Rotation Angle Detection Device, Rotation Angle Detection System, and Rotating Body

Abstract

The present invention provides a rotation angle detection device, a rotation angle detection system, and a rotating body. The rotation angle detection device includes stator detection teeth and further includes a plurality of coils, each coil being wound around a stator detection tooth, and at most one coil is wound around each stator detection tooth; the rotation angle detection device includes at least one set of detection coil systems, and each set of detection coil systems includes at least 4 columns of parallel multi-bridge arm bridge circuits composed of a plurality of coils; a lead wire is led out from the contact points of the upper and lower bridge arms of each column of bridge arms as a signal wire; a first signal voltage is generated from the differential signal of 2 of the signal leads, and a second signal voltage is generated from the differential signal of the other 2 signal wires, and the phase difference between the first signal voltage and the second signal voltage is a set angle to detect the rotation angle of the rotor. The present invention adopts a differential method, which can greatly reduce the influence of external interference during signal transmission in applications where the signal wires are relatively long.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection, and relates to a transformer and a rotating body, in particular to a rotation angle detection device and a rotating body. Background Art

[0002] High-performance control of rotating motors is indispensable in industries such as electric vehicles, industrial automation, robots, textile machinery, and aerospace. Therefore, motor rotation angle sensors are required, and they are often required to be applied in high-temperature environments.

[0003] Currently, optoelectronic angle encoders have been widely used because they can easily detect the rotation angle of a motor. However, such optoelectronic angle encoders contain optoelectronic components and semiconductor devices, so they cannot be applied in high-temperature environments.

[0004] A resolver is a sensor that can achieve rotation angle detection. Since it does not use optoelectronic conversion devices, it can be used in an environment with a relatively high temperature.

[0005] Existing inductive resolvers have two excitation wires and two signal wires. One of the two signal wires is a sine signal, and the other is a cosine signal. During long-distance transmission, it is easily affected by surrounding signal interference, which has an adverse effect on the detection accuracy. Especially in the case of strong surrounding interference, it may lead to the inability to normally measure the rotation angle of the rotor.

[0006] In current resolvers, multiple sets of windings are wound on the stator detection teeth, usually three sets of windings are wound, making its manufacturing process very complicated, and the consistency of the resolver is adversely affected due to the different positions of the windings. At the same time, since multiple sets of windings are wound on the same stator detection tooth, during the production and use process, problems such as winding short circuits and open circuits are likely to occur due to reasons such as vibration and shock, which may further lead to the failure of the resolver and poor reliability. Summary of the Invention

[0007] The purpose of the present invention is to provide a rotation angle detection device, a rotation angle detection system, and a rotating body with high measurement accuracy and reliability.

[0008] To achieve the above object, the solution of the present invention is:

[0009] A rotation angle detection device includes a stator and a rotor. The stator includes a stator yoke and stator detection teeth located on the stator yoke; the rotor has rotor salient poles; the materials of the stator yoke, the stator detection teeth, and the rotor salient poles are all magnetic conductive materials; the rotation angle detection device further includes a plurality of coils, each coil is wound around a stator detection tooth, at most one coil is wound around each stator detection tooth, and the inductance of each coil changes with the rotation angle of the rotor for detecting the rotation angle of the rotor; the rotation angle detection device includes at least one set of detection coil systems, each set of detection coil systems includes at least 4 columns of parallel multi-bridge arm bridge circuits composed of a plurality of coils, each column of bridge arms includes at least two bridge arms, and each bridge arm includes at least one coil; two parallel connection points of the multi-bridge arm bridge circuit lead out two lead wires as excitation wires, and one lead wire is led out from the connection points of the upper and lower bridge arms of each column of bridge arms as a signal wire; a first signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of 2 of the signal lead wires, and a second signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of the other 2 signal wires. The phase difference between the first signal voltage and the second signal voltage is a set angle to detect the rotation angle of the rotor.

[0010] The multi-bridge arm bridge circuit only includes 4 columns of parallel bridge arms; the rotation angle detection device has a total of 2 excitation wires and 4 signal wires.

[0011] The number of stator detection teeth is 8*K, and the number of rotor salient poles is N; where K and N are both positive integers; preferably, K is equal to 1 and N is equal to 2.

[0012] All the stator detection teeth wound with coils are regularly distributed along the circumference of the stator yoke to ensure that the phase difference between the first signal voltage and the second signal voltage is 90 degrees.

[0013] The stator further includes stator decoupling teeth to reduce the magnetic coupling between the stator detection teeth wound with coils; the stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with coils; the material of the stator decoupling teeth is magnetic conductive material.

[0014] The stator further includes stator auxiliary teeth to improve the symmetry of the magnetic circuit system; the stator auxiliary teeth are arranged outside the stator detection teeth; the material of the stator auxiliary teeth is magnetic conductive material.

[0015] The angle spanned by the stator yoke is less than 360 degrees.

[0016] The rotation angle detection device includes at least two sets of the detection coil systems; at least two sets of the detection coil systems are arranged on the same stator.

[0017] Set the shape of the rotor salient poles such that the varying part of the inductance of each coil varies sinusoidally with the change in the rotation angle of the rotor; or, set the shape of the rotor salient poles such that the varying part of the inductance of each coil varies triangularly with the change in the rotation angle of the rotor.

[0018] It has a stator housing, end covers, bearings and a rotating shaft; the stator includes a stator core which is mounted on the stator housing; the rotor includes a rotor core which is mounted on the rotating shaft and rotates together with the entire rotor.

[0019] The rotor is arranged inside the stator; or, the rotor is arranged outside the stator.

[0020] A rotation angle detection system of the above rotation angle detection device, including at least two of the rotation angle detection devices; the at least two rotation angle detection devices include a first rotation angle detection device and a second rotation angle detection device; the rotor of the first rotation angle detection device includes only 1 rotor salient pole; the rotor of the second rotation angle detection device includes 2 or more rotor salient poles; the rotors of the first rotation angle detection device and the second rotation angle detection device are set to rotate synchronously.

[0021] A rotating body including the aforementioned rotation angle detection device, the rotating body including a rotating body main body and the rotation angle detection device; the rotation angle of the rotation angle detection device has a regular relationship with the rotation angle of the rotating body main body to detect the rotation angle of the rotating body main body through the rotation angle detection device.

