WO2024000954A1 - Rotor position detection apparatus for primary segmented linear electric motor - Google Patents

Rotor position detection apparatus for primary segmented linear electric motor Download PDF

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Publication number
WO2024000954A1
WO2024000954A1 PCT/CN2022/127635 CN2022127635W WO2024000954A1 WO 2024000954 A1 WO2024000954 A1 WO 2024000954A1 CN 2022127635 W CN2022127635 W CN 2022127635W WO 2024000954 A1 WO2024000954 A1 WO 2024000954A1
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Prior art keywords
main control
hall
position detection
linear motor
segmented linear
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PCT/CN2022/127635
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French (fr)
Chinese (zh)
Inventor
刘吉柱
李涛
胡伟
潘明强
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苏州大学
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Publication of WO2024000954A1 publication Critical patent/WO2024000954A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements

Definitions

  • the invention relates to the technical field of motor control, and in particular to a primary segmented linear motor position detection device.
  • Xi'an Jiaotong University, Zhengzhou University, Taiyuan University of Technology, etc. respectively conducted research on the modeling and simulation, motion process and control system of primary segmented linear motors.
  • scholars from Xi'an Jiaotong University proposed the relationship between the length of the mover and the length of the stator. relationship, and analyze the changes in back electromotive force and thrust when the mover moves between discontinuous stators.
  • the position sensorless algorithm was first applied to rotating electrical machines.
  • American scholar R. D. Lorenz and others used high-frequency signal injection to achieve position sensorless control when the motor was moving at low speed.
  • Tianjin University used the method of popularizing Kalman filtering to estimate the position and speed of the motor.
  • Tsinghua University proposed a method of estimating the rotor position and speed of an AC motor by using a high-frequency signal injection method for signal processing using the Kalman filter. This method has good stability and stability when the motor is at low or zero speed. responding speed.
  • Scholars from the University of Science and Technology Beijing used a sliding mode observer to achieve position estimation of the motor at low speed.
  • a primary segmented linear motor mover position detection device The primary segmented linear motor includes two stators. Each stator is composed of a winding coil.
  • the secondary includes a mover arranged by a magnet. It is composed of iron plates, on which N-pole magnets and S-pole magnets are alternately arranged. The length of the mover is greater than the length of a single stator; each stator is equipped with a set of mover position detection devices; wherein,
  • Each set of the mover position detection device includes two main control boards and a long section board.
  • the two main control boards are installed at both ends of a stator.
  • the long section board connects the two main control boards. And fit on the bottom surface of the stator;
  • Each main control board and long section board are equipped with Hall circuits.
  • the advantage of the present invention is that: the present invention aims at the position feedback problem of the primary segmented linear motor and designs the structure of the primary segmented linear motor. Its measured data and simulation data are basically close to each other and meet the design requirements. On this basis, it is designed for The Hall position sensor for mover position feedback has passed the power-on test and its functions are operating normally. In order to improve the position feedback accuracy, an algorithm structure that combines Hall position sensor feedback and position sensorless feedback is used to enhance position feedback. The system's anti-interference ability, by measuring the output pulse signal of the Hall position sensor, has a resolution of up to 10um, which can meet the high-speed and high-precision requirements of primary segmented linear motors.
  • Figure 1 shows a structural diagram of a primary segmented linear motor according to an embodiment of the present invention.
  • Figure 2 shows a schematic diagram of the installation of a Hall sensor on a motor according to an embodiment of the present invention.
  • Figure 3 shows a hardware structure diagram of a Hall sensor according to an embodiment of the present invention.
  • FIG. 4 shows a flow chart of Hall signal processing according to an embodiment of the present invention.
  • Figure 5 shows a Hall sensor communication topology diagram according to an embodiment of the present invention.
  • FIG. 6 shows a diagram of the distance relationship between the magnetic field and the air gap according to an embodiment of the present invention.
  • Figure 7 shows a schematic diagram of three Hall output signals according to an embodiment of the present invention.
  • Figure 8 shows a schematic diagram of a current compensation algorithm according to an embodiment of the present invention.
  • Figure 9 shows a schematic diagram of a current compensation algorithm according to an embodiment of the present invention.
  • Figure 10 shows a primary segmented linear motor position algorithm diagram according to an embodiment of the present invention.
  • the present invention designs a Hall position sensor suitable for segmented structures, which includes Power circuits, communication circuits, etc., through communication with the host computer, can obtain the continuous position information of the mover when moving between the segmented stators. Through electromagnetic simulation of the linear motor, the optimal installation distance of the Hall position sensor can be determined. At the same time Optimize the position signal processing algorithm of the Hall position sensor to improve its position acquisition accuracy at low speed and startup. By measuring the output of the Hall position sensor, the normal operation of each function is verified.
  • the structure of the primary segmented linear motor is shown in Figure 1.
  • the primary is a winding coil
  • the secondary is composed of an iron plate arranged with magnetic steel. N-pole magnets and S-pole magnets are alternately arranged on the iron plate.
  • the structural design of short primary and long secondary is adopted.
  • the length of the mover is greater than the length of the stator.
  • the length of the mover is represented by L1
  • the stator is represented by L2
  • the distance between the stators is represented by L3.
  • L1 L2+L3.
  • the length of the mover magnet is 420mm
  • the length of the stator coil is 360mm
  • the distance between the stators is 60mm.
  • the electromagnetic thrust of the mover running on stator 1 gradually decreases, and the electromagnetic thrust of the mover running on stator 2 gradually increases.
  • the two stators act on the mover.
  • the total electromagnetic thrust on the stator is basically the same as the thrust on a single moving stator.
  • the present invention designs two Hall signal feedback circuits based on Hall sensors.
  • One uses three Halls to form a position encoder to feedback the time when the mover enters and exits the stator and transmits the mover position information.
  • the other uses two Hall signals to form a position encoder.
  • the circuit composed of Hall is used to determine which stage the mover moves to the stator to achieve driver switching control.
  • the structure of the Hall sensor is shown in Figure 2.
  • the sensor structure is divided into three parts, two main control boards and a strip section. There are Hall circuits on the main control board and the strip section, and they are connected through pin headers.
  • the functional circuit on each part of the hardware board is shown in Figure 3.
  • Three Hall feedback circuits are designed on the two main control boards, which also include MCU circuits, communication circuits and power supply circuits.
  • the circuit structures of the two main control boards are exactly the same, reducing line errors. Loss caused during connection.
  • both main control boards have power circuits, in actual use, the external 24v power supply only needs to be connected to one main control board, and the internal power lines are connected through the middle section.
  • the middle section also contains two Hall circuits and a register circuit.
  • the two Hall circuits are used to sense the specific position of the mover on a section of the stator and determine when the mover has moved halfway to the stator.
  • a register is designed to temporarily store the Hall signal.
  • main control 1 when main control 1 is used as the main data processing chip, the Hall signal and the two Hall signals on main control 2 are transmitted to main control 1, and the power of the entire board is provided by main control 1.
  • main control 2 can also As the main data processing board.
  • Figure 4 shows the Hall signal processing flow chart.
  • the Hall signal is sent to the ADC sampling interface of the microcontroller. After the microcontroller encodes its corresponding sector, the speed and position are calculated through the chip's internal algorithm, and the calculated mover is Displacement and speed are sent to the host computer or driver through the communication module.
  • the Hall sensor communication topology is shown in Figure 5.
  • the controller realizes data through RS232, RS485, JATG and main control 1.
  • main control 2 For communication and program downloading, the controller can also communicate with main control 2 through RS232.
  • Main control 1 and main control 2 provide power and interrupts to main control 2 through serial communication and power lines at the same time.
  • the host computer and multiple Hall sensors realize one-to-many signal transmission through RS485, and obtain the movement of the movers on each stator in real time.
  • the safety distance is set through the software to ensure the safe operation of the movers.
  • the installation position of the Hall sensor will also affect the accuracy of its feedback signal.
  • the two Halls of the present invention need to be installed on the same plane.
  • the Hall sensor is fixedly installed on the stator.
  • the Hall sensor needs to be determined based on the magnetic field analysis of the moving stator. Sensor installation distance.
  • the magnetic field strength of the linear motor stator is simulated in JMAG simulation software.
  • the stator coil of the primary segmented linear motor is designed with 36 slots and 24 poles, and the pole pitch is 30mm.
  • Figure 6 shows the relationship between magnetic field strength and air gap. From the figure, it can be seen that the optimal distance for Hall installation is 7.4mm.
  • the three switch Halls used in the present invention are arranged at an electrical angle of 120° in space. In the linear motor, they are arranged according to one third of a pole pitch, so that the output phases of the three Halls are 120° different, and the duty cycle is 50%.
  • the three switch Halls output three Hall signals ha , h b and h c .
  • the three Hall signals can divide an electrical cycle into six intervals, each interval is 60°. This interval is called is the Hall sector.
  • Each Hall will generate a switching signal.
  • the processing chip collects the signal, it records its edge changes. The high level is recorded as 1 and the low level is recorded as 0.
  • Each sector is coded according to the high and low levels, and its corresponding six sectors The area range is shown in Table 1. Each sector is 60°.
  • V n-1 and V n-2 are the average speed of the mover in sectors n ⁇ 2 and n ⁇ 1.
  • the initial velocity and acceleration of the current sector can be calculated using the average velocity of the previous sector and the average acceleration of the previous two sectors.
  • the mover velocity and position of the current sector are :
  • ⁇ T is the movement time of the mover in the current sector; is the initial position of the mover entering the nth Hall sector.
  • the q-axis current is used to compensate for the estimation of acceleration during the calculation process based on the average acceleration.
  • the sampled three-phase current is used for coordinate transformation, and the q in the dq axis can be obtained.
  • Axis current, from which the current mover acceleration is calculated, and the average acceleration of the next sector can be calculated using the mover acceleration calculated in the previous sector.
  • the method of calculating acceleration using q-axis current only requires one sector to calculate the current position.
  • ⁇ f is the flux linkage of the linear motor permanent magnet
  • M is the linear motor rotor mass
  • the mover speed V and position S of the current sector are:
  • ⁇ T is the running time of the mover in the current sector.
  • the present invention uses the algorithm structure shown in Figure 10 to calculate the linear motor position information.
  • the Hall sensor outputs Hall signals Ha, Hb, Hc, and the improved average acceleration algorithm solves the position and speed information; at the same time, based on the collected three-phase current of the linear motor and three-phase voltage , obtained through Clark transformation and , the transformed signal is used as the input signal of the sliding mode observer, and the position and velocity information are extracted by the sliding mode observer based on the phase-locked loop. After filtering, the position information obtained by the Hall sensor and the phase-locked loop-based sliding mode observer are output. After the position information obtained by the sliding mode observer of the ring is weighted and averaged, the actual position of the linear motor motor is finally obtained.
  • the Hall sensor is used to obtain the position during the startup and low-speed stages.
  • a method combining the sliding mode observer based on the phase-locked loop and the Hall sensor is used to reduce the error of the Hall sensor and algorithm lag.
  • the position algorithm structure combining the two methods can make the estimated position information more accurate and have stronger anti-interference ability.
  • the Hall encoder PCB board After the Hall encoder PCB board is produced, it needs to be powered on and tested to verify the normal operation of the power circuit. Test the Hall signal output to determine whether it is the same as the expected signal. Use a 24V switching power supply to power the Hall encoder. Use a multimeter to measure the power signal. The power module outputs about 3.3V stably. Use an oscilloscope to measure the two Hall circuits and the three Hall circuits respectively. Slide the Hall encoder on a secondary magnet to record the Hall output signal.
  • the spatial positions of the three Halls are arranged at a distance of 120°. Therefore, when a magnetic field passes through, a rectangular wave with a phase difference of 120° will be generated.
  • the register output amplitude is 3.3V and the output period is 50us, which can verify its normal function.
  • the RS485 output waveform it can be seen that the RS485 communication is normal.
  • the Hall encoder is assembled into the module.
  • the oscilloscope is connected to the three-phase power line of the stator coil and the mover magnet is pushed at a constant speed. From the collected waveform, the measured back electromotive force of the linear motor is calculated to be 57.69V/m/s. Through linear motor simulation The back electromotive force is 60 V/m/s.
  • the present invention designs the structure of the primary segmented linear motor.
  • the measured data and the simulated data are basically close to each other and meet the design requirements.
  • a sensor for mover position feedback is designed. Hall position sensor, after power-on test, its functions are running normally.
  • an algorithm structure that combines Hall position sensor feedback and position sensorless feedback is adopted to enhance the anti-interference of the position feedback system. By measuring the output pulse signal of the Hall position sensor, the resolution can reach 10um, which can meet the high-speed and high-precision requirements of the primary segmented linear motor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

Disclosed in the present invention is a rotor position detection apparatus for a primary segmented linear electric motor. The primary stage of the primary segmented linear electric motor comprises two stators, each of which is composed of a winding coil. A secondary stage of the primary segmented linear electric motor is composed of an iron plate on which magnetic steel is arranged. On the iron plate, N-pole magnets and S-pole magnets are alternately arranged. The length of a rotor is larger than the length of a single stator. Each stator is provided with a rotor position detection apparatus, wherein each rotor position detection apparatus comprises two main control boards and a long-strip board; and the two main control boards are respectively mounted on two ends of a stator, the long-strip board is connected to the two main control boards and is attached onto the bottom face of the stator, and the main control boards and the long-strip boards are each provided with a Hall circuit. The present invention improves position feedback precision and enhances the anti-interference performance of a position feedback system; and a resolution can reach 10 µm by means of measuring output pulse signals of a Hall position sensor, such that the requirements of a primary segmented linear electric motor for high speed and high precision can be met.

Description

一种初级分段式直线电机动子位置检测装置A primary segmented linear motor position detection device 技术领域Technical field
本发明涉及电机控制技术领域，具体涉及一种初级分段式直线电机动子位置检测装置。The invention relates to the technical field of motor control, and in particular to a primary segmented linear motor position detection device.
背景技术Background technique
随着现代化工业技术的发展，短行程直线电机***已不能满足某些工业场合的生产需求，现代工业对于驱动***有着高速高精高动态的要求，不仅可以在生产过程中提高产品的质量，而且还可以提高生产的速度，初级分段式直线电机可以做到长行程的同时，减少了生产成本和维修成本，大大提高了生产效率，配合多传感器的应用，动子可以做到高精度控制，在一些生产精度要求较高的产品仍然适用，动子位置的获取在控制***中起着至关重要的作用。对于分段式直线电机，国内注重于其结构的研究，对于位置传感器相较于国外研究较少，而初级分段式直线电机的位置传感器研究对于整个***至关重要。With the development of modern industrial technology, short-stroke linear motor systems can no longer meet the production needs of some industrial occasions. Modern industry has high-speed, high-precision and high-dynamic requirements for drive systems, which can not only improve the quality of products during the production process, but also It can also increase the speed of production. The primary segmented linear motor can achieve long strokes, reducing production costs and maintenance costs, and greatly improving production efficiency. With the application of multi-sensors, the mover can achieve high-precision control. It is still applicable to some products that require higher production accuracy. The acquisition of the mover position plays a vital role in the control system. For segmented linear motors, domestic research focuses on its structure, and there is less research on position sensors than abroad. The research on position sensors of primary segmented linear motors is crucial to the entire system.
浙江大学的学者采用长定子直线电机分段驱动的方法设计了一种新型物流输送***。哈尔滨大学的李立毅教授和其团队在初级分段式直线电机仿真、结构、控制和传感器方面进行了大量研究，其中针对连续分段直线电机的端部效应，提出了涉及端部效应的磁场和磁路修正方法；对无传感器的研究，提出了基于相邻段定子合成反电势的位置估算方法，构建了全阶速度观测器；针对初级分段直线电机的控制方法，提出了基于离散时间电流控制的段间电流同步交替跟踪控制策略，克服了由于绕组分段造成的推力波动问题。Scholars from Zhejiang University designed a new logistics conveying system using the segmented drive method of long stator linear motors. Professor Li Liyi from Harbin University and his team have conducted a lot of research on the simulation, structure, control and sensors of primary segmented linear motors. Among them, for the end effects of continuous segmented linear motors, magnetic fields and magnetic fields involving end effects were proposed. path correction method; for sensorless research, a position estimation method based on the combined back electromotive force of adjacent stators was proposed, and a full-order speed observer was constructed; for the control method of primary segmented linear motors, a discrete-time current control method was proposed The inter-segment current synchronous alternating tracking control strategy overcomes the thrust fluctuation problem caused by winding segmentation.
日本九州大学的Kinjiro Yoshida教授等人在直线电机领域研究多年，他们将连续的初级分段结构应用于车辆驱动，提出一种新的直接转矩控制方法，对永磁直线同步机动车辆以减重模式对两个定子间通过进行控制。为通过部分控制引入了一个虚构部分。基于每个虚拟截面的电压方程，采用直接转矩控制方法获得升力和推力，并且无需位置和速度传感器，作者分别分析了启动、加速、匀速和减速阶段的运行情况，实验结果表明车辆的悬浮力得到了较好的控制，但是在推力上有一定的高频波动。Professor Kinjiro Yoshida from Kyushu University in Japan and others have been researching in the field of linear motors for many years. They applied the continuous primary segment structure to vehicle drive and proposed a new direct torque control method for permanent magnet linear synchronous motor vehicles to reduce weight. mode controls the passage between the two stators. A fictional section is introduced for pass section control. Based on the voltage equation of each virtual section, the direct torque control method is used to obtain lift and thrust without the need for position and speed sensors. The author analyzes the operation conditions of the startup, acceleration, uniform speed and deceleration stages respectively. The experimental results show that the vehicle's suspension force It has better control, but there are certain high-frequency fluctuations in thrust.
德国达姆施塔特理工大学的Roberto Leidhold教授等人提出提出了一种适用于长双端面永磁同步直线电机的主动导向***，横向位移和偏航角由简单的轮轨***控制，为了实现在导轨上运行多个动子，其将定子分为多段，每一段单独由一个驱动器控制。另外他们提出了一种不使用速度和位置传感器的多段长定子直线同步电机控制方法，作者使用两个EKF观测器分别用于奇数段和偶数段，达到对动子在定子过渡段的速度和位置的连续观测，此方法可以满足工业物料搬运，但是存在低速时性能下降和无法静止运行的缺点。Professor Roberto Leidhold of the Technical University of Darmstadt in Germany and others proposed an active guidance system suitable for long double-end permanent magnet synchronous linear motors. The lateral displacement and yaw angle are controlled by a simple wheel-rail system. In order to achieve Multiple movers run on the guide rails, which divide the stator into multiple segments, each segment is controlled individually by a driver. In addition, they proposed a multi-section long stator linear synchronous motor control method that does not use speed and position sensors. The author uses two EKF observers for odd and even sections respectively to achieve the speed and position of the mover in the stator transition section. Continuous observation, this method can meet the requirements of industrial material handling, but it has the disadvantages of performance degradation at low speed and inability to operate statically.
日本的学者Y.-J.Kim教授和H.Dohmeki教授等人对不连续初级分段直线电机进行研究并且依靠其成本低、控制简单等优点应用在了工厂长距离运输***中。其团队通过仿真分析研究，分析齿槽力对直线电机的影响，并分析了静止状态和低速运行时受力情况，对永磁体进行了改进，并提出了无位置反馈的恒转矩角控制，降低了电机运行时的推力波动，但是其只能应用在水平运输中，不能垂直提升。Japanese scholars Professor Y.-J. Kim and Professor H. Dohmeki and others have studied discontinuous primary segmented linear motors and applied them in long-distance transportation systems in factories relying on their advantages of low cost and simple control. Through simulation analysis and research, his team analyzed the impact of cogging force on linear motors, and analyzed the force conditions during static state and low-speed operation. They improved the permanent magnets and proposed constant torque angle control without position feedback. It reduces the thrust fluctuation when the motor is running, but it can only be used in horizontal transportation and cannot be lifted vertically.
西安交通大学、郑州大学、太原理工大学等分别对初级分段式直线电机的建模仿真、运动过程和控制***等方面进行研究，其中西安交通大学的学者提出了动子长度与定子长度之间的关系，并分析了动子在不连续定子间运动时的反电动势和推力变化。Xi'an Jiaotong University, Zhengzhou University, Taiyuan University of Technology, etc. respectively conducted research on the modeling and simulation, motion process and control system of primary segmented linear motors. Among them, scholars from Xi'an Jiaotong University proposed the relationship between the length of the mover and the length of the stator. relationship, and analyze the changes in back electromotive force and thrust when the mover moves between discontinuous stators.
技术问题technical problem
无位置传感器算法最早应用在旋转电机上，美国学者R．D．Lorenz等人在电机低速运动时采用高频信号注入的方式来实现无位置传感器控制，天津大学采用推广卡尔曼滤波的方法来估算电机的位置和速度。清华大学提出了一种利用卡尔曼滤波器来进行信号处理的高频信号注入法来估计交流电动机的转子位置和转速的方法，这种方法在电机低速或零速时具有很好的稳定性和响应速度。北京科技大学的学者利用滑模观测器实现了电机低速情况下的位置估计。The position sensorless algorithm was first applied to rotating electrical machines. American scholar R. D. Lorenz and others used high-frequency signal injection to achieve position sensorless control when the motor was moving at low speed. Tianjin University used the method of popularizing Kalman filtering to estimate the position and speed of the motor. Tsinghua University proposed a method of estimating the rotor position and speed of an AC motor by using a high-frequency signal injection method for signal processing using the Kalman filter. This method has good stability and stability when the motor is at low or zero speed. responding speed. Scholars from the University of Science and Technology Beijing used a sliding mode observer to achieve position estimation of the motor at low speed.
技术解决方案Technical solutions
一种初级分段式直线电机动子位置检测装置，所述初级分段式直线电机的初级包括两个定子，每个定子由绕组线圈组成，次级包括一个动子，由一个磁钢排列的铁板构成，铁板上N极磁铁和S极磁铁交替排列，所述动子的长度大于单个定子的长度；每个定子上均安装有一套动子位置检测装置；其中，A primary segmented linear motor mover position detection device. The primary segmented linear motor includes two stators. Each stator is composed of a winding coil. The secondary includes a mover arranged by a magnet. It is composed of iron plates, on which N-pole magnets and S-pole magnets are alternately arranged. The length of the mover is greater than the length of a single stator; each stator is equipped with a set of mover position detection devices; wherein,
每套所述动子位置检测装置包括两个主控板和一个长条段板子，所述两个主控板分别安装在一个定子的两端，所述长条段板子连接两个主控板并贴合在所述定子的底面上；Each set of the mover position detection device includes two main control boards and a long section board. The two main control boards are installed at both ends of a stator. The long section board connects the two main control boards. And fit on the bottom surface of the stator;
每个主控板与长条段板子上均设有霍尔电路。Each main control board and long section board are equipped with Hall circuits.
有益效果beneficial effects
本发明的优点在于：本发明针对初级分段式直线电机的位置反馈问题，设计初级分段式直线电机的结构，其实测数据与仿真数据基本接近，符合设计要求，在此基础上设计用于动子位置反馈的霍尔位置传感器，通过上电测试，其各项功能正常运行，在提高位置反馈精度上，采用霍尔位置传感器反馈与无位置传感器反馈相结合的算法结构，增强了位置反馈***的抗干扰性，通过测量霍尔位置传感器的输出脉冲信号，分辨率可达10um，可以满足初级分段式直线电机高速高精的要求。The advantage of the present invention is that: the present invention aims at the position feedback problem of the primary segmented linear motor and designs the structure of the primary segmented linear motor. Its measured data and simulation data are basically close to each other and meet the design requirements. On this basis, it is designed for The Hall position sensor for mover position feedback has passed the power-on test and its functions are operating normally. In order to improve the position feedback accuracy, an algorithm structure that combines Hall position sensor feedback and position sensorless feedback is used to enhance position feedback. The system's anti-interference ability, by measuring the output pulse signal of the Hall position sensor, has a resolution of up to 10um, which can meet the high-speed and high-precision requirements of primary segmented linear motors.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the invention. Also throughout the drawings, the same reference characters are used to designate the same components. In the attached picture:
附图1示出了根据本发明实施方式的初级分段式直线电机结构图。Figure 1 shows a structural diagram of a primary segmented linear motor according to an embodiment of the present invention.
附图2示出了根据本发明实施方式的霍尔传感器在电机上的安装示意图。Figure 2 shows a schematic diagram of the installation of a Hall sensor on a motor according to an embodiment of the present invention.
附图3示出了根据本发明实施方式的霍尔传感器硬件结构图。Figure 3 shows a hardware structure diagram of a Hall sensor according to an embodiment of the present invention.
附图4示出了根据本发明实施方式的霍尔信号处理流程图。FIG. 4 shows a flow chart of Hall signal processing according to an embodiment of the present invention.
附图5示出了根据本发明实施方式的霍尔传感器通信拓扑结构图。Figure 5 shows a Hall sensor communication topology diagram according to an embodiment of the present invention.
附图6示出了根据本发明实施方式的磁场与气隙的距离关系图。FIG. 6 shows a diagram of the distance relationship between the magnetic field and the air gap according to an embodiment of the present invention.
附图7示出了根据本发明实施方式的三霍尔输出信号示意图。Figure 7 shows a schematic diagram of three Hall output signals according to an embodiment of the present invention.
附图8示出了根据本发明实施方式的电流补偿算法示意图。Figure 8 shows a schematic diagram of a current compensation algorithm according to an embodiment of the present invention.
附图9示出了根据本发明实施方式的电流补偿算法示意图。Figure 9 shows a schematic diagram of a current compensation algorithm according to an embodiment of the present invention.
附图10示出了根据本发明实施方式的初级分段式直线电机位置算法图。Figure 10 shows a primary segmented linear motor position algorithm diagram according to an embodiment of the present invention.
本发明的实施方式Embodiments of the invention
下面将参照附图更详细地描述本公开的示例性实施方式。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.
初级分段式直线电机动子位置反馈在整个控制***中起着至关重要的作用，本发明在霍尔位置传感器的原理上，设计了适用于分段结构的霍尔位置传感器，其包括了电源电路、通信电路等，通过和上位机的通讯，可以获得动子在分段定子间运动时的连续位置信息，通过对直线电机的电磁仿真，确定霍尔位置传感器的最优安装距离，同时优化霍尔位置传感器的对于位置信号的处理算法，提高其低速和启动时的位置获取精度，通过对霍尔位置传感器的输出进行测量，验证了各功能的正常运行。Primary segmented linear motor rotor position feedback plays a vital role in the entire control system. Based on the principle of the Hall position sensor, the present invention designs a Hall position sensor suitable for segmented structures, which includes Power circuits, communication circuits, etc., through communication with the host computer, can obtain the continuous position information of the mover when moving between the segmented stators. Through electromagnetic simulation of the linear motor, the optimal installation distance of the Hall position sensor can be determined. At the same time Optimize the position signal processing algorithm of the Hall position sensor to improve its position acquisition accuracy at low speed and startup. By measuring the output of the Hall position sensor, the normal operation of each function is verified.
1电机结构1Motor structure
初级分段式直线电机结构如图1所示，初级为绕组线圈，次级由磁钢排列的铁板构成，铁板上N极磁铁和S极磁铁交替排列。采用短初级长次级的结构设计，动子长度大于定子长度，将动子长度使用L1表示，定子使用L2表示，定子间距离使用L3表示，要使动子在两定子间所受电磁推力不变需满足L1=L2+L3。The structure of the primary segmented linear motor is shown in Figure 1. The primary is a winding coil, and the secondary is composed of an iron plate arranged with magnetic steel. N-pole magnets and S-pole magnets are alternately arranged on the iron plate. The structural design of short primary and long secondary is adopted. The length of the mover is greater than the length of the stator. The length of the mover is represented by L1, the stator is represented by L2, and the distance between the stators is represented by L3. In order to ensure that the electromagnetic thrust exerted by the mover between the two stators is not The change needs to satisfy L1=L2+L3.
本发明采用动子磁钢长度为420mm，定子线圈长度为360mm，定子间距离为60mm。In the present invention, the length of the mover magnet is 420mm, the length of the stator coil is 360mm, and the distance between the stators is 60mm.
 对于动子在过渡段的推力仿真后可知，动子运行在定子1上的电磁推力变化为逐渐减少，动子运行在定子2上的电磁推力变化为逐渐增大，两个定子作用在动子上的电磁总推力与单个动定子所受推力基本相同。For the thrust simulation of the mover in the transition section, it can be seen that the electromagnetic thrust of the mover running on stator 1 gradually decreases, and the electromagnetic thrust of the mover running on stator 2 gradually increases. The two stators act on the mover. The total electromagnetic thrust on the stator is basically the same as the thrust on a single moving stator.
2 硬件设计及信号处理2 Hardware design and signal processing
2.1 硬件设计2.1 Hardware design
本发明基于霍尔传感器，设计了两种霍尔信号反馈电路，一种使用三个霍尔组成位置编码器，用来反馈动子进出定子时间以及传输动子位置信息，另一种由两个霍尔组成的电路，用来判断动子运动到定子哪个阶段，以实现驱动器切换控制。The present invention designs two Hall signal feedback circuits based on Hall sensors. One uses three Halls to form a position encoder to feedback the time when the mover enters and exits the stator and transmits the mover position information. The other uses two Hall signals to form a position encoder. The circuit composed of Hall is used to determine which stage the mover moves to the stator to achieve driver switching control.
霍尔传感器结构如图2所示，传感器结构分为三部分，两个主控板和一个长条段板子，主控板与长条段上均有霍尔电路，它们通过排针进行连接。The structure of the Hall sensor is shown in Figure 2. The sensor structure is divided into three parts, two main control boards and a strip section. There are Hall circuits on the main control board and the strip section, and they are connected through pin headers.
每一部分硬件板上功能电路如图3所示，在两个主控上设计三霍尔反馈电路，还包括MCU电路、通信电路和电源电路，两个主控板电路结构完全相同，减少线路错误连接时导致的损失，虽然两个主控板都有电源电路，但是实际使用时，外部24v电源只需连接到一个主控板上，内部电源线路通过中间段进行连接。中间段除了连接两个主控板，其上还包含两霍尔电路与寄存器电路，两霍尔电路用来感应动子在一段定子上的具***置，判断动子何时运动到定子二分之一处，由于芯片只能串行处理数据，所以设计寄存器来临时存储霍尔信号。The functional circuit on each part of the hardware board is shown in Figure 3. Three Hall feedback circuits are designed on the two main control boards, which also include MCU circuits, communication circuits and power supply circuits. The circuit structures of the two main control boards are exactly the same, reducing line errors. Loss caused during connection. Although both main control boards have power circuits, in actual use, the external 24v power supply only needs to be connected to one main control board, and the internal power lines are connected through the middle section. In addition to connecting two main control boards, the middle section also contains two Hall circuits and a register circuit. The two Hall circuits are used to sense the specific position of the mover on a section of the stator and determine when the mover has moved halfway to the stator. First, since the chip can only process data serially, a register is designed to temporarily store the Hall signal.
例如主控1做为主要的数据处理芯片时，主控2上的霍尔信号及两霍尔信号都传输到主控1，整个板子电源由主控1提供，同理，主控2也可作为主要的数据处理板。For example, when main control 1 is used as the main data processing chip, the Hall signal and the two Hall signals on main control 2 are transmitted to main control 1, and the power of the entire board is provided by main control 1. In the same way, main control 2 can also As the main data processing board.
如图4所示为霍尔信号处理流程图，霍尔信号送至单片机ADC采样接口，经单片机对其对应扇区进行编码后，通过芯片内部算法来计算速度与位置，并将计算的动子位移和速度通过通信模块发送到上位机或驱动器。Figure 4 shows the Hall signal processing flow chart. The Hall signal is sent to the ADC sampling interface of the microcontroller. After the microcontroller encodes its corresponding sector, the speed and position are calculated through the chip's internal algorithm, and the calculated mover is Displacement and speed are sent to the host computer or driver through the communication module.
霍尔传感器通信拓扑结构如图5所示，两个主控板上有三霍尔编码器电路、信号处理电路、通信电路以及电源电路等，控制器通过RS232、RS485、JATG与主控1实现数据通信和程序下载，控制器也可以通过RS232与主控2通讯，主控1与主控2通过串口通信和电源线同时向主控2提供电源和中断。上位机与多个霍尔传感器通过RS485实现一对多信号传输，实时获取每个定子上动子的运动情况，通过软件设置安全间距来保障动子的运行安全。The Hall sensor communication topology is shown in Figure 5. There are three Hall encoder circuits, signal processing circuits, communication circuits and power supply circuits on the two main control boards. The controller realizes data through RS232, RS485, JATG and main control 1. For communication and program downloading, the controller can also communicate with main control 2 through RS232. Main control 1 and main control 2 provide power and interrupts to main control 2 through serial communication and power lines at the same time. The host computer and multiple Hall sensors realize one-to-many signal transmission through RS485, and obtain the movement of the movers on each stator in real time. The safety distance is set through the software to ensure the safe operation of the movers.
霍尔传感器的安装位置也会影响到其反馈信号的精准性，本发明的两种霍尔需安装在同一平面，霍尔传感器固定安装在定子上，需要根据动定子的磁场分析来确定霍尔传感器的安装距离。The installation position of the Hall sensor will also affect the accuracy of its feedback signal. The two Halls of the present invention need to be installed on the same plane. The Hall sensor is fixedly installed on the stator. The Hall sensor needs to be determined based on the magnetic field analysis of the moving stator. Sensor installation distance.
在JMAG仿真软件里对直线电机动定子进行磁场强度仿真，初级分段式直线电机的定子线圈设计为36槽24极，极距为30mm。如图6示为磁场强度与气隙的关系图，图中可得到霍尔安装的最优距离是7.4mm。The magnetic field strength of the linear motor stator is simulated in JMAG simulation software. The stator coil of the primary segmented linear motor is designed with 36 slots and 24 poles, and the pole pitch is 30mm. Figure 6 shows the relationship between magnetic field strength and air gap. From the figure, it can be seen that the optimal distance for Hall installation is 7.4mm.
2.2 算法2.2 Algorithm
本发明采用的三个开关霍尔在空间上呈120°电气角度排列，在直线电机中，按照一个极距的三分之一排列，这样三个霍尔的输出相位相差120°，占空比为50%。The three switch Halls used in the present invention are arranged at an electrical angle of 120° in space. In the linear motor, they are arranged according to one third of a pole pitch, so that the output phases of the three Halls are 120° different, and the duty cycle is 50%.
如图7所示三个开关霍尔输出h a、h b、h c三个霍尔信号，三个霍尔信号可以将一个电周期划分六个区间，每个区间60°，这个区间被称为霍尔扇区。 As shown in Figure 7, the three switch Halls output three Hall signals ha , h b and h c . The three Hall signals can divide an electrical cycle into six intervals, each interval is 60°. This interval is called is the Hall sector.
每个霍尔会产生开关信号，处理芯片采集信号后记录其沿变化，高电平记为1，低电平记为0，将每个扇区根据高低电平编码，其对应的六个扇区范围如表1所示，每个扇区60°，信号处理芯片通过读取编码信息即可知道动子所处的电角度区间，如h a=0、h b =1、h c=1时对应的区间为150°-210°扇区。 Each Hall will generate a switching signal. After the processing chip collects the signal, it records its edge changes. The high level is recorded as 1 and the low level is recorded as 0. Each sector is coded according to the high and low levels, and its corresponding six sectors The area range is shown in Table 1. Each sector is 60°. The signal processing chip can know the electrical angle interval where the mover is located by reading the encoding information, such as ha =0, h b =1, h c =1 The corresponding interval is the 150°-210° sector.
表1 霍尔输出状态与电角度区间Table 1 Hall output status and electrical angle range
2.2.1 平均加速度法2.2.1 Average acceleration method
如图8所示，假设动子在每个霍尔扇区的加速度是不变的，即动子在一个霍尔扇区内的瞬时速度与此霍尔扇区的平均速度相等，由此推导出动子在前两个霍尔扇区内的平均加速度为：As shown in Figure 8, it is assumed that the acceleration of the mover in each Hall sector is constant, that is, the instantaneous speed of the mover in a Hall sector is equal to the average speed of this Hall sector. From this, it can be deduced The average acceleration of the mover in the first two Hall sectors is:
式中，V n-1、V n-2为动子在扇区n− 2 和n− 1的平均速度。 In the formula, V n-1 and V n-2 are the average speed of the mover in sectors n− 2 and n− 1.
可以认为 为扇区n-1的平均加速度，则当前扇区的初始速度和加速度可以用前一个扇区的平均速度和前两个扇区的平均加速来计算，当前扇区的动子速度和位置为： It can be considered is the average acceleration of sector n-1, then the initial velocity and acceleration of the current sector can be calculated using the average velocity of the previous sector and the average acceleration of the previous two sectors. The mover velocity and position of the current sector are :
式中，ΔT为动子在当前扇区的运动时间； 为动子进入第n霍尔扇区的初始位置。 In the formula, ΔT is the movement time of the mover in the current sector; is the initial position of the mover entering the nth Hall sector.
2.2.2 改进的霍尔信号处理算法2.2.2 Improved Hall signal processing algorithm
为了使直线电机在低速高速时都能流畅运行，在平均加速度的基础上利用q轴电流来补偿计算过程中对于加速度的估计，利用采样的三相电流进行坐标变换，可以得到dq轴中的q轴电流，由此计算出当前的动子加速度，下一扇区的平均加速度可以使用上一扇区计算所得动子加速度。如图9所示，相较于平均加速度法，使用q轴电流计算加速度的方法，只需要一个扇区来计算当前位置。 In order to make the linear motor run smoothly at low speed and high speed, the q-axis current is used to compensate for the estimation of acceleration during the calculation process based on the average acceleration. The sampled three-phase current is used for coordinate transformation, and the q in the dq axis can be obtained. Axis current, from which the current mover acceleration is calculated, and the average acceleration of the next sector can be calculated using the mover acceleration calculated in the previous sector. As shown in Figure 9, compared with the average acceleration method, the method of calculating acceleration using q-axis current only requires one sector to calculate the current position.
由直线电机电磁推力方程以及运动学方程得，忽略阻尼系数和负载阻力，可以得到直线电机加速度与电流的关系：From the electromagnetic thrust equation and kinematic equation of the linear motor, ignoring the damping coefficient and load resistance, the relationship between the acceleration and current of the linear motor can be obtained:
式中， ；ψ f为直线电机永磁体的磁链；M为直线电机动子质量。 In the formula, ; ψ f is the flux linkage of the linear motor permanent magnet; M is the linear motor rotor mass.
如图9所示，假设动子由扇区n-1进入到扇区n时，当前q轴电流和加速度的关系如下：As shown in Figure 9, assuming that when the mover enters sector n from sector n-1, the relationship between the current q-axis current and acceleration is as follows:
则扇区的平均加速度 作为动子进入扇区n的加速度，则t n时刻动子的速度为V n-1： Then the average acceleration of the sector As the acceleration of the mover entering sector n, the speed of the mover at time t n is V n-1 :
已知当前扇区的起始速度和加速度，则当前扇区的动子速度 V和位置 S为： Given the starting speed and acceleration of the current sector, the mover speed V and position S of the current sector are:
式中，ΔT为动子在当前扇区的运行时间。In the formula, ΔT is the running time of the mover in the current sector.
2.2.3 初级分段式直线电机位置算法结构设计2.2.3 Structural design of primary segmented linear motor position algorithm
通过前面的分析，结合霍尔传感器和滑模观测器的优点，本发明采用如图10所示的算法结构来计算直线电机位置信息。霍尔传感器输出霍尔信号Ha、Hb、Hc，经过改进的平均加速度算法求解出位置和速度信息；同时根据采集到的直线电机三相电流 和三相电压 ，经过Clark变换得到 和 ，其变换后的信号作为滑模观测器的输入信号，经基于锁相环的滑模观测器提取出其中的位置和速度信息，经滤波后输出，霍尔传感器得到的位置信息和基于锁相环的滑模观测器得到的位置信息进行加权平均后，最终得到直线电机动子的实际位置。 Through the previous analysis, combined with the advantages of the Hall sensor and the sliding mode observer, the present invention uses the algorithm structure shown in Figure 10 to calculate the linear motor position information. The Hall sensor outputs Hall signals Ha, Hb, Hc, and the improved average acceleration algorithm solves the position and speed information; at the same time, based on the collected three-phase current of the linear motor and three-phase voltage , obtained through Clark transformation and , the transformed signal is used as the input signal of the sliding mode observer, and the position and velocity information are extracted by the sliding mode observer based on the phase-locked loop. After filtering, the position information obtained by the Hall sensor and the phase-locked loop-based sliding mode observer are output. After the position information obtained by the sliding mode observer of the ring is weighted and averaged, the actual position of the linear motor motor is finally obtained.
在启动和低速阶段使用霍尔传感器获取位置，当直线电机高速运动时，使用基于锁相环的滑模观测器和霍尔传感器相结合的方法，减小霍尔传感器的误差和算法滞后，相较于单一的霍尔传感器或者滑模观测器，两种方法结合的位置算法结构可以使估算的位置信息更加准确，抗干扰能力更加强大。The Hall sensor is used to obtain the position during the startup and low-speed stages. When the linear motor moves at high speed, a method combining the sliding mode observer based on the phase-locked loop and the Hall sensor is used to reduce the error of the Hall sensor and algorithm lag. Compared with a single Hall sensor or sliding mode observer, the position algorithm structure combining the two methods can make the estimated position information more accurate and have stronger anti-interference ability.
3 实验3 experiments
3.1 霍尔传感器上电测试3.1 Hall sensor power-on test
霍尔编码器PCB板制作完成后，需要对其进行上电测试以验证电源电路的正常工作，测试霍尔信号输出，确定其是否与预期信号相同，使用24V开关电源给霍尔编码器供电，使用万用表测量电源信号，电源模块稳定输出约3.3V，使用示波器分别测量两霍尔电路及三霍尔电路，将霍尔编码器在一块次级磁钢上滑动，记录霍尔输出信号。After the Hall encoder PCB board is produced, it needs to be powered on and tested to verify the normal operation of the power circuit. Test the Hall signal output to determine whether it is the same as the expected signal. Use a 24V switching power supply to power the Hall encoder. Use a multimeter to measure the power signal. The power module outputs about 3.3V stably. Use an oscilloscope to measure the two Hall circuits and the three Hall circuits respectively. Slide the Hall encoder on a secondary magnet to record the Hall output signal.
两霍尔电路输出波形中，无磁场时输出端口拉高输出高电平，所以，当有磁场滑过时，电位由高变低。In the output waveforms of the two Hall circuits, when there is no magnetic field, the output port pulls up and outputs a high level. Therefore, when a magnetic field passes through, the potential changes from high to low.
三霍尔电路输出波形中，三霍尔空间位置是按照120°间距排列的，所以，当有磁场滑过时，会产生相差120°的矩形波。In the output waveform of the three-Hall circuit, the spatial positions of the three Halls are arranged at a distance of 120°. Therefore, when a magnetic field passes through, a rectangular wave with a phase difference of 120° will be generated.
寄存器输出测试波形中，寄存器输出幅值为3.3V，输出周期为50us，可以验证其功能正常。通过RS485输出波形，可见RS485通讯正常。In the register output test waveform, the register output amplitude is 3.3V and the output period is 50us, which can verify its normal function. Through the RS485 output waveform, it can be seen that the RS485 communication is normal.
3.2 动磁式直线电机测试3.2 Moving magnet linear motor test
通过设计模组和电机，将霍尔编码器装配进模组，。By designing the module and motor, the Hall encoder is assembled into the module.
对直线电机进行反电动势测试，示波器连接定子线圈的三相电源线，匀速推动动子磁钢，采集到的波形中，经计算直线电机实测反电动势为57.69V/m/s，通过直线电机仿真的反电动势为60 V/m/s。通过对霍尔位置传感器的输出信号分析，动子运动时，每一个极距输出3000个脉冲，其分辨率可以达到10um，直线电机达到设计要求。Conduct a back electromotive force test on the linear motor. The oscilloscope is connected to the three-phase power line of the stator coil and the mover magnet is pushed at a constant speed. From the collected waveform, the measured back electromotive force of the linear motor is calculated to be 57.69V/m/s. Through linear motor simulation The back electromotive force is 60 V/m/s. Through the analysis of the output signal of the Hall position sensor, when the mover moves, each pole outputs 3000 pulses, its resolution can reach 10um, and the linear motor meets the design requirements.
4 结论4 Conclusion
本发明针对初级分段式直线电机的位置反馈问题，设计初级分段式直线电机的结构，其实测数据与仿真数据基本接近，符合设计要求，在此基础上设计用于动子位置反馈的霍尔位置传感器，通过上电测试，其各项功能正常运行，在提高位置反馈精度上，采用霍尔位置传感器反馈与无位置传感器反馈相结合的算法结构，增强了位置反馈***的抗干扰性，通过测量霍尔位置传感器的输出脉冲信号，分辨率可达10um，可以满足初级分段式直线电机高速高精的要求。Aiming at the problem of position feedback of the primary segmented linear motor, the present invention designs the structure of the primary segmented linear motor. The measured data and the simulated data are basically close to each other and meet the design requirements. On this basis, a sensor for mover position feedback is designed. Hall position sensor, after power-on test, its functions are running normally. In order to improve the position feedback accuracy, an algorithm structure that combines Hall position sensor feedback and position sensorless feedback is adopted to enhance the anti-interference of the position feedback system. By measuring the output pulse signal of the Hall position sensor, the resolution can reach 10um, which can meet the high-speed and high-precision requirements of the primary segmented linear motor.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention. All substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

  1. 一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device, which is characterized by:
    所述初级分段式直线电机的初级包括两个定子，每个定子由绕组线圈组成，次级包括一个动子，由一个磁钢排列的铁板构成，铁板上N极磁铁和S极磁铁交替排列，所述动子的长度大于单个定子的长度；每个定子上均安装有一套动子位置检测装置；其中，The primary stage of the primary segmented linear motor includes two stators, each of which is composed of a winding coil. The secondary stage includes a mover, which is composed of an iron plate arranged with magnetic steel. On the iron plate, there are N-pole magnets and S-pole magnets. Arranged alternately, the length of the movers is greater than the length of a single stator; each stator is equipped with a set of mover position detection devices; wherein,
    每套所述动子位置检测装置包括两个主控板和一个长条段板子，所述两个主控板分别安装在一个定子的两端，所述长条段板子连接两个主控板并贴合在所述定子的底面上；Each set of the mover position detection device includes two main control boards and a long section board. The two main control boards are installed at both ends of a stator. The long section board connects the two main control boards. And fit on the bottom surface of the stator;
    每个主控板与长条段板子上均设有霍尔电路。Each main control board and long section board are equipped with Hall circuits.
  2. 根据权利要求1所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 1, characterized in that:
    所述两个定子之间的距离加上单个定子长度等于所述动子的长度。The distance between the two stators plus the length of a single stator equals the length of the mover.
  3. 根据权利要求1或2所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 1 or 2, characterized in that:
    每个主控板上设有三霍尔电路，每个长条段板子上设有两霍尔电路。Each main control board is equipped with three Hall circuits, and each long segment board is equipped with two Hall circuits.
  4. 根据权利要求3所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 3, characterized in that:
    每个主控板还包括MCU电路、通信电路和电源电路，所述长条段板子还包括寄存器电路，所述MCU电路分别连接三霍尔电路、电源电路、通信电路、寄存器电路，所述寄存器电路还连接所述两霍尔电路和一个主控板内的三霍尔电路。Each main control board also includes an MCU circuit, a communication circuit and a power supply circuit. The long section board also includes a register circuit. The MCU circuit is connected to the three Hall circuits, the power circuit, the communication circuit and the register circuit respectively. The register circuit The circuit also connects the two Hall circuits and a three Hall circuit in the main control board.
  5. 根据权利要求4所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 4, characterized in that:
    每个所述电源电路分别连接所在主控板内的三霍尔电路、MCU电路、通信电路，其中一个电源电路连接所述两霍尔电路。Each of the power circuits is respectively connected to the three Hall circuits, the MCU circuit and the communication circuit in the main control board, and one of the power circuits is connected to the two Hall circuits.
  6. 根据权利要求4或5所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 4 or 5, characterized in that:
    每个所述三霍尔电路或两霍尔电路的霍尔信号送至所述MCU电路的ADC采样接口，经MCU电路对其对应扇区进行编码后，通过芯片内部算法来计算动子的速度与位置，并将计算的动子位置和速度通过通信电路发送到上位机或驱动器。The Hall signal of each of the three Hall circuits or the two Hall circuits is sent to the ADC sampling interface of the MCU circuit. After the corresponding sector is encoded by the MCU circuit, the speed of the mover is calculated through the chip's internal algorithm. and position, and send the calculated mover position and speed to the host computer or driver through the communication circuit.
  7. 根据权利要求6所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 6, characterized in that:
    所述两个主控板包括第一主控板和第二主控板；The two main control boards include a first main control board and a second main control board;
    所述上位机或驱动器通过RS232、RS485、JATG与第一主控板实现数据通信和程序下载，所述上位机或驱动器通过RS232与第二主控板通讯，第一主控板通过串口通信和电源线同时向第二主控板提供电源和中断。The host computer or driver implements data communication and program downloading with the first main control board through RS232, RS485, and JATG. The host computer or driver communicates with the second main control board through RS232. The first main control board communicates with the first main control board through the serial port. The power cord provides both power and interrupts to the second main control board.
  8. 根据权利要求6或7所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 6 or 7, characterized in that:
    所述上位机或驱动器与每套所述动子位置检测装置通过RS485实现一对多信号传输，实时获取每个定子上动子的运动情况，并设置两个定子之间的安全间距。The host computer or driver and each set of the mover position detection devices realize one-to-many signal transmission through RS485, obtain the movement of the movers on each stator in real time, and set a safe distance between the two stators.
  9. 根据权利要求3所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 3, characterized in that:
    所述三霍尔电路和两霍尔电路安装在同一平面内。The three Hall circuits and the two Hall circuits are installed in the same plane.
  10. 根据权利要求6所述的一种初级分段式直线电机动子位置检测装置，其特征在于：A primary segmented linear motor position detection device according to claim 6, characterized in that:
    所述芯片内部算法为以下中的一种：平均加速度法、使用q轴电流计算加速度的方法、或使用基于锁相环的滑模观测器和霍尔传感器相结合的方法。The internal algorithm of the chip is one of the following: the average acceleration method, the method of calculating acceleration using q-axis current, or the method of using a sliding mode observer based on a phase-locked loop combined with a Hall sensor.
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