development time.
緣是,為達成上述目的,本發明所提供絕對式之角度解析裝置乃係包含了有一第一解角器,具有一第一定子,若干數量之第一定子磁極,係環設於該第一定子上,一第一轉子,係與該第一定子同軸對應,若干數量之第一轉子磁極係等距地環設於該第一轉子上,並與各該第一定子磁極相鄰對應;一第二解角器,具有一第二定子,係與該第一定子同軸對應,若干數量之第二定子磁極,係環設於該第二定子上,一第二轉子,係與該第二定子同軸對應,若干數量之第二轉子磁極係環設於該第二轉子上,並與各該第二定子磁極相鄰對應,且使該第二定子磁極與該第二轉子磁極之數量不同於該第一定子磁極與該第一轉子磁極之數量;而其中,各該定子或轉子磁極之數量,乃係依下列之式一或式二決定之:式一:該第一定子磁極之數量係為:3*N;該第一轉子磁極之數量係為:N*(3*K+S);該第二定子磁極之數量係為:3*(N+M);該第二轉子磁極之數量係為:(N+M)*(3*L+S); 其中,N、M、K及L係為自然數,S則為1或2。Therefore, in order to achieve the above object, the absolute angle analysis device provided by the present invention comprises a first resolver having a first stator and a plurality of first stator poles. a first rotor coaxially corresponding to the first stator, and a plurality of first rotor poles are equidistantly disposed on the first rotor and with the first stator poles Correspondingly corresponding; a second resolver having a second stator coaxially corresponding to the first stator, a plurality of second stator poles, the ring being disposed on the second stator, and a second rotor Coaxially corresponding to the second stator, a plurality of second rotor pole rings are disposed on the second rotor, and corresponding to each of the second stator poles, and the second stator pole and the second rotor are The number of magnetic poles is different from the number of the first stator magnetic poles and the first rotor magnetic poles; wherein, the number of each of the stator or rotor magnetic poles is determined according to the following formula 1 or formula 2: The number of certain sub-magnetic poles is: 3*N; the first rotor magnetic pole The quantity is: N*(3*K+S); the number of the second stator poles is: 3*(N+M); the number of the second rotor poles is: (N+M)*(3 *L+S); Among them, N, M, K, and L are natural numbers, and S is 1 or 2.
式二:該第一定子磁極之數量係為:4*N;該第一轉子磁極之數量係為:N*(2*K+1);該第二定子磁極之數量係為:4*(N+M);該第二轉子磁極之數量係為:(N+M)*(2*L+1);其中,N、M、K及L係為自然數。Equation 2: The number of the first stator magnetic poles is: 4*N; the number of the first rotor magnetic poles is: N*(2*K+1); the number of the second stator magnetic poles is: 4* (N+M); the number of the second rotor magnetic poles is: (N+M)*(2*L+1); wherein, N, M, K, and L are natural numbers.
另外,該第一定子及該第二定子係分別呈環狀,彼此並同軸相鄰。Further, the first stator and the second stator are respectively annular, and are coaxially adjacent to each other.
其中,該第一轉子及該第二轉子係分別呈環狀,且彼此同軸相鄰。The first rotor and the second rotor are respectively annular and coaxially adjacent to each other.
其中,各該第一轉子磁極與各該第二轉子磁極係分別突設於該第一轉子與該第二轉子之內周環面上,並使各該第一定子磁極與各該第二定子磁極分別突設於該第一定子與該第二定子之外周環面上。Wherein the first rotor magnetic pole and each of the second rotor magnetic poles respectively protrude from the inner circumferential surface of the first rotor and the second rotor, and each of the first stator magnetic poles and each of the second The stator poles are respectively protruded from the outer circumferential surface of the first stator and the second stator.
(10)‧‧‧絕對式之角度解析裝置(10) ‧‧‧Absolute angle analysis device
(20)‧‧‧第一解角器(20)‧‧‧First resolver
(21)‧‧‧第一定子(21) ‧‧‧first stator
(22)‧‧‧第一定子磁極(22)‧‧‧First stator pole
(23)‧‧‧第一轉子(23) ‧‧‧First rotor
(24)‧‧‧第一轉子磁極(24)‧‧‧First rotor pole
(30)‧‧‧第二解角器(30)‧‧‧Second angler
(31)‧‧‧第二定子(31) ‧‧‧second stator
(32)‧‧‧第二定子磁極(32)‧‧‧Second stator pole
(33)‧‧‧第二轉子(33) ‧‧‧second rotor
(34)‧‧‧第二轉子磁極(34)‧‧‧Second rotor pole
(40)‧‧‧固定座(40)‧‧‧ Fixed seat
(41)‧‧‧座身(41) ‧ ‧ ‧ body
(42)‧‧‧內壓環(42) ‧ ‧ internal pressure ring
(43)‧‧‧外壓環(43) ‧ ‧ external pressure ring
第一圖係本發明一較佳實施例中,該第一解角器之立體示意圖。The first figure is a perspective view of the first recliner in a preferred embodiment of the present invention.