[0022] The rotor core of the rotation angle detection device is mounted on the rotating shaft of the rotating body main body, rotates synchronously with the rotating body main body and forms an integral structure to detect the rotation angle of the rotating body main body; the stator of the rotation angle detection device is mounted on a stator housing shared with the rotating body main body; preferably, the rotating body main body is a motor; or, the rotation angle detection device is fixed at the end of the rotating body main body; the rotating shaft of the rotation angle detection device is connected to the rotating shaft of the rotating body main body so that the rotation angle detection device and the rotating body main body rotate coaxially; preferably, the rotating shaft of the rotation angle detection device is connected to the rotating shaft of the rotating body main body through a coupling; preferably, the rotating body main body is a motor.

[0023] A rotating body of the aforementioned rotation angle detection system, the rotating body comprising a rotating body main body and the rotation angle detection system; the rotation angle of the rotation angle detection system has a regular relationship with the rotation angle of the rotating body main body, so as to detect the rotation angle of the rotating body main body through the rotation angle detection system.

[0024] Each rotor core of the rotation angle detection system is installed on the rotating shaft of the rotating body main body, rotates synchronously with the rotating body main body and forms an integral structure to detect the rotation angle of the rotating body main body; each stator of the rotation angle detection system is installed on the machine housing shared with the rotating body main body; preferably, the rotating body main body is a motor; alternatively, the rotation angle detection system is fixed at the end of the rotating body main body; the rotating shaft of the rotation angle detection system is connected to the rotating shaft of the rotating body main body so that the rotation angle detection system and the rotating body main body rotate coaxially; preferably, the rotating shaft of the rotation angle detection system is connected to the rotating shaft of the rotating body main body through a coupling; preferably, the rotating body main body is a motor.

[0025] Due to the above solution, the beneficial effects of the present invention are as follows: Since the rotor position signal of the present invention adopts a differential method, the influence of external interference during signal transmission can be greatly reduced in applications with long signal lines. At the same time, it is possible to wind at most 1 coil on each stator detection tooth, greatly simplifying the production process, effectively preventing the consistency of the rotation angle detection device from being adversely affected due to different winding positions, and overcoming the short-circuit risk between different windings on the same stator detection tooth in the prior art.

[0026] In the case where the angle spanned by the stator yoke of the rotation angle detection device is less than 360 degrees, it greatly promotes the miniaturization and light weight of the rotation angle detection device. By setting stator decoupling teeth and / or stator auxiliary teeth to actively avoid magnetic coupling interference, the accuracy of the rotation angle detection device is greatly optimized, while its fast response performance is improved, and the system structure of the rotation angle detection device is simplified.

[0027] The present invention can set two or more sets of detection coil systems on a rotation angle detection device. Compared with the multi-rotary transformer system with the same reliability in the prior art, the number of rotation angle detection devices to be set is small, the occupied volume is small, and the cost is greatly reduced; compared with the multi-rotary transformer system with the same number of rotary transformers in the prior art, when the occupied volume is the same, the reliability is greatly improved.

[0028] In the rotation angle detection system of the present invention, at least two rotation angle detection devices are combined for use, and the absolute position of the motor rotor can be obtained with high precision.

[0029] The rotating body of the present invention also has the above advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the first embodiment of the present invention;

[0031] Figure 2 It is a schematic structural view of the overall rotation angle detection device in the first embodiment of the present invention;

[0032] Figure 3 It is a circuit diagram of the multi-bridge-arm bridge circuit in the first embodiment of the present invention;

[0033] Figure 4 It is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the second embodiment of the present invention;

[0034] Figure 5 It is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the third embodiment of the present invention;

[0035] Figure 6 It is a schematic cross-sectional view of the stator and rotor of the rotation angle detection device in the fourth embodiment of the present invention;

[0036] Figure 7a It is a circuit diagram of the first multi-bridge-arm bridge circuit in the fourth embodiment of the present invention;

[0037] Figure 7b It is a circuit diagram of the second multi-bridge-arm bridge circuit in the fourth embodiment of the present invention;

[0038] Figure 8a It is a schematic cross-sectional view of the stator and rotor of the first rotation angle detection device in the fifth embodiment of the present invention;

[0039] Figure 8b It is a schematic cross-sectional view of the stator and rotor of the second rotation angle detection device in the fifth embodiment of the present invention;

[0040] Figure 9a It is a circuit diagram of the first multi-bridge-arm bridge circuit in the fifth embodiment of the present invention;

[0041] Figure 9b It is a circuit diagram of the second multi-bridge-arm bridge circuit in the fifth embodiment of the present invention;

[0042] Figure 10 It is a schematic structural view of the rotating body in the sixth embodiment of the present invention;

[0043] Figure 11 It is a schematic structural view of the rotating body in the seventh embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0045] The present invention provides a rotation angle detection device, which includes a stator and a rotor. The stator includes a stator yoke and stator detection teeth located on the stator yoke; the rotor has rotor poles. The materials of the stator yoke, the stator detection teeth, and the rotor poles are all magnetic conductive materials. The rotation angle detection device further includes a plurality of coils, each coil is wound around a stator detection tooth, and at most one coil is wound around each stator detection tooth. The inductance of each coil changes with the rotation angle of the rotor to detect the rotation angle of the rotor.

[0046] The rotation angle detection device includes at least one set of detection coil systems. Each set of detection coil systems includes at least 4 columns of parallel multi-bridge-arm bridge circuits composed of a plurality of coils. Each column of bridge arms includes at least two bridge arms, and each bridge arm includes at least one coil. In the multi-bridge-arm bridge circuit, the upper and lower bridge arms of each column of bridge arms each include at least 1 coil; two lead-out wires are led out from the two parallel connection points of the multi-bridge-arm bridge circuit as excitation wires, and 1 lead wire is led out from the connection points of the upper and lower bridge arms of each column of bridge arms as a signal wire. A first signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of 2 of the signal lead wires, and a second signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of the other 2 signal wires. The phase difference between the first signal voltage and the second signal voltage is a set angle to detect the rotation angle of the rotor.

[0047] The number of stator detection teeth is 8*K, and the number of rotor poles is N; where K and N are both positive integers.

[0048] Preferably, all the stator detection teeth wound with coils are regularly distributed along the circumference of the stator yoke to ensure that the phase difference between the first signal voltage and the second signal voltage is 90 degrees.

[0049] Preferably, the stator further includes stator decoupling teeth (no coils are wound on the stator decoupling teeth) to reduce the magnetic coupling between the stator detection teeth wound with coils. The stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with coils. The material of the stator decoupling teeth is magnetic conductive material.

