A displacement and velocity integrated sensor

Abstract

The present invention discloses an integrated displacement and velocity sensor with a novel and reasonable structure. The linear displacement measurement portion is based on the LVDT sensor principle. The linear displacement measurement portion and the velocity passive sensing portion are rigidly connected to ensure synchronous motion. Based on this design, the displacement and velocity of the object being measured can be directly observed simultaneously. It is mainly suitable for applications with high demands on linear servo control and can fundamentally eliminate the fluctuation problems and velocity phase lag problems caused by differential velocity calculation. Displacement is measured using the LVDT principle, and velocity is measured using the passive sensing principle. The sensor adopts a series structure as a whole, using a radially magnetized annular permanent magnet and a magnetic rod to form the velocity measurement rod. It does not require an external excitation signal and can effectively constrain the main magnetic flux, thereby reducing leakage magnetic flux and its interference with the velocity gain parameter, thereby increasing the measurement accuracy of the sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a displacement and velocity integrated sensor. Background Art

[0002] Displacement sensors are essential feedback elements in motion servo control. Displacement-velocity multi-loop cascade control is currently widely used in closed-loop control to achieve better dynamic performance. Currently, the target velocity is often obtained indirectly through displacement differentiation. However, the differentiated velocity data is affected by displacement signal noise, resulting in significant velocity fluctuations that hinder precise servo control. While velocity signal filtering can suppress velocity fluctuations to a certain extent, the filter installation structure is complex, and the filtering process can cause additional velocity phase lag, potentially introducing greater control errors and increasing servo control inaccuracy.

[0003] Therefore, it is necessary to design a new type of integrated displacement and velocity sensor to overcome the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a new type of integrated displacement and velocity sensor, which can directly observe the target velocity and avoid the accuracy error caused by displacement differential. At the same time, the overall structure of the sensor is simplified and the difficulty of installation and arrangement is reduced, which can solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides an integrated displacement and velocity sensor, comprising a measured object connecting rod, a linear displacement measuring part, a velocity passive sensing part and a magnetic conductive shell, wherein: the linear displacement measuring part is arranged in the magnetic conductive shell, the linear displacement measuring part comprises a first secondary coil, a primary coil, an iron core, a second secondary coil and a bobbin one, the bobbin one is fixed in the magnetic conductive shell, the primary coil is wound around the outside of the bobbin one, the first secondary coil and the second secondary coil are wound around the outside of the primary coil in a symmetrical manner; a bobbin through hole one is coaxially provided in the bobbin one, the iron core is slidably installed in the bobbin through hole one and is coaxial with the bobbin; the velocity passive sensing part is arranged in the magnetic conductive shell, the velocity passive sensing part comprises a first coil, a first permanent magnet, a magnetic conductive rod, a second coil, a second permanent magnet and a bobbin 2. The bobbin 2 is fixed in the magnetic shell, and the bobbin 2 has a coaxial bobbin through hole 2. The magnetic rod is slidably installed in the bobbin through hole 2 and is coaxial with the bobbin 2; the first permanent magnet and the second permanent magnet are both annular permanent magnets, and the first permanent magnet and the second permanent magnet are respectively mounted on the two ends of the magnetic rod, and the magnetization directions of the first permanent magnet and the second permanent magnet are opposite; the first coil and the second coil are symmetrically wound on the outside of the bobbin 2, and the first coil corresponds to the first permanent magnet, and the second coil corresponds to the second permanent magnet; the object to be measured connecting rod is used to connect the object to be measured, and the object to be measured connecting rod movably passes through one end of the magnetic shell and is rigidly connected to one end of the iron core; the other end of the iron core is rigidly connected to the magnetic rod through a connecting piece, so that the magnetic rod moves synchronously with the iron core under the drive of the object to be measured connecting rod.

[0006] In some embodiments, the connecting member is a magnetic isolation connecting rod.

[0007] In some embodiments, the magnetic isolation connecting rod is a straight rod, a spiral rod or a bent rod.

[0008] In some embodiments, a coil separation ring 1 is provided between the first secondary coil and the second secondary coil; and a coil separation ring 2 is provided between the first coil and the second coil.

[0009] In some embodiments, the first bobbin and the second bobbin are coaxially arranged, and the measured object connecting rod, the iron core, and the magnetic rod are coaxially arranged.

[0010] In some embodiments, the first spool and the second spool are provided as separate bodies.

[0011] In some embodiments, the first spool and the second spool are integrally formed into one spool.