第二圖係本發明一較佳實施例中,該第二解角器之立體示意圖。The second figure is a perspective view of the second recoiler in a preferred embodiment of the present invention.
第三圖係本發明一較佳實施例之立體組合圖。The third figure is a perspective assembled view of a preferred embodiment of the present invention.
第四圖係本發明一較佳實施例之立體分解圖。The fourth drawing is an exploded perspective view of a preferred embodiment of the present invention.
第五圖係本發明一較佳實施例之沿第三圖5-5割線之剖 視圖。Figure 5 is a cross-sectional view taken along line 3-5 of Figure 5 of a preferred embodiment of the present invention. view.
第六圖係本發明一較佳實施例之頂視圖。Figure 6 is a top plan view of a preferred embodiment of the present invention.
第七圖係本發明一較佳實施例之底視圖。Figure 7 is a bottom plan view of a preferred embodiment of the present invention.
第八圖係本發明一較佳實施例之調變訊號圖。The eighth figure is a modulation signal diagram of a preferred embodiment of the present invention.
茲即舉以本發明一較佳實施例,並配合圖式作進一步之說明。BRIEF DESCRIPTION OF THE DRAWINGS A preferred embodiment of the invention will be described in conjunction with the drawings.
首先,請參閱第一圖至第七圖所示,在本發明一較佳實施例中所提供絕對式之角度解析裝置(10)者,其主要乃係包含了有一第一解角器(20)、一第二解角器(30)以及一固定座(40)。First, referring to the first to seventh figures, in the preferred embodiment of the present invention, an absolute angle analysis device (10) is provided, which mainly includes a first angle resolver (20). ), a second resolver (30) and a fixed seat (40).
該第一解角器(20)係具有一呈環狀之第一定子(21),多數之第一定子磁極(22)係彼此等距地分別突設於該第一定子(21)之外周環面上,一呈環狀之第一轉子(23),係同軸環繞於該第一定子(21)之外周環面外,多數之第一轉子磁極(24)係彼此等距地分設於該第一轉子(23)之內周環面上,並與各該第一定子磁極(22)相鄰對應,且相隔開來。The first resolver (20) has a first stator (21) in a ring shape, and a plurality of first stator poles (22) are respectively protruded from the first stator at equal distances from each other (21). On the outer circumferential annulus, an annular first rotor (23) coaxially surrounds the outer circumferential surface of the first stator (21), and a plurality of first rotor magnetic poles (24) are equidistant from each other The ground is disposed on the inner circumferential surface of the first rotor (23), and is adjacent to and spaced apart from each of the first stator magnetic poles (22).
該第二解角器(30)係具有一呈環狀之第二定子(31),係與該第一定子(21)同軸對應,多數之第二定子磁極(32)係彼此等距地分別突設於該第二定子(31)之外周環面上,一呈環狀之第二轉子(33),係同軸環繞於該第二定子(31)之外周環面外,多數之第二轉子磁極(34)係彼此等距地分設於該第二轉子(33)之內周環面上,並與各該第二定子磁極(32)相鄰對應,且相隔開來。The second resolver (30) has an annular second stator (31) coaxially corresponding to the first stator (21), and a plurality of second stator poles (32) are equidistant from each other A second rotor (33) having an annular shape is formed on the outer circumferential surface of the second stator (31), and is coaxially surrounds the outer circumference of the second stator (31), and most of the second The rotor poles (34) are equidistantly spaced from each other on the inner circumferential surface of the second rotor (33), and are adjacent to and spaced apart from the second stator poles (32).
該固定座(40)係具有一管狀座身(41),係同軸穿設於該第一 定子(21)與該第二定子(31)上,一適當厚度之內壓環(42)係突設於該座身(41)之周側,並介於該第一定子(21)與該第二定子(31)之間,用以連接該第一定子(21)與該第二定子(31),並維持其彼此間之相隔間距,一與該內壓環(42)厚度相等之外壓環(43),係介於該第一轉子(23)與該第二轉子(33)之間,用以連接該第一轉子(23)與該第二轉子(33),並維持其彼此間之相隔間距。The fixing base (40) has a tubular body (41) coaxially disposed on the first An inner pressure ring (42) of a suitable thickness is protruded from the stator (21) and the second stator (31) on a circumferential side of the seat body (41), and is interposed between the first stator (21) and Between the second stators (31), the first stator (21) and the second stator (31) are connected to each other and maintained at a distance from each other, and the thickness of the inner pressure ring (42) is equal to An outer pressure ring (43) is interposed between the first rotor (23) and the second rotor (33) for connecting the first rotor (23) and the second rotor (33) and maintaining They are spaced apart from each other.
藉由上述構件之組成,該絕對式之角度解析裝置(10)乃係同軸連接於所擬解析之旋轉馬達上,並使各該第一轉子(23)與該第二轉子(33)得以與該旋轉馬達之轉子構件同步轉動,俾使各該解角器(20)(30)獲得相同之弦波訊號,據以產生不同之正弦與餘弦調變訊號,以提供用以解析該旋轉馬達轉子位置所需之調變訊號。The absolute angle analysis device (10) is coaxially connected to the rotary motor to be analyzed by the composition of the above components, and the first rotor (23) and the second rotor (33) are coupled to each other. The rotor member of the rotary motor rotates synchronously, so that each of the resolvers (20) (30) obtains the same sine wave signal, thereby generating different sine and cosine modulation signals for providing analysis of the rotary motor rotor The modulation signal required for the location.
而其中,該第一解角器(20)與該第二解角器(30),其分別所具有之定子磁極或轉子磁極,乃係依據下列兩通式以分別確定其磁極之數量者,即:式一:該第一定子磁極之數量係為:3*N;該第一轉子磁極之數量係為:N*(3*K+S)該第二定子磁極之數量係為:3*(N+M)該第二轉子磁極之數量係為:(N+M)*(3*L+S)其中,N、M、K及L係為自然數,S則為1或2。Wherein, the first resolver (20) and the second resolver (30) respectively have a stator magnetic pole or a rotor magnetic pole according to the following two formulas to determine the number of magnetic poles thereof, respectively. That is: Equation 1: The number of the first stator magnetic poles is: 3*N; the number of the first rotor magnetic poles is: N*(3*K+S) The number of the second stator magnetic poles is: 3 *(N+M) The number of the second rotor poles is: (N+M)*(3*L+S) where N, M, K, and L are natural numbers, and S is 1 or 2.
依據式一所計算者,係可有如下表所舉例者,惟並不以之為限:
式二:該第一定子磁極之數量係為:4*N;該第一轉子磁極之數量係為:N*(2*K+1)Equation 2: The number of the first stator magnetic poles is: 4*N; the number of the first rotor magnetic poles is: N*(2*K+1)
該第二定子磁極之數量係為:4*(N+M)The number of the second stator magnetic poles is: 4*(N+M)
該第二轉子磁極之數量係為:(N+M)*(2*L+1)The number of the second rotor magnetic poles is: (N+M)*(2*L+1)
其中,N、M、K及L係為自然數。Among them, N, M, K and L are natural numbers.
依據式二所計算者,係可有如下表所舉例者,惟並不以之為限:
而具體地,本實施例中乃係以該式二計算之,使該第一定子磁極之數量為24、第二定子磁極之數量為20,以及使該第一轉子磁極之數量為114、第二轉子磁極之數量為115者。Specifically, in this embodiment, the second stator magnetic pole is 24, the second stator magnetic pole is 20, and the first rotor magnetic pole is 114. The number of second rotor poles is 115.
據此,該絕對式之角度解析裝置(10)所產生之正、餘弦調變訊號乃係如第八圖所示般,其由上而下係依序為該第一解角器(20)所產生之餘弦調變訊號、正弦調變訊號,該第二解角器(30)所產生之餘弦調變訊號、正弦調變訊號,俾得以該等調變訊號為基礎,解析旋轉馬達之轉子旋轉角度及位置,惟關於是等解析之方法則非屬本發明之技術特徵所在,於此遂不予冗陳。Accordingly, the positive and cosine modulation signals generated by the absolute angle analysis device (10) are as shown in the eighth figure, and the first resolver is sequentially arranged from top to bottom (20). The cosine modulation signal and the sine modulation signal generated by the second resolver (30) are generated by the cosine modulation signal and the sine modulation signal, and the rotor of the rotary motor is analyzed based on the modulation signals. The angle of rotation and position, but the method of equal analysis is not the technical feature of the present invention, and will not be redundant here.
(10)‧‧‧絕對式之角度解析裝置(10) ‧‧‧Absolute angle analysis device
(20)‧‧‧第一解角器(20)‧‧‧First resolver
(30)‧‧‧第二解角器(30)‧‧‧Second angler
(40)‧‧‧固定座(40)‧‧‧ Fixed seat
(41)‧‧‧座身(41) ‧ ‧ ‧ body
(43)‧‧‧外壓環(43) ‧ ‧ external pressure ring
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EP1580533A2 (en) * | 2004-03-26 | 2005-09-28 | Minebea Co., Ltd. | Variable-reluctance resolver and rotational angle sensor using same |
US20050212512A1 (en) * | 2004-03-26 | 2005-09-29 | Mutsumi Matsuura | High-accuracy 1x variable-reluctance resolver |
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