[0050] Preferably, the stator further includes stator auxiliary teeth (no coils are wound on the stator auxiliary teeth) to improve the symmetry of the magnetic circuit system. The stator auxiliary teeth are arranged on the outside of the overall stator detection teeth; the material of the stator auxiliary teeth is magnetic conductive material.

[0051] In the present invention, the angle spanned by the stator yoke can be less than 360 degrees to reduce the volume and weight.

[0052] Preferably, the rotation angle detection device includes at least two sets of detection coil systems; the at least two sets of detection coil systems are arranged on the same stator.

[0053] In the present invention, the rotation angle detection device has a stator housing, end covers, bearings, and a rotating shaft. The stator includes a stator core, and the stator core is installed on the stator housing; the rotor includes a rotor core, and the rotor core is installed on the rotating shaft and rotates together with the entire rotor.

[0054] First Embodiment:

[0055] In this embodiment, take K = 1, N = 2, so the number of stator detection teeth of the rotation angle detection device is 8, and the number of rotor salient poles is 2. Figure 1 Shown is a cross-sectional schematic diagram of the stator and rotor of the rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are evenly distributed along the stator core; 2 rotor salient poles are evenly distributed on the outer circle along the circumference of the rotor core.

[0056] There is an insulating winding skeleton on each stator detection tooth ( Figure 1 not shown in the figure). One coil is wound on each stator detection tooth, and a total of 8 coils are distributed along the circumference on the 8 stator detection teeth. The 8 stator detection teeth are distributed clockwise along the circumference as 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108 (for the sake of simplicity of the drawings, Figure 1 not all stator detection teeth are marked in the figure, only several stator detection teeth are marked). The inductance of each coil changes with the rotation angle of the rotor. In this embodiment, the shape of the rotor salient pole is selected through electromagnetic simulation so that the changing part of the inductance of the coil changes sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of each coil are equal, and the fundamental wave amplitudes of the inductances of each coil are equal.

[0057] Figure 2 Shown is a schematic structural diagram of the whole rotation angle detection device. The rotation angle detection device includes a stator 2, a rotor 3, a rotating shaft 4, bearings 5, a stator housing 6, end covers 701 and 702 on both sides, bearing chambers, and six lead wires 801, 802, 803, 804, 805, 806. The rotor core is fixed on the rotating shaft 4 and can rotate together with the rotating shaft 4. The bearing 5 is installed on the rotating shaft 4, and the bearing 5 supports the smooth rotation of the rotor 3. The stator core is installed and fixed in the stator housing 6. The bearing chambers are arranged on the end covers 701 and 702 on both sides of the rotation angle detection device, and the outer ring of the bearing 5 is installed in the bearing chambers of the two end covers 701 and 702 to ensure that the center line of the rotating shaft 4 is consistent with the inner circle center line of the stator 2.

[0058] In this embodiment, the rotation angle detection device includes a set of detection coil systems. The detection coil system includes a multi-bridge arm bridge circuit composed of 4 columns in parallel of the above-mentioned 8 coils. Each column of bridge arms includes two bridge arms, and one coil is connected in each bridge arm. In this embodiment, the 8 stator coils are divided into 8 groups. Each group of stator coils includes 1 coil; the inductance of each coil changes sinusoidally with the rotation angle of the rotor. The 8 groups of stator coils are connected into a multi-bridge arm bridge circuit according to Figure 3 as shown. Figure 3 In AC , bridge arm X AD is composed of the coil Y1 on the stator detection tooth 1101, bridge arm X AE is composed of the coil Y2 on the stator detection tooth 1102, bridge arm X AF is composed of the coil Y8 on the stator detection tooth 1108, bridge arm X BC is composed of the coil Y3 on the stator detection tooth 1103, bridge arm X BD is composed of the coil Y5 on the stator detection tooth 1105, bridge arm X BE is composed of the coil Y4 on the stator detection tooth 1104, bridge arm X BF is composed of the coil Y6 on the stator detection tooth 1106.

[0059] Six contacts A, B, C, D, E, and F of the multi-bridge arm bridge circuit are respectively led out by 6 leads as the leads 801, 802, 803, 804, 805, and 806 of the rotation angle detection device. Among them, leads 801 and 802 are excitation leads, and leads 803, 804, 805, and 806 are signal leads.

[0060] In this embodiment, the principle of generating the sine wave position signal is as follows:

[0061] Let the inductances of the coils on the stator detection teeth 1101, 1102, 1103, 1104, 1105, 1106, 1107, and 1108 be L101, L102, L103, L104, L105, L106, L107, and L108 respectively. From Figure 1 it can be seen that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the rotor salient pole changes, causing the inductance of each coil to change accordingly, and its change period is 2. The change of the inductance of each coil with the rotation angle θm1 of the rotor can be respectively expressed as:

[0062] L101 = L105 = L1 + Lm1 * sin(2θm1) Equation (101)

[0063] L102 = L106 = L1 + Lm1 * sin(2θm1 - 90) Equation (102)

[0064] L103 = L107 = L1 + Lm1*sin(2θm1 - 180), Equation (103)

[0065] L104 = L108 = L1 + Lm1*sin(2θm1 - 270), Equation (104)

[0066] Where, L1 is the DC component of each inductor in this embodiment;

[0067] Lm1 is the fundamental wave amplitude of each inductor in this embodiment;

[0068] θm1 is the rotation angle of the rotor in this embodiment.

[0069] Referring to Figure 3 the bridge circuit diagram of

[0070] Bridge arm X AC the inductor L_AC of is: L_AC = L101, Equation (105)

[0071] Bridge arm X AD the inductor L_AD of is: L_AD = L107, Equation (106)

[0072] Bridge arm X AE the inductor L_AE of is: L_AE = L102, Equation (107)

[0073] Bridge arm X AF the inductor L_AF of is: L_AF = L108, Equation (108)

[0074] Bridge arm X BC the inductor L_BC of is: L_BC = L103, Equation (109)

[0075] Bridge arm X BD the inductor L_BD of is: L_BD = L105, Equation (110)

[0076] Bridge arm X BE the inductor L_BE of is: L_BE = L104, Equation (111)

[0077] Bridge arm X BF the inductor L_BF of is: L_BF = L106, Equation (112)

[0078] Refer to Figure 3According to equations (101)-(112), it is easy to obtain through simple circuit calculations that the output voltages of the contacts C, D, E, and F of the multi-bridge arm bridge circuit are sinusoidal signals that vary with the rotation angle θm1 of the rotor. Moreover, the signal voltage of contact C is out of phase with the signal voltage of contact D. Thus, the differential signal voltage between contacts C and D can be obtained, and this differential signal voltage is a sinusoidal signal of the rotation angle θm1 of the rotor. The signal voltage of contact E is out of phase with the signal voltage of contact F. Thus, the differential signal voltage between contacts E and F can be obtained, and this differential signal voltage is a sinusoidal signal of the rotation angle θm1 of the rotor. Additionally, the phases of the above two groups of differential signals differ from each other by 90 degrees, that is, two sinusoidal voltage signals with a 90-degree phase difference regarding the rotation angle of the rotor can be obtained. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm1 of the rotor can be obtained.

[0079] Since the rotor position signal adopts a differential method, in applications with longer signal lines, the influence of external interference during signal transmission can be greatly reduced. At the same time, in this embodiment, it is possible to wind at most 1 coil on each stator detection tooth, greatly simplifying the production process, effectively preventing the consistency of the rotation angle detection device from being adversely affected due to different winding positions, and overcoming the short-circuit risk between different windings on the same stator detection tooth in the prior art.

[0080] Second Embodiment:

[0081] In this embodiment, K = 1 and N = 2 are taken. Therefore, the number of stator detection teeth of this rotation angle detection device is 8, and the number of rotor salient poles is 2. In addition, in this rotation angle detection device, 8 stator decoupling teeth are provided. No coils are wound on the stator decoupling teeth, and the material of the stator decoupling teeth is a magnetic conductive material. Figure 4 Shown is a cross-sectional schematic diagram of the stator and rotor of this rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are evenly distributed along the circumference of the stator core; 8 stator decoupling teeth are evenly distributed along the circumference of the stator core, and 2 rotor salient poles are evenly distributed on the outer circle along the circumference of the rotor core. Figure 4 One stator decoupling tooth is marked with the reference numeral 9 in the figure.

[0082] There is an insulating winding skeleton on each stator detection tooth ( Figure 4 not shown in the figure). One coil is wound on each stator detection tooth. A total of 8 coils are distributed along the circumference on the 8 stator detection teeth. The 8 stator detection teeth are distributed clockwise along the circumference in sequence as 2101, 2102, 2103, 2104, 2105, 2106, 2107, 2108 (for the sake of simplicity of the drawings,Figure 4 Not all of the stator detection teeth are marked, only several stator detection teeth are marked). The inductance of each coil changes with the rotation angle of the rotor. In this embodiment, the shape of the rotor salient pole is selected through electromagnetic simulation so that the changing part of the inductance of the coil changes sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

[0083] The overall structural schematic diagram of the rotation angle detection device can be referred to in the first embodiment Figure 2 .

[0084] In this embodiment, the rotation angle detection device includes a set of detection coil systems. The detection coil system includes a multi-bridge arm bridge circuit composed of 4 columns in parallel of the above 8 coils. In this embodiment, the 8 stator coils are divided into 8 groups in total. Each group of stator coils includes 1 coil; the inductance of each coil changes with the rotation angle of the rotor. The 8 groups of stator coils are connected into a multi-bridge arm bridge circuit. The circuit diagram of the multi-bridge arm bridge circuit can be referred to in the first embodiment Figure 3 . At this time, arm X AC is composed of the coil Y1 on the stator detection tooth 2101, and arm X AD is composed of the coil Y7 on the stator detection tooth 2107, and arm X AE is composed of the coil Y2 on the stator detection tooth 2102, and arm X AF is composed of the coil Y8 on the stator detection tooth 2108, and arm X BC is composed of the coil Y3 on the stator detection tooth 2103, and arm X BD is composed of the coil Y5 on the stator detection tooth 2105, and arm X BE is composed of the coil Y4 on the stator detection tooth 2104, and arm X BF is composed of the coil Y6 on the stator detection tooth 2106.

[0085] Six contacts A, B, C, D, E, and F of the multi-bridge arm bridge circuit are respectively led out by 6 leads as the leads 801, 802, 803, 804, 805, and 806 of the rotation angle detection device. The leads 801 and 802 are excitation leads, and the leads 803, 804, 805, and 806 are signal leads.

[0086] In this embodiment, the principle of generating the sine wave position signal is as follows:

[0087] With the above settings of the stator detection teeth and windings, according to the same analysis method as in the first embodiment, it is easy to obtain that the differential signal voltage between contacts C and D and the differential signal voltage between contacts E and F are sinusoidal voltages that vary with the rotation angle of the rotor, and their phases differ by 90 degrees. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm2 of the rotor can be obtained.

[0088] In addition to having the advantages of the first embodiment, in this embodiment, since the stator uses stator auxiliary teeth, the magnetic coupling effect between the stator detection teeth is reduced, and the test signal is improved. The stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with coils.

[0089] Third Embodiment:

[0090] In this embodiment, K = 1 and N = 8 are taken. Therefore, the number of stator detection teeth of this rotation angle detection device is 8, and the number of rotor salient poles is 8. At the same time, 1 stator auxiliary tooth is arranged on each of the two outer sides of the overall stator detection teeth. The stator auxiliary teeth are not wound with coils, and the material of the stator auxiliary teeth is a magnetic conductive material. In addition, in this embodiment, the span of the stator yoke is less than 360 degrees.

[0091] Figure 5 Shown is a cross-sectional schematic diagram of the stator and rotor of this rotation angle detection device. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 8 stator detection teeth are distributed along the circumference of the stator core, and the included angle between each stator detection tooth is 11.25 degrees. The included angle between the first auxiliary tooth 1001 and the stator detection tooth 3101 is 11.25 degrees, and the included angle between the second auxiliary tooth 1002 and the stator detection tooth 3108 is 11.25 degrees; 8 rotor salient poles are evenly distributed on the outer circle along the circumference of the rotor core.

[0092] Each stator detection tooth has an insulating winding skeleton ( Figure 5 not shown in the figure). Each stator detection tooth is wound with 1 coil, and there are a total of 8 coils on 8 stator detection teeth. The 8 stator detection teeth are distributed clockwise along the circumference in sequence as 3101, 3102, 3103, 3104, 3105, 3106, 3107, 3108 (for the sake of simplicity of the drawings, Figure 5Not all the stator detection teeth are marked, only several stator detection teeth are marked). The inductance of each coil changes with the rotation angle of the rotor. In this embodiment, the shape of the rotor salient pole is selected through electromagnetic simulation so that the varying part of the inductance of the coil changes sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

[0093] The overall structural schematic diagram of the rotation angle detection device can be referred to in the first embodiment Figure 2 .

[0094] In this embodiment, the rotation angle detection device includes a set of detection coil systems, and the detection coil system includes a multi-bridge arm bridge circuit in parallel with 4 columns composed of the above 8 coils. In this embodiment, the 8 stator coils are divided into 8 groups in total. Each group of stator coils includes 1 coil; the inductance of each coil changes with the rotation angle of the rotor. The 8 groups of stator coils are connected into a multi-bridge arm bridge circuit, and the circuit diagram of the multi-bridge arm bridge circuit can be referred to in the first embodiment Figure 3 . At this time, arm X AC is composed of the coil Y1 on the stator detection tooth 3101, and arm X AD is composed of the coil Y7 on the stator detection tooth 3107, and arm X AE is composed of the coil Y2 on the stator detection tooth 3102, and arm X AF is composed of the coil Y8 on the stator detection tooth 3108, and arm X BC is composed of the coil Y3 on the stator detection tooth 3103, and arm X BD is composed of the coil Y5 on the stator detection tooth 3105, and arm X BE is composed of the coil Y4 on the stator detection tooth 3104, and arm X BF is composed of the coil Y6 on the stator detection tooth 3106.

[0095] Six contacts A, B, C, D, E, and F of the multi-bridge arm bridge circuit are respectively led out by 6 leads as the leads 801, 802, 803, 804, 805, and 806 of the rotation angle detection device, where the leads 801 and 802 are excitation lines, and the leads 803, 804, 805, and 806 are signal lines.

[0096] In this embodiment, the principle of generating the sine wave position signal is as follows:

[0097] With the above settings of the stator detection teeth and windings, it is easy to obtain that the differential signal voltage between contacts C and D and the differential signal voltage between contacts E and F are sinusoidal voltages that vary with the rotation angle of the rotor according to the same analysis method as in the first embodiment. Their phases differ by 90 degrees, which is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm3 of the rotor can be obtained.

[0098] In addition to the advantages of the first embodiment, in this embodiment, since the span of the stator yoke is less than 360 degrees and is not a complete circle, the volume, weight, and manufacturing cost of the detection system can be reduced. In addition, this embodiment also provides stator auxiliary teeth, that is, stator teeth without wound coils located outside the overall stator detection teeth, to improve the symmetry of the magnetic circuit system and improve the detection accuracy (if the stator auxiliary teeth are not provided, the magnetic resistance of the outermost stator detection teeth and the inner stator detection teeth will be inconsistent, resulting in inconsistent fundamental wave amplitudes and DC components of the inductance of the coils on each stator detection tooth, which has an adverse effect on the detection accuracy).

[0099] Fourth Embodiment:

[0100] In this embodiment, K = 2 and N = 4 are taken. Therefore, the number of stator detection teeth of this rotation angle detection device is 16, and the number of rotor salient poles is 4.

[0101] Figure 6 The cross-sectional schematic diagram of the stator and rotor of this rotation angle detection device in this embodiment is shown. The stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. In this embodiment, 16 stator detection teeth are evenly distributed along the inner surface of the stator core; 4 rotor salient poles are evenly distributed along the outer circumferential surface of the rotor core.

[0102] Each stator detection tooth has an insulating winding skeleton ( Figure 6 not shown in the figure). Each stator detection tooth is wound with and only wound with 1 coil. A total of 16 coils are distributed along the circumference on 16 stator detection teeth. The 16 stator detection teeth are distributed clockwise along the circumference as 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 (for the sake of simplicity of the drawings, Figure 6Not all of the stator detection teeth are marked, only several stator detection teeth are marked). The inductance of each coil changes with the rotation angle of the rotor. In this embodiment, the shape of the rotor salient pole is selected through electromagnetic simulation such that the varying part of the inductance of the coil varies sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of the coils are equal, and the fundamental wave amplitudes of the inductances of the coils are equal.

[0103] In this embodiment, the rotation angle detection device includes a total of two sets of detection coil systems, namely a first detection coil system and a second detection coil system. The first detection coil system includes coils wound around stator detection teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108, and the second detection coil system includes coils wound around stator detection teeth 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116. The two sets of detection coil systems belong to two independent detection coil systems of the rotation angle detection device respectively, and the two detection coil systems form a first multi-bridge arm bridge circuit and a second multi-bridge arm bridge circuit respectively. The circuit schematic diagrams after the connection of the first multi-bridge arm bridge circuit and the second multi-bridge arm bridge circuit are respectively as Figure 7a and Figure 7b shown.

[0104] Two leads are led out from contacts A1 and B1 as the excitation signal of the first detection coil system, and four leads are led out from contacts C1, D1, E1, F1 as the position signal lines of the first detection coil system.

[0105] Two leads are led out from contacts A2 and B2 as the excitation signal of the second detection coil system, and four leads are led out from contacts C2, D2, E2, F2 as the position signal lines of the second detection coil system.

[0106] In this embodiment, the principle of generating the sine wave position signal is as follows:

[0107] Let the inductances of the coils on stator detection teeth 4101, 4102, 4103, 4104, 4105, 4106, 4107, 4108 of the first detection coil system be L101, L102, L103, L104, L105, L106, L107, L108 respectively. From Figure 6 It can be seen that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the rotor salient pole changes, causing the inductance of each coil to change accordingly, and its change period is 4. The change of the inductance of each coil with the rotation angle θm4 of the rotor can be respectively expressed as

[0108] L101 = L105 = L4 + Lm4 * sin(4θm4) Equation (401)

[0109] L102 = L106 = L4 + Lm4 * sin(4θm4 - 90), Equation (402)

[0110] L103 = L107 = L4 + Lm4 * sin(4θm4 - 180), Equation (403)

[0111] L104 = L108 = L4 + Lm4 * sin(4θm4 - 270), Equation (404)

[0112] Among them, L4 is the DC component of each inductor in this embodiment;

[0113] Lm4 is the fundamental wave amplitude of each inductor in this embodiment,

[0114] θm4 is the rotation angle of the rotor in this embodiment.

[0115] Through the above settings of the stator detection teeth and windings, according to the same analysis method as in the first embodiment, it is easy to obtain that the differential signal voltage between contacts C1 and D1 and the differential signal voltage between contacts E1 and F1 are sinusoidal voltages that vary with the rotation angle of the rotor, and their phases differ by 90 degrees. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm4 of the rotor can be obtained.

[0116] Similarly, let the inductances of the coils on the second detection coil system detection teeth 4109, 4110, 4111, 4112, 4113, 4114, 4115, 4116 be L109, L110, L111, L112, L113, L114, L115, L116 respectively. From Figure 6 It can be seen that as the rotation angle of the rotor changes, the gap between each stator detection tooth and the rotor salient pole changes, causing the inductance of each coil to change accordingly, and its change period is 4. The change of the inductance of each coil with the rotation angle θm4 of the rotor can be respectively expressed as

[0117] L109 = L113 = L4 + Lm4 * sin(4θm4), Equation (405)

[0118] L110 = L114 = L4 + Lm4 * sin(4θm4 - 90), Equation (406)

[0119] L111 = L115 = L4 + Lm4 * sin(4θm4 - 180), Equation (407)

[0120] L112 = L116 = L4 + Lm4 * sin(4θm4 - 270), Equation (408)

[0121] Among them, L4 is the DC component of each inductor in this embodiment;

[0122] Lm4 is the fundamental amplitude of each inductor in this embodiment,

[0123] θm4 is the rotation angle of the rotor in this embodiment.

[0124] Through the above settings of the stator detection teeth and windings, according to the same analysis method as in the first embodiment, it is easy to obtain that the differential signal voltage between contacts C2 and D2 and the differential signal voltage between contacts E2 and F2 are sinusoidal voltages that vary with the rotation angle of the rotor, and their phases differ by 90 degrees. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm4 of the rotor can be obtained.

[0125] It can be seen that in addition to having the advantages of the first embodiment, in this embodiment, two sets of detection coil systems are provided on the same stator. During use, one set of detection coil systems can be used as a backup system. When the currently used detection coil system fails, it can be switched to the other set of detection coil systems to continue working, greatly improving the reliability of the rotation angle detection of the rotor; it is also possible to make the two sets of detection coil systems work simultaneously to detect the rotation angle, and compare the detection results with each other, which can also greatly improve the reliability of the detection results. Compared with the multi-rotary transformer system with the same reliability in the prior art, the number of rotation angle detection devices to be set is small, the occupied volume is small, and the cost is greatly reduced; compared with the multi-rotary transformer system with the same number of rotary transformers set in the prior art, when the occupied volume is the same, the reliability is greatly improved.

[0126] In the present invention (including the above embodiments), the rotation angle detection device can be a rotary transformer.

[0127] The present invention also proposes a rotation angle detection system. The rotation angle detection system includes at least two rotation angle detection devices, and these rotation angle detection devices can be the rotation angle detection devices described in the first theme of the present invention.

[0128] Preferably, the rotor of one rotation angle detection device includes only 1 rotor salient pole; the rotor of one rotation angle detection device includes 2 or more rotor salient poles; at least the rotors of these two rotation angle detection devices are set to rotate synchronously.

[0129] Fifth Embodiment:

[0130] This embodiment is a rotation angle detection system. The rotation angle detection system includes two rotation angle detection devices, namely the first rotation angle detection device and the second rotation angle detection device.

[0131] The first rotation angle detection device is the rotation angle detection device defined by the first theme of the present invention. Here, K takes the value of 1 and N takes the value of 1. Therefore, the number of stator detection teeth of the first rotation angle detection device is 8, and the number of rotor salient poles is 1. The second rotation angle detection device is also the rotation angle detection device defined by the first theme of the present invention. Here, K takes the value of 1 and N takes the value of 10. Therefore, the number of stator detection teeth of the second rotation angle detection device is 8, and the number of rotor salient poles is 10.

[0132] Figure 8a It is a cross-sectional view of the stator and rotor of the first rotation angle detection device in this embodiment; Figure 8b It is a cross-sectional view of the stator and rotor of the second rotation angle detection device in this embodiment. In the first rotation angle detection device and the second rotation angle detection device, the stator includes a stator core, and the rotor includes a rotor core. Both the stator core and the rotor core are formed by stamping silicon steel sheets. The 8 stator detection teeth of the first rotation angle detection device and the second rotation angle detection device are evenly distributed along the inner surface of the stator core where they are located; the 10 rotor salient poles of the second rotation angle detection device are evenly distributed along the outer circumference of the rotor core of the second rotation angle detection device.

[0133] There is an insulating winding skeleton on each stator detection tooth of the first rotation angle detection device and the second rotation angle detection device ( Figure 8a and Figure 8b not shown in the figure). There is and only one coil wound on each stator detection tooth, and a total of 8 coils are wound on the 8 stator detection teeth and are distributed along the circumference. In the first rotation angle detection device, the 8 stator detection teeth are distributed clockwise along the circumference and are successively 5101A, 5102A, 5103A, 5104A, 5105A, 5106A, 5107A, 5108A (for the sake of simplicity of the drawings, Figure 8a not all the stator detection teeth are marked in the figure, only several stator detection teeth are marked). In the second rotation angle detection device, the 8 stator detection teeth are distributed clockwise along the circumference and are successively 5101B, 5102B, 5103B, 5104B, 5105B, 5106B, 5107B, 5108B (for the sake of simplicity of the drawings, Figure 8a not all the stator detection teeth are marked in the figure, only several stator detection teeth are marked). The inductance of each coil changes with the rotation angle of the rotor. In this embodiment, the shape of the rotor salient pole is selected through electromagnetic simulation so that the changing part of the inductance of the coil changes sinusoidally with the rotation angle of the rotor. In this embodiment, the DC components of the inductances of each coil are equal, and the fundamental wave amplitudes of the inductances of each coil are equal.

[0134] In this embodiment, the first rotation angle detection device includes a set of detection coil systems, which is referred to as the first detection coil system in this embodiment. The first detection coil system includes coils wound around the stator detection teeth 5101A, 5102A, 5103A, 5104A, 5105A, 5106A, 5107A, and 5108A. In this embodiment, the second rotation angle detection device includes a set of detection coil systems, which is referred to as the second detection coil system in this embodiment. The second detection coil system includes coils wound around the stator detection teeth 5101B, 5102B, 5103B, 5104B, 5105B, 5106B, 5107B, and 5108B. The above two sets of detection coil systems respectively belong to the detection coil systems of independent rotation angle detection devices on two stators. The two detection coil systems respectively form a multi-bridge arm bridge circuit of the first rotation angle detection device and a multi-bridge arm bridge circuit of the second rotation angle detection device, which are referred to as the first multi-bridge arm bridge circuit and the second multi-bridge arm bridge circuit in this embodiment, and the circuit schematic diagrams of the two are respectively as Figure 9a and Figure 9b shown.

[0135] Two leads are led out from the contacts A1 and B1 as the excitation signal lines of the first detection coil system, and four leads are led out from the contacts C1, D1, E1, and F1 as the position signal lines of the first detection coil system.

[0136] Two leads are led out from the contacts A2 and B2 as the excitation signal lines of the second detection coil system, and four leads are led out from the contacts C2, D2, E2, and F2 as the position signal lines of the second detection coil system.

[0137] Through the above settings of the stator detection teeth and windings of the first rotation angle detection device, according to the same analysis method as in the first embodiment, it is easy to obtain that the differential signal voltage between the contacts C1 and D1 and the differential signal voltage between the contacts E1 and F1 are sine wave voltages that change with the rotation angle of the rotor, and their phases differ by 90 degrees. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm5 of the rotor can be obtained. And the period of this signal is 1, from which the absolute position of the motor rotor can be obtained.

[0138] Through the settings of the stator detection teeth and windings of the above-mentioned second rotation angle detection device, according to the same analysis method as in the first embodiment, it is easy to obtain that the differential signal voltage between contacts C2 and D2 and the differential signal voltage between contacts E2 and F2 are sinusoidal voltages that change with the rotation angle of the rotor, and their phases differ by 90 degrees. This is the basic signal required to obtain the rotation angle of the rotor in the prior art. Therefore, by transmitting these basic signals to the subsequent connected signal processing circuit or through simple calculations, the rotation angle θm5 of the rotor can be obtained. And the period of this signal is 10.

[0139] In the second rotation angle detection device, when the rotor rotates one week, the inductance of the coil changes 10 cycles, that is, the position signal changes 1 cycle every 36 degrees of rotor rotation. Combining this with the result of the first rotation angle detection device can be used to subdivide the test interval and greatly improve the detection accuracy.

[0140] Therefore, in this embodiment, in addition to having the advantages of the rotation angle detection device in the first embodiment, the rotation angle detection system can also obtain the absolute position of the motor rotor with high precision by combining the first rotation angle detection device and the second rotation angle detection device.

[0141] In the above-mentioned embodiments, the shape of the rotor salient poles is set so that the changing part of the inductance of each coil changes sinusoidally with the rotation angle of the rotor. In the present invention, the shape of the rotor salient poles can also be set so that the changing part of the inductance of each coil changes triangularly with the rotation angle of the rotor. In the above-mentioned embodiments, the rotor is arranged inside the stator. In the present invention, the rotor can also be arranged outside the stator.

[0142] In the present invention (including the above-mentioned embodiments), the rotation angle detection device can be a resolver.

[0143] The present invention also proposes a rotating body having the rotation angle detection device described in the first subject. The rotating body includes a rotating body main body and the above-mentioned rotation angle detection device. Among them, the rotation angle of the rotation angle detection device has a regular relationship with the rotation angle of the rotating body main body. Therefore, the rotation angle of the rotating body main body can be obtained from the rotation angle detected by the rotation angle detection device.

[0144] Sixth Embodiment:

[0145] In the sixth embodiment, the rotating body main body is a motor. Figure 10 The structural schematic diagram of the rotating body in this embodiment is shown. Figure 10In this, 601 represents the housing shared by the rotation angle detection device and the motor, 602 represents the stator of the rotation angle detection device, and the stator 602 of the rotation angle detection device is installed on the housing 601 shared with the rotating body main body; 603 represents the stator of the motor, 604 represents the rotor core of the rotation angle detection device, 605 represents the rotor core of the motor, the rotor core 604 of the rotation angle detection device rotates together with the rotor core 605 of the motor, 606 represents the rotating shaft, and the rotor core 604 of the rotation angle detection device is installed on the rotor 606 of the rotating body main body. 6071 and 6072 respectively represent the front and rear end covers, 608 represents the bearing to ensure smooth rotation of the rotor relative to the stator. 6091, 6092, 6093, 6094, 6095, and 6096 represent the lead wires of the rotation angle detection device. 6091 and 6092 are excitation lead wires, and 6093, 6094, 6095, and 6096 are signal lead wires. 6010 represents the lead wire of the motor, 6011 represents the coil of the rotation angle detection device, and 6012 represents the coil of the motor. In this embodiment, the rotating body is an integral motor formed by integrating the rotation angle detection device and the motor body.

[0146] Seventh Embodiment:

[0147] In the seventh embodiment, the rotating body main body is a motor. Figure 11 The structural schematic diagram of the rotating body in this embodiment is shown as follows. Figure 11 In this, 701 represents the rotation angle detection device, 702 represents the motor, 703 represents the motor rotating shaft, 704 represents the lead wire of the rotation angle detection device, 705 represents the lead wire of the motor, and 706 is a screw. In this embodiment, the rotation angle detection device 701 is installed at the end of the motor body 702, and the motor rotating shaft 703 and the rotation angle detection device rotating shaft are connected by a coupling for synchronous rotation ( Figure 11 not shown in the figure). Thus, in this embodiment, the rotating body is a split structure formed by the rotation angle detection device and the motor body.

[0148] In the present invention (including the above two embodiments), the rotation angle detection device can be a resolver.

[0149] In addition, the present invention also proposes a rotating body having the rotation angle detection system described in the second theme. The rotating body includes a rotating body main body and the above rotation angle detection system. Among them, the rotation angle of the rotation angle detection system has a regular relationship with the rotation angle of the rotating body main body, so that the rotation angle of the rotating body main body can be obtained from the rotation angle detected by the rotation angle detection system.

[0150] Eighth Embodiment:

[0151] In the eighth embodiment, the rotating body main body is a motor, and each rotor core of the rotation angle detection system is installed on the rotating shaft of the rotating body main body, rotates synchronously with the rotating body main body and forms an integral structure to detect the rotation angle of the rotating body main body; each stator of the rotation angle detection system is installed on the housing shared with the rotating body main body.

[0152] Ninth embodiment:

[0153] The rotating body main body is a motor, and the rotation angle detection system is fixed at the end of the rotating body main body; the rotating shaft of the rotation angle detection system is connected to the rotating shaft of the rotating body main body so that the rotation angle detection system and the rotating body main body rotate coaxially; the rotating shaft of the rotation angle detection system is connected to the rotating shaft of the rotating body main body through a coupling.

[0154] In the present invention (including the above two embodiments), the rotation angle detection device can be a resolver.

[0155] The above description of the embodiments is to enable those of ordinary skill in the art to understand and apply the present invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the embodiments herein, and the improvements and modifications made by those skilled in the art without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A rotation angle detection device, characterized in that: It includes a stator and a rotor. The stator includes a stator yoke and stator detection teeth located on the stator yoke; the rotor has rotor poles; the materials of the stator yoke, the stator detection teeth, and the rotor poles are all magnetic conductive materials; The rotation angle detection device further includes a plurality of coils. Each of the coils is wound around a stator detection tooth, and at most one coil is wound around each stator detection tooth. The inductance of each coil changes with the change of the rotation angle of the rotor, so as to detect the rotation angle of the rotor; The rotation angle detection device includes at least one set of detection coil systems. Each set of detection coil systems includes at least 4 columns of parallel multi-bridge arm bridge circuits composed of a plurality of the coils. Each column of bridge arms includes at least two bridge arms, and each bridge arm includes at least one coil; two parallel connection points of the multi-bridge arm bridge circuit lead out two lead wires as excitation wires, and one lead wire is led out from the connection points of the upper and lower bridge arms of each column of bridge arms as a signal wire; a first signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of 2 of the signal wires, and a second signal voltage that changes with the rotation angle of the rotor is generated from the differential signal of the other 2 signal wires. Among them, the two columns of bridge arms corresponding to the 2 signal wires for generating the signal voltage are configured such that the inductance of the upper bridge arm of one column of bridge arms is in phase with the inductance of the lower bridge arm of the other column of bridge arms and the inductance of the lower bridge arm of this column of bridge arms is in phase with the inductance of the upper bridge arm of the other column of bridge arms, and the inductance phase difference between the upper and lower bridge arms of each column of bridge arms is 180 degrees, and the phase difference between the first signal voltage and the second signal voltage is a set angle, so as to detect the rotation angle of the rotor.

2. The rotation angle detection device according to claim 1, wherein: The multi-bridge arm bridge circuit only includes 4 columns of parallel bridge arms; the rotation angle detection device has a total of 2 excitation wires and 4 signal wires.

3. The rotation angle detection device according to claim 1, wherein: The number of stator detection teeth is 8*K, and the number of rotor poles is N; where K and N are both positive integers.

4. The rotation angle detection device according to claim 1, wherein: All the stator detection teeth wound with coils are regularly distributed along the circumference of the stator yoke to ensure that the phase difference between the first signal voltage and the second signal voltage is 90 degrees.

5. The rotation angle detection device according to claim 1, characterized in that: The stator further includes stator decoupling teeth to reduce the magnetic coupling between the stator detection teeth wound with coils; the stator decoupling teeth are arranged on both sides of the stator detection teeth wound with coils, and at least 1 stator decoupling tooth is arranged between the stator detection teeth wound with coils; the material of the stator decoupling teeth is magnetic conductive material.

6. The rotational angle detection device according to claim 1, wherein: The stator further includes stator auxiliary teeth to improve the symmetry of the magnetic circuit system; the stator auxiliary teeth are arranged outside the stator detection teeth; the material of the stator auxiliary teeth is magnetic conductive material.

7. The rotation angle detection device according to claim 1, wherein: The angle spanned by the stator yoke is less than 360 degrees.

8. The rotation angle detection device according to claim 1, characterized in that: The rotation angle detection device includes at least two sets of the detection coil systems; at least two sets of the detection coil systems are arranged on the same stator.

9. The rotation angle detection device according to claim 1, wherein: Set the shape of the rotor poles so that the changing part of the inductance of each coil changes in a sine wave with the change of the rotation angle of the rotor; Alternatively, set the shape of the rotor poles so that the changing part of the inductance of each coil changes in a triangular wave with the change of the rotation angle of the rotor.

10. The rotational angle detection device according to claim 1, wherein: It has a stator housing, end covers, bearings and a rotating shaft; The stator includes a stator core, and the stator core is installed on the stator housing; The rotor includes a rotor core, and the rotor core is installed on the rotating shaft and rotates together with the entire rotor.

11. The rotational angle detection device according to claim 1, wherein: The rotor is arranged inside the stator; Alternatively, the rotor is arranged outside the stator.

12. A rotation angle detection system including the rotation angle detection device according to any one of claims 1 to 11, characterized in that: It includes at least two of the rotational angle detection devices; the at least two rotational angle detection devices include a first rotational angle detection device and a second rotational angle detection device; The rotor of the first rotational angle detection device includes only 1 rotor pole; The rotor of the second rotational angle detection device includes 2 or more rotor poles; The rotors of the first rotational angle detection device and the second rotational angle detection device are set to rotate synchronously.

13. A rotating body including the rotating angle detection device according to any one of claims 1 to 11, characterized in that: The rotating body includes a rotating body main body and the rotational angle detection device; The rotational angle of the rotational angle detection device has a regular relationship with the rotational angle of the rotating body main body, so as to detect the rotational angle of the rotating body main body through the rotational angle detection device.

14. The rotating body according to claim 13, wherein: The rotor core of the rotational angle detection device is installed on the rotating shaft of the rotating body main body, rotates synchronously with the rotating body main body and forms an integral structure to detect the rotational angle of the rotating body main body; the stator of the rotational angle detection device is installed on the stator housing shared with the rotating body main body; the rotating body main body is a motor; Alternatively, the rotational angle detection device is fixed at the end of the rotating body main body; the rotating shaft of the rotational angle detection device is connected to the rotating shaft of the rotating body main body so that the rotational angle detection device and the rotating body main body rotate coaxially; the rotating shaft of the rotational angle detection device and the rotating shaft of the rotating body main body are connected by a coupling; the rotating body main body is a motor.

15. A rotating body comprising the rotation angle detection system described in claim 12, characterized in that: The rotating body includes a rotating body main body and the rotational angle detection system; The rotational angle of the rotational angle detection system has a regular relationship with the rotational angle of the rotating body main body, so as to detect the rotational angle of the rotating body main body through the rotational angle detection system.

16. The rotating body according to claim 15, wherein: The rotor cores of the rotational angle detection system are installed on the rotating shaft of the rotating body main body, rotate synchronously with the rotating body main body and form an integral structure to detect the rotational angle of the rotating body main body; the stators of the rotational angle detection system are installed on the housing shared with the rotating body main body; the rotating body main body is a motor; Alternatively, the rotational angle detection system is fixed at the end of the rotating body main body; the rotating shaft of the rotational angle detection system is connected to the rotating shaft of the rotating body main body so that the rotational angle detection system and the rotating body main body rotate coaxially; the rotating shaft of the rotational angle detection system and the rotating shaft of the rotating body main body are connected by a coupling; the rotating body main body is a motor.

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