An angle resolving method of an incremental angular displacement sensor based on a grid film material

Abstract

The present application belongs to the field of electronic manufacturing, and relates to an angle calculation method of an incremental angular displacement sensor based on a grid film material. In the present application, a molybdenum disulfide film material is glued on a motor rotor, a power supply mode of a bus ring is adopted, and two pieces of molybdenum disulfide film material arranged at a theta / 2 angle on the motor rotor are powered. Under the influence of a strip light source in the stator, the resistance value of the molybdenum disulfide film material changes, the rotor output coil glued on the motor rotor generates different magnetic fields, the switch-type Hall on the PCB board receives analog signals, the single-chip microcomputer has an AD converter built-in to convert the analog signals received by the switch-type Hall into digital signals, and the results of A and B two-phase pulses and high and low levels are used for calculation, so that the current motor rotor rotation mode and the actual angle position of the motor rotor are obtained.

Description

Technical fields:

[0001] This invention belongs to the field of electronic manufacturing, and specifically relates to an angle calculation method for an incremental angular displacement sensor based on grating thin film material. Background technology:

[0002] An angular displacement sensor is a sensor used to measure the rotation angle of an object, also known as a rotation angle sensor. It determines the object's position and motion state by measuring the angle of rotation relative to a fixed position. Angular displacement sensors can measure the angle of an object in various ways, such as optical, magnetic, or mechanical techniques. Angular displacement sensors are widely used in mechanical engineering, automation control, aerospace, and other fields. Currently, angular displacement sensors can be classified into several types, including photoelectric, capacitive, inductive, piezoresistive, and Hall effect sensors.

[0003] Photoelectric angular displacement sensors utilize optical principles to measure rotation angles by detecting changes in the position of a beam of light reflected or transmitted along a rotating shaft. Their advantages include high accuracy, but they are significantly affected by the light source and susceptible to external interference. Capacitive angular displacement sensors detect rotation angles by measuring changes in capacitance. Their advantages include fast response and strong anti-interference capabilities, but they are significantly affected by temperature changes and are relatively sensitive. Inductive angular displacement sensors offer fast response, but their accuracy is lower and they are susceptible to power supply voltage variations. Piezoresistive angular displacement sensors are inexpensive, but their accuracy is lower and they are susceptible to temperature and external interference. Hall effect angular displacement sensors offer fast response, but their price is higher and they are susceptible to interference from external magnetic fields. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a solution that aims to quickly and accurately detect the angle of rotation of a motor rotor at high speed, unaffected by external light sources, magnetic fields, or other external interference. This invention employs a molybdenum disulfide thin film material bonded to the motor rotor. A bus ring power supply is used to power two pieces of molybdenum disulfide thin film material arranged at an angle of θ / 2 on the motor rotor. Under the influence of a strip light source inside the stator, the resistance of the molybdenum disulfide thin film material changes, generating different magnetic fields in the rotor output coil bonded to the motor rotor. A switch-type Hall effect sensor on the PCB board receives the analog signal. The microcontroller, with its built-in AD converter, converts the analog signal received by the switch-type Hall effect sensor into a digital signal. The results of the A and B phase pulses and high / low levels are used for calculation to determine the current rotation mode and actual angular position of the motor rotor.

[0005] This invention discloses an absolute angular displacement sensor based on thin film materials and an angle calculation method, including:

[0006] Molybdenum disulfide thin film material a(5) and molybdenum disulfide thin film material b(6): a flexible material affected by light source. Illumination can affect the electrical properties of molybdenum disulfide material. The unfolded diagram of molybdenum disulfide thin film material is a grid pattern.

[0007] Nickel-chromium alloy resistor a(24) and nickel-chromium alloy resistor b(25): a low-temperature drift resistor material with good high-temperature stability, and ordinary visible light cannot affect the chemical or physical properties of nickel-chromium alloy.

[0008] The specific implementation process of the method is as follows:

[0009] Step 1: External power supply b generates a magnetic field for the stator coil, causing the motor rotor to start rotating under the influence of the magnetic field. This causes the molybdenum disulfide film materials a and b bonded to the motor rotor to start rotating. A bar light source shines on the molybdenum disulfide film materials a and b, causing their resistance values ​​to change due to the influence of the bar light source.

[0010] Step 2: External power supply a supplies DC power to the bus ring. The bus ring is powered in parallel. Part of the power is supplied through wire a to the molybdenum disulfide thin film material a and the nickel-chromium alloy resistor a. The voltage division signal generates power to the rotor output coil a, which generates a magnetic field V1. Part of the power is supplied through wire b to the molybdenum disulfide thin film material b and the nickel-chromium alloy resistor b. The voltage division signal generates power to the rotor output coil b, which generates a magnetic field V2. The microcontroller has a built-in AD converter to convert the analog signals V1 and V2 received by the switch-type Hall a and switch-type Hall b into digital signals HV1 and HV2.

[0011] Step 3: Both molybdenum disulfide thin film material a and molybdenum disulfide thin film material b have n grids. When a bar light source shines on the molybdenum disulfide thin film material, the resistance increases. Therefore, whenever the material passes through the bar light source, the switching Hall effect sensor receives a high level. When the bar light source shines on a blank area of ​​the grid, the switching Hall effect sensor receives a low level. A pulse signal includes one high level and one low level. The mechanical angle value corresponding to each pulse signal is θ.

[0012]

[0013] Where n is the number of grids on the molybdenum disulfide thin film material;

[0014] Step 4: When molybdenum disulfide thin film material a and molybdenum disulfide thin film material b are placed, there is an angle between them, which is θ / 2. Therefore, there is a time difference between the A-phase pulse signal output by switch-type Hall a and the B-phase pulse signal output by switch-type Hall b. Based on the high and low level changes of the dual Hall digital signals HV1 and HV2, the pulse image generated by one pulse is divided into four intervals, each interval corresponding to θ / 4.

[0015] The position of the current sampling point is determined by comparing the level changes of the dual Hall digital signals: When the A-phase pulse signal is high, the B-phase pulse changes from low to high; when the A-phase pulse signal is low, the B-phase pulse changes from high to low; when the B-phase pulse signal is low, the A-phase pulse changes from low to high; when the B-phase pulse signal is high, the B-phase pulse changes from high to low. When these four conditions occur, the motor rotor rotates forward. The initial value of P is 0, and the value increases by one each time these four conditions occur. Similarly, when the A-phase pulse signal is high, the B-phase pulse changes from high to low; when the A-phase pulse signal is low, the B-phase pulse changes from low to high; when the B-phase pulse signal is low, the A-phase pulse changes from high to low; when the B-phase pulse signal is high, the B-phase pulse changes from low to high. When these four conditions occur, the motor rotor rotates in reverse. The initial value of N is 0, and the value increases by one each time these four conditions occur.

[0016] The final formula for calculating the angle when the motor rotor rotates is:

[0017] Q=P×θ / 4-N×θ / 4 (2)

[0018] Where Q represents the angle of rotation of the motor rotor. A positive result indicates that the final calculation result is forward rotation, and a negative result indicates that the final calculation result is reverse rotation.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The angular displacement sensor of the present invention is based on a molybdenum disulfide thin film material, which is a thin and lightweight material that can be well attached to the motor rotor without affecting the mechanical performance of the motor. Furthermore, the angular displacement sensor of the present invention is built into the motor rotor, and compared with other types of external angular displacement sensors, the angle calculation is more accurate.

[0021] 2. The angular displacement sensor described in this invention is based on a grid thin film material, which has excellent customizability. The thin film material can be customized by controlling the manufacturing parameters. Therefore, thin film materials with different grid numbers can be manufactured as needed, which can better meet actual needs and save production costs.

[0022] 3. Compared with traditional magnetoelectric angular displacement sensors, the angular displacement sensor described in this invention does not contain magnets or steel, thus avoiding the effects of magnet cracking and demagnetization caused by long-term operation of the sensor, and making the sensor more widely applicable.

[0023] 4. The angular displacement sensor angle calculation method described in this invention can record the rotation mode of the motor rotor and the angle through which the motor rotor rotates more efficiently and accurately, depending on the number of grids and the installation angle of the device. Attached Figure Description

[0024] For ease of explanation, the present invention will be described in detail below with reference to the specific embodiments and accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure of the device described in this invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the device described in this invention;

[0027] Figure 3 This is a schematic diagram showing the distribution of the stator coil and strip light source structure of the device described in this invention;

[0028] Figure 4 This is a schematic diagram of the molybdenum disulfide material structure arrangement of the device described in this invention;

[0029] Figure 5 This is a schematic diagram of the bus ring structure distribution of the device described in this invention;

[0030] Figure 6 This is a schematic diagram of the PCB board structure distribution of the device described in this invention;

[0031] Figure 7 This is a diagram showing the calculation of pulse and angle values ​​when the motor rotor rotates forward according to the present invention.

[0032] Figure 8 This is a diagram showing the pulse and angle values ​​calculated when the motor rotor reverses in the present invention.

[0033] Figure 9 This is a diagram showing the calculation of pulse and angle values ​​when the rotor rotation direction of the motor changes according to the present invention.

[0034] In the diagram, 1. Front cover; 2. Bearing a; 3. Motor rotor; 4. Busbar; 4-1. Inner ring of busbar; 4-2. Outer ring a of busbar; 4-3. Outer ring b of busbar; 4-4. Connecting pin; 5. Molybdenum disulfide thin film material a; 6. Molybdenum disulfide thin film material b; 7. Rotor output coil a; 8. Rotor output coil b; 9. Bearing b; 10. Motor stator; 11. External power supply a; 12. External power supply b; 13. 14. Signal receiver housing; 14. PCB board; 14-1. Switch type Hall a; 14-2. Switch type Hall b; 14-3. Microcontroller; 15. Rear end cover; 16. Protective cover; 17. Bolt; 18. Nut; 19. Screw a; 20. Screw b; 21. Rivet; 22. Stator coil; 23. Strip light source; 24. Nickel-chromium alloy resistor a; 25. Nickel-chromium alloy resistor b; 26. Wire a; 27. Wire b. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0036] The structural composition of the present invention is as follows Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown in the accompanying drawings, the specific structure and specific embodiments of the present invention are further illustrated below:

[0037] An angle calculation method for an incremental angular displacement sensor based on grating thin film material is proposed. The device structure includes a front cover (1), bearing a (2), motor rotor (3), bus ring (4), molybdenum disulfide thin film material a (5), molybdenum disulfide thin film material b (6), rotor output coil a (7), rotor output coil b (8), bearing b (9), motor stator (10), external power supply a (11), external power supply b (12), signal receiving shell (13), PCB board (14), rear cover (15), protective cover (16), bolt (17), nut (18), screw a (19), screw b (20), rivet (21), stator coil (22), and strip light source (23). ), Ni-chromium alloy resistor a (24), Ni-chromium alloy resistor b (25), wire a (26), wire b (27); wherein the bus ring (4) includes the inner ring (4-1), the outer ring (4-2), the outer ring (4-3), and the connecting pin (4-4); the PCB board (14) includes the switch type Hall a (14-1), the switch type Hall b (14-2), and the microcontroller (14-3); the inner ring (4-1) of the bus ring, the molybdenum disulfide thin film material a (5), the molybdenum disulfide thin film material b (6), the Ni-chromium alloy resistor a (24), the Ni-chromium alloy resistor b (25), the rotor induction coil a (7), and the rotor output coil b (8) are all glued to the motor rotor. The stator coil (22) is wound on the motor stator (10), the strip light source (23) is glued to the motor stator (10), and the bearings a (2) and b (9) are fixed on the motor rotor (3) by the shoulder positioning; the inner ring of the bus ring (4-1) is connected to the wire a (26), the wire a (26) is connected to the nickel-chromium alloy resistor a (24), the rotor output coil a (7) is connected through the wire a (26), the molybdenum disulfide thin film material a (5) is connected through the wire a (26), and the inner ring of the bus ring (4-1) is connected through the wire a (26); the inner ring of the bus ring (4-1) is connected to the wire b (27), the wire b (27) is connected to the nickel-chromium alloy resistor b (25), and the inner ring of the bus ring (4-1) is connected through the wire b (27). 27) Connect the rotor output coil b (8), connect the molybdenum disulfide thin film material b (6) through wire b (27), and connect the inner ring (4-1) of the bus ring through wire b (27); the external power supply a (11) and the external power supply b (12) are welded to the motor stator (10), the signal receiving shell (13) is connected to the motor stator (10) through screw a (19), the PCB board (14) is glued to the signal receiving shell (13), the protective cover (16) is connected to the motor stator (10) through rivet (21), the front cover (1) is connected to the motor stator (10) through bolt (17) and nut (18), and the rear cover (15) is connected to the signal receiving shell (13) through screw b (20).

[0038] Molybdenum disulfide thin film material a(5) and molybdenum disulfide thin film material b(6): a flexible material affected by light source. Illumination can affect the electrical properties of molybdenum disulfide material. The unfolded diagram of molybdenum disulfide thin film material is a grid pattern.

[0039] Nickel-chromium alloy resistor a(24) and nickel-chromium alloy resistor b(25): a low-temperature drift resistor material with good high-temperature stability, and ordinary visible light cannot affect the chemical or physical properties of nickel-chromium alloy.

[0040] An angle calculation method based on an incremental angular displacement sensor using grating thin film materials is described below.

[0041] The specific implementation process of the method is as follows:

[0042] Step 1: External power supply b generates a magnetic field for the stator coil, causing the motor rotor to start rotating under the influence of the magnetic field. This causes the molybdenum disulfide film materials a and b bonded to the motor rotor to start rotating. A bar light source shines on the molybdenum disulