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A servo motor with encoder function and its position detection method

A servo motor and detection method technology, applied in the field of servo motor research, can solve problems that cannot be overcome at the same time, achieve the effects of improving structural strength and reliability, reducing volume, and reducing production costs

Active Publication Date: 2016-09-21
GSK CNC EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned improvements are only improved for one of the problems, and cannot overcome the above-mentioned two problems at the same time, and the above-mentioned two problems are key factors affecting the normal operation of the servo motor. Therefore, how to overcome the above-mentioned two problems at the same time is of great importance. research significance

Method used

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  • A servo motor with encoder function and its position detection method
  • A servo motor with encoder function and its position detection method
  • A servo motor with encoder function and its position detection method

Examples

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Embodiment 1

[0035] Such as figure 1 , 2 , 3, the servo motor with the encoder function described in this embodiment includes the rotor 1 and the stator 3 of the traditional motor. The present invention proposes to set the tooth structure 2 on the rotor magnetic tile 11. The tooth structure 2 of the present embodiment shape structure such as image 3 Shown in 21, it is arc-shaped. Here the toothed structure acts as the magnetic grid of the encoder.

[0036] The servo motor also includes a first Hall element 4 (Hall element A in this example), a second Hall element 8 (Hall element B in this example), a zero Hall element 7, a PCB circuit board 5 and a zero magnet 6 , wherein the first Hall element 4, the zero Hall element 7, the PCB circuit board 5, the zero magnet 6, and the positional relationship between the rotor magnetic tile 11 are as follows figure 1 , 2 , 3, the position of the zero point magnet 6 in the motor is as follows figure 2 shown.

[0037] Such as Image 6 As shown,...

example 1

[0053] Example 1: Assume that the current motor rotor rotates to the 14th magnetic grid period, and Figure 14 At point A, since point A is within the interval of 0 to T / 8, it is an increasing interval, so after AD samples sinθ and cosθ values, calculate |tanθ| value, |tanθ|=210, look up the table to get the subdivision 0X0F, the 14th magnetic grid cycle is converted to 0X0E of 16 progress, the magnetic grid cycle number is high, and the subdivision value is low, combined: 0X0E&0X0F=0X0E0F, so the current absolute position value of point A is 0X0E0F.

example 2

[0054] Example 2: Assume that the current motor rotor rotates to the 60th magnetic grid period, and Figure 14 At point B, because point B is within the interval of 5T / 8~3T / 4, it is a decreasing interval, so after AD samples the values ​​of sinθ and cosθ, calculate |cotθ| value, |cotθ|=105, look up the table The score is 0XB6, the 60th magnetic grid cycle is converted to 0X3C with 16 progress, the magnetic grid cycle number is high, and the subdivision value is low, merge: 0X3C&0XB6=0X3CB6, so the current absolute position value of point B is 0X3CB6.

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Abstract

The invention discloses a servo motor with an encoder function and a position detection method thereof. The single edge of the rotor magnetic tile of the servo motor is provided with a tooth-shaped structure. When the rotor rotates, the rotor magnetic tile and the Hall element Generate relative displacement; the Hall element includes the first Hall element and the second Hall element, both positions are facing the circular track of the rotor magnetic grid movement, and the included angle conforms to the rule of (n±1 / 4)T , where n is an integer and T represents a period of the magnetic grid. The method is: the rotor magnetic tile rotates to generate an alternating magnetic field, the first Hall element and the second Hall element respectively convert the alternating magnetic field into an alternating voltage signal and output it to the signal processing circuit, and the signal processing circuit according to the collected The relationship between the waveforms of these two signals, the signal is converted into a position signal or a pulse signal and then output to the servo driver. The invention realizes the integration of the servo motor and the encoder, has compact structure, small volume, and high structural strength and reliability.

Description

technical field [0001] The invention relates to the research field of servo motors, in particular to a servo motor with an encoder function and a position detection method thereof. Background technique [0002] At present, in order to realize the position detection function of the traditional servo motor, an encoder is generally installed outside the motor body. This structure makes the overall volume of the motor larger. At the same time, the existing encoders are all photoelectric and magnetic, which have the disadvantages of low protection level, poor strength, and poor impact resistance. [0003] Aiming at the above two problems, researchers in this field have proposed some improved methods. For example, in view of the problem of large motor volume, the patent publication No. CN1815860A discloses a small motor with an encoder. The motor is detected by setting a driving magnet and a signal magnet, thereby realizing miniaturization. Aiming at the shortcomings of encoders...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02K11/215H02K1/22H02P6/16H02P6/17
Inventor 何敏佳湛文亮吴维玲
Owner GSK CNC EQUIP
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