[0012] In some embodiments, the first secondary coil, the second secondary coil, the first coil, and the second coil are sequentially arranged along the axial direction of the bobbin.

[0013] In some embodiments, a coil separation ring three is provided between the second secondary coil and the first coil.

[0014] In some embodiments, the magnetic conductive shell includes a magnetic conductive shell with two ends open, and the bobbin one and the bobbin two are both arranged in the magnetic conductive shell and are both coaxially arranged with the magnetic conductive shell; the two ends of the magnetic conductive shell are respectively configured with a first end cover and a second end cover.

[0015] Compared with the prior art, the present invention achieves the following technical effects: The integrated displacement and velocity sensor proposed in the present invention has a novel and reasonable structure. The linear displacement measurement portion is based on the LVDT sensor principle. The linear displacement measurement portion and the velocity passive sensing portion are rigidly connected to ensure the synchronization of movement. Based on this design, the displacement and velocity of the object being measured can be directly observed simultaneously. It is mainly suitable for occasions with high requirements for linear servo control and can fundamentally eliminate the fluctuation problems and velocity phase lag problems caused by differential velocity calculation. Displacement is measured using the LVDT principle, and velocity is measured using the passive sensing principle. The sensor adopts a series structure as a whole, using a radially magnetized annular permanent magnet and a magnetic rod to form the velocity measurement rod. It does not require an external excitation signal and can effectively constrain the main magnetic flux, which can reduce leakage magnetic flux and its interference with the velocity gain parameter, thereby increasing the measurement accuracy of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of the overall structure of the integrated displacement and velocity sensor disclosed in an embodiment of the present invention.

[0018] Figure 2 This is a lead diagram of the linear displacement measurement part disclosed in an embodiment of the present invention.

[0019] Figure 3 This is a lead diagram of the passive sensing measurement part disclosed in an embodiment of the present invention.

[0020] Figure 4 This is a partial magnetic circuit diagram of the passive induction measurement disclosed in an embodiment of the present invention.

[0021] In the figure, the reference numerals are: 100, displacement and velocity integrated sensor; 1, measured object connecting rod; 2, first end cover; 3, magnetic shell; 4, first secondary coil; 5, primary coil; 6, iron core; 7, second secondary coil; 8, bobbin; 9, magnetic isolation connecting rod; 10, first coil; 11, first permanent magnet; 12, magnetic rod; 13, second coil; 14, second permanent magnet; 15, second end cover; 16, coil separation ring one; 17, coil separation ring two; 18, coil separation ring three. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] The purpose of the present invention is to provide a new type of displacement and velocity integrated sensor, which can directly observe the target velocity and avoid the accuracy error caused by displacement differential. At the same time, the overall structure of the sensor is simplified and the difficulty of installation and layout is reduced.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1: Figure 1 As shown, this embodiment provides a displacement and velocity integrated sensor 100, which includes a measured object connecting rod 1, a linear displacement measuring part, a velocity passive sensing part and a magnetic conductive shell. The linear displacement measuring part and the velocity passive sensing part are both arranged in the magnetic conductive shell and arranged in sequence along the length direction of the magnetic conductive shell, wherein: the linear displacement measuring part includes a first secondary coil 4, a primary coil 5, an iron core 6, a second secondary coil 7 and a bobbin 8, and the linear displacement measuring part adopts a two-section laminated structure. The first secondary coil 4 and the second secondary coil 7 are symmetrically wound around the outside of the primary coil 5, and the primary coil 5 is wound around the outside of the first end of the bobbin 8. The iron core 6 is installed in the inner hole of the bobbin 8 and remains coaxial with the bobbin 8. The measured object connecting rod 1 passes through one end cover of the magnetic conductive shell and is connected to the iron core 6 as a whole to form a displacement measuring rod; as shown Figure 2 As shown, the primary coil 5 of the linear displacement measurement part includes two leads and is driven by an external input excitation signal U i The first secondary coil 4 and the second secondary coil 7 are connected in series in reverse order and output the measurement signal U through two leads. oThe overall working principle of the linear displacement measurement part is basically the same as that of the conventional LVDT (full name Linear Variable Displacement Transducer, which is the abbreviation of linear variable differential transformer, a mature linear displacement sensor), and will not be repeated here.

[0026] The speed passive sensing part includes a magnetic isolation connecting rod 9, a first coil 10, a first permanent magnet 11, a magnetic conductive rod 12, a second coil 13 and a second permanent magnet 14. Figure 1 and Figure 4 As shown, the magnetic isolation connecting rod 9, the first permanent magnet 11, the second permanent magnet 14 and the magnetic conductive rod 12 are connected as a whole to form a speed measuring rod and installed in the inner hole of the bobbin 8, wherein the magnetic isolation connecting rod 9 is rigidly connected and coaxial with the iron core 6, the magnetic conductive rod 12 is coaxially connected with the magnetic isolation connecting rod 9, the first permanent magnet 11 is arranged on the magnetic conductive rod 12 and is located at the end of the magnetic conductive rod 12 close to the magnetic isolation connecting rod 9, the second permanent magnet 14 is arranged on the magnetic conductive rod 12 and is located at the end of the magnetic conductive rod 12 away from the magnetic isolation connecting rod 9. The first coil 10 and the second coil 13 are symmetrically wound around the outside of the second end of the bobbin 8, and the second end of the bobbin 8 is fixed to the other end cover of the magnetic conductive shell. As shown Figure 3 As shown, the speed passive sensing part has only two measuring coils (i.e., the first coil 10 and the second coil 13), and no excitation coil is required. The first coil 10 and the second coil 13 are connected in series in reverse order and output the speed signal E through two leads. o , after reverse series connection, a differential output can be obtained to increase the speed gain. The basic principle of the speed passive sensing part is induced electromotive force. According to Faraday's law of electromagnetic induction, the induced electromotive force e=BLV, where: B is the magnetic induction intensity tangent to the coil, and the magnetic field is provided by the first permanent magnet 11 and the second permanent magnet 14. L is the length of the coil in the magnetic field, and V is the speed of the moving object. When the product of the magnetic induction intensity B and the coil length L in the magnetic field remains unchanged, the induced electromotive force e is proportional to the moving object's speed V. Therefore, the key to speed measurement lies in how to keep the product of the magnetic induction intensity B and the coil length L in the magnetic field constant. The product of BL is the speed gain coefficient of the speed passive sensing part.

[0027] In some embodiments, the magnetic conductive housing includes a columnar magnetic conductive shell 3 with two ends open, and the openings at both ends of the magnetic conductive shell 3 are respectively provided with a first end cover 2 and a second end cover 15. Figure 1 As shown, the connecting rod 1 of the object to be measured passes through the first end cap 2 and is connected to the iron core 6 as a whole. The second end of the spool 8 is fixedly connected to the second end cap 15. The first end cap 2 and the second end cap 15 are preferably connected to the magnetic shell 3 by plug-in connection or threaded connection. The spool 8 can be fixed to the second end cap 15 by a connection method including but not limited to bonding.

[0028] In some embodiments, the first permanent magnet 11 and the second permanent magnet 14 are preferably radially magnetized annular permanent magnets (also called "radial permanent magnets"). The first permanent magnet 11 and the second permanent magnet 14 are respectively connected to the magnetic rod 12 through their respective center holes, and the first permanent magnet 11 and the second permanent magnet 14 are symmetrically fixed at both ends of the magnetic rod 12 (the first permanent magnet 11 and the second permanent magnet 14 are rigidly connected to the magnetic rod 12). The annular permanent magnet has a small axial length, and an approximately constant BL can be obtained, such as Figure 4 The figure shows the magnetic circuit diagram of the speed passive induction measurement part. The first permanent magnet 11 and the second permanent magnet 14 are both radially magnetized permanent magnets, but the magnetization directions of the two are opposite. Figure 4 The direction of the permanent magnet is marked with an arrow. The magnetic circuit starts from the N pole of the outer cylindrical surface of the first permanent magnet 11. The magnetic field passes through the bobbin 8 and the first coil 10, enters the magnetic shell 3, and passes through the second coil 13 and the bobbin 8 in the opposite direction under the conduction of the magnetic shell 3, enters the S pole of the outer cylindrical surface of the second permanent magnet 14 and passes through it. Then, it passes out from the N pole of the inner cylindrical surface of the second permanent magnet 14, enters the magnetic rod 12 and conducts to the S pole of the inner cylindrical surface of the first permanent magnet 11, and finally returns to the N pole of the outer cylindrical surface of the first permanent magnet 11. It can be seen from this that after the object to be measured is connected to the object to be measured by the connecting rod 1, when the first permanent magnet 11 and the second permanent magnet 14 are driven left and right by the object to be measured (this left and right direction is Figure 1 When the permanent magnet 11 and the second permanent magnet 14 move in the horizontal direction (which is parallel to the axial direction of the bobbin 8 and the magnetic shell 3), the magnetic field will inevitably cut through the coil, generating an induced electromotive force. The coil cut by the permanent magnet's magnetic field is mainly concentrated in the permanent magnet's projected area. When the axial dimension of the coil is much larger than the axial length of the permanent magnet, the BL product can be kept approximately constant. To this end, the first permanent magnet 11 and the second permanent magnet 14 have relatively small axial dimensions and remain respectively within the first coil 10 and the second coil 13 throughout the entire movement process. The first permanent magnet 11 and the second permanent magnet 14 are magnetized in opposite directions and are connected by the magnetic rod 12. This effectively constrains the main magnetic flux, reduces leakage magnetic flux and its interference with the BL product, and is conducive to improving linearity.

[0029] It should be noted that the ratio of the axial lengths of the annular permanent magnets (i.e., the first permanent magnet 11 and the second permanent magnet 14) and the corresponding coils is related to the measurement range. At the maximum displacement range, the distance between the outer end face of the annular permanent magnet and the end face on the same side of the corresponding coil should be greater than twice the axial length of the annular permanent magnet. That is, in the passive velocity sensing portion, the sum of the axial lengths of the first coil 10 and the second coil 13 (i.e., the distance between the outer end faces of the first coil 10 and the second coil 13) should be no less than four times the sum of the axial lengths of the annular permanent magnets, the displacement range, and the distance between the outer end faces of the two annular permanent magnets.

[0030] In some embodiments, the coils of the linear displacement measurement part and the speed passive sensing part are wound on the same bobbin 8, which can ensure coaxiality and facilitate subsequent installation.

[0031] In some embodiments, Figure 1 As shown, the section of the bobbin 8 where the linear displacement measurement part is installed is provided with a coil separation ring 16, which is located between the first secondary coil 4 and the second secondary coil 7. The coil separation ring 16 has a magnetic isolation function and is used to symmetrically separate the first secondary coil 4 and the second secondary coil 7 to avoid mutual interference between the first secondary coil 4 and the second secondary coil 7.

[0032] In some embodiments, Figure 1 and Figure 4 As shown, the section of the bobbin 8 where the speed passive sensing part is installed is provided with a coil separation ring 2 17, which is located between the first coil 10 and the second coil 13. The coil separation ring 2 17 has a magnetic isolation function and is used to symmetrically separate the first coil 10 and the second coil 13 to avoid mutual interference between the first coil 10 and the second coil 13.

[0033] In some embodiments, Figure 1 As shown, a coil separation ring three 18 is provided on the bobbin 8 in the section between the linear displacement measuring part and the speed passive sensing part. The coil separation ring three 18 is located between the second secondary coil 7 of the linear displacement measuring part and the first coil 10 of the speed passive sensing part. The coil separation ring three 18 has a magnetic isolation function to separate the second secondary coil 7 from the first coil 10. Together with the magnetic isolation connecting rod 9 located between the displacement measuring rod and the speed measuring rod, it can effectively prevent mutual interference between the linear displacement measuring part and the speed passive sensing part.

[0034] When in working state, the object to be measured connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9 and the magnetic rod 12 on which the first permanent magnet 11 and the second permanent magnet 14 are installed are coaxially and rigidly connected to form a measuring rod assembly. The measuring rod assembly is finally connected to the object to be measured as a whole through the object to be measured connecting rod 1. The setting of the magnetic isolation connecting rod 9 can effectively avoid mutual interference between the two measuring parts.

[0035] In some embodiments, the rigid connection methods for adjacent components of the measured object connecting rod 1, iron core 6, magnetic isolation connecting rod 9, and magnetic conductive rod 12 include, but are not limited to, common connection methods such as bonding, riveting, interference fit, and pipe clamp connection. The first permanent magnet 11 and the second permanent magnet 14 can be fixed to the magnetic conductive rod 12 using common connection methods including, but not limited to, clamping with steel clamps, adhesive fixation, and screw fixation.

[0036] In some embodiments, the magnetic isolation connecting rod 9 is preferably made of non-ferromagnetic material.

[0037] Working principle: Initially, the iron core 6 is located at the center of the primary coil 5. The secondary coil outputs positive and negative signals to indicate the displacement direction according to the displacement direction. At the same time, the first permanent magnet 11 and the second permanent magnet 14 are located at the center of the first coil 10 and the second coil 13 respectively. Figure 2 As shown, the primary coil 5 includes two leads for external input of the excitation signal U i The first secondary coil 4 and the second secondary coil 7 are connected in series in reverse order and output the measurement signal U through two leads. o The first coil 10 and the second coil 13 are connected in series in reverse order and then output the speed signal E through two leads. o , after reverse series connection, differential output can be obtained to improve speed gain.

[0038] The object to be measured connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9 and the magnetic rod 12 on which the first permanent magnet 11 and the second permanent magnet 14 are installed are coaxially and rigidly connected to form a measuring rod assembly, which is ultimately connected to the object to be measured as a whole through the object to be measured connecting rod 1; the iron core 6 and the magnetic rod 12 are rigidly connected through the magnetic isolation connecting rod 9 made of non-ferromagnetic material, so that the displacement measurement and the speed measurement remain relatively independent. At the same time, since the two are combined into one, the theoretical deviation problem caused by different measuring points can be eliminated.

[0039] The basic principle of the passive speed sensing component is the induced electromotive force, which is used to maintain a nearly constant product of the magnetic induction intensity B and the coil length L in the magnetic field. This solution uses an annular permanent magnet with an axial length much smaller than the coil length to achieve a nearly constant BL. Furthermore, the first and second permanent magnets have small axial dimensions and remain within the first and second coils throughout the entire motion process. The first and second permanent magnets are magnetized in opposite directions and connected by a magnetic rod 12, effectively constraining the main magnetic flux and reducing leakage flux and its interference with the speed gain parameters.

[0040] It can be seen that the integrated displacement and velocity sensor 100 proposed in this solution is essentially an integrated sensor that can directly observe the linear displacement and velocity parameters of the measured target. It is mainly suitable for applications with high demands on linear servo control and can fundamentally eliminate the fluctuation problems and velocity phase lag problems caused by differential velocity calculation. Displacement is measured using the LVDT principle, and velocity is measured using the passive induction principle. The sensor adopts a series structure as a whole, using a radially magnetized annular permanent magnet and a magnetic rod to form the speed measurement rod. It does not require an external excitation signal and can effectively constrain the main magnetic flux, thereby reducing leakage magnetic flux and its interference with the velocity gain parameter. The specific beneficial effects are as follows.

[0041] (1) The displacement and velocity integrated sensor designed in this scheme has a linear displacement measurement part based on the LVDT sensor principle. The linear displacement measurement part and the velocity passive sensing part are rigidly connected to ensure the synchronization of movement. At the same time, anti-interference components such as magnetic isolation connecting rods and separation rings are provided to ensure the independent operation of each coil part without interfering with each other. Based on the above structural design, the displacement and velocity of the object under test can be directly observed at the same time, avoiding the velocity fluctuation problem caused by differential calculation of conventional methods; in addition, the linear displacement measurement part and the velocity passive sensing part are rigidly connected, and no filter is required, which avoids the velocity phase lag problem that may be caused by filtering processing, effectively reduces the measurement error, and increases the measurement accuracy of the sensor.

[0042] (2) The displacement and velocity integrated sensor designed in this scheme, the linear displacement measurement part and the velocity passive sensing part are both based on non-contact measurement methods and have an almost unlimited mechanical service life.

[0043] (3) The displacement and velocity integrated sensor designed in this scheme has a displacement and velocity measurement resolution that is independent of its structure and depends entirely on the signal processing circuit.

[0044] (IV) The displacement and velocity integrated sensor designed in this scheme adopts the passive sensing principle for velocity measurement and does not require any external excitation signal, thus fundamentally eliminating the output nonlinearity caused by the instability of the excitation signal.

[0045] (5) The displacement and velocity integrated sensor designed in this solution only needs to form a measuring rod assembly, which is convenient for sensor installation and arrangement. Compared with the existing technology, it simplifies the sensor structure and solves the problem of complex installation structure of the existing sensor.

[0046] Example 2: This example provides an integrated displacement and velocity sensor 100 , which differs from Example 1 only in that the bobbin 8 can be fixedly connected to the side wall of the magnetic shell 3 by bonding, fixing with a pipe clamp, etc., instead of being fixed to the second end cover 15 .

[0047] The working principle and technical effects of the integrated displacement and velocity sensor 100 of this embodiment are the same as those of the first embodiment, and are not described in detail here.

[0048] Example 3: This example provides an integrated displacement and velocity sensor 100, which differs from Example 1 only in that the bobbin 8 in Example 1 is a single whole shaft, while this example provides separate and coaxial bobbin 1 and bobbin 2. Bobbin 1 and bobbin 2 can be fixedly connected to the side wall of the magnetic shell 3 by bonding, pipe clamp fixation, etc., or can be fixed to the two end covers respectively.

[0049] During actual installation and application, the separately arranged spools 1 and 2 can be arranged at intervals or in close proximity.

[0050] The working principle and technical effects of the integrated displacement and velocity sensor 100 of this embodiment are the same as those of the first embodiment, and are not described in detail here.

[0051] Example 4: This example provides an integrated displacement and velocity sensor 100. The only difference between this example and Examples 1-3 is that, in Examples 1-3, the measured object connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9, and the magnetic rod 12 equipped with the first permanent magnet 11 and the second permanent magnet 14 are coaxially arranged. In this example, the magnetic isolation connecting rod 9 can be a U-shaped elbow, an S-shaped elbow, or a threaded elbow, which can rigidly connect the iron core 6 and the magnetic rod 12. However, the iron core 6 and the magnetic rod 12 are not coaxial, but only parallel. With this design, the working process and technical effects of Example 1 can still be basically achieved.

[0052] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A displacement and velocity integrated sensor, characterized in that: It includes a connecting rod of the object to be measured, a linear displacement measuring part, a speed passive sensing part and a magnetic conductive shell, wherein: the linear displacement measuring part is arranged in the magnetic conductive shell, the linear displacement measuring part includes a first secondary coil, a primary coil, an iron core, a second secondary coil and a bobbin one, the bobbin one is fixed in the magnetic conductive shell, the primary coil is wound around the outside of the bobbin one, the first secondary coil and the second secondary coil are wound around the outside of the primary coil in a symmetrical manner; a bobbin through hole one is coaxially provided in the bobbin one, the iron core is slidably installed in the bobbin through hole one and is coaxial with the bobbin; the speed passive sensing part is arranged in the magnetic conductive shell, the speed passive sensing part includes a first coil, a first permanent magnet, a magnetic conductive rod, a second coil, a second permanent magnet and a bobbin two, the bobbin two is fixed in the magnetic conductive shell, A second bobbin through hole is coaxially provided in the second bobbin, and the magnetic rod is slidably installed in the second bobbin through hole and is coaxial with the second bobbin; the first permanent magnet and the second permanent magnet are both annular permanent magnets, and the first permanent magnet and the second permanent magnet are respectively mounted on the two ends of the magnetic rod, and the magnetization directions of the first permanent magnet and the second permanent magnet are opposite; the first coil and the second coil are symmetrically wound on the outside of the second bobbin, and the first coil corresponds to the first permanent magnet, and the second coil corresponds to the second permanent magnet; the object to be measured connecting rod is used to connect the object to be measured, and the object to be measured connecting rod movably passes through one end of the magnetic conductive shell and is rigidly connected to one end of the iron core; the other end of the iron core is rigidly connected to the magnetic rod through a connecting piece, so that the magnetic rod moves synchronously with the iron core under the drive of the object to be measured connecting rod.

2. The integrated displacement and velocity sensor according to claim 1, characterized in that: The connecting piece is a magnetic isolation connecting rod.

3. The integrated displacement and velocity sensor according to claim 2, characterized in that: The magnetic isolation connecting rod is a straight rod, a spiral rod or a bent rod.

4. The integrated displacement and velocity sensor according to any one of claims 1 to 3, characterized in that: A coil separation ring 1 is provided between the first secondary coil and the second secondary coil; a coil separation ring 2 is provided between the first coil and the second coil.

5. The integrated displacement and velocity sensor according to any one of claims 1 to 3, characterized in that: The first bobbin and the second bobbin are coaxially arranged, and the measured object connecting rod, the iron core and the magnetic rod are coaxially arranged.

6. The integrated displacement and velocity sensor according to claim 5, characterized in that: The first spool and the second spool are separately provided.

7. The integrated displacement and velocity sensor according to claim 5, characterized in that: The first bobbin and the second bobbin are integrally formed into one bobbin.

8. The integrated displacement and velocity sensor according to claim 7, characterized in that: The first secondary coil, the second secondary coil, the first coil, and the second coil are sequentially arranged along the axial direction of the bobbin.

9. The integrated displacement and velocity sensor according to claim 8, characterized in that: A coil separation ring three is provided between the second secondary coil and the first coil.

10. The integrated displacement and velocity sensor according to claim 5, characterized in that: The magnetic conductive shell includes a magnetic conductive shell with two ends opened. The first bobbin and the second bobbin are both arranged in the magnetic conductive shell and are coaxially arranged with the magnetic conductive shell. The two ends of the magnetic conductive shell are respectively provided with a first end cover and a second end cover.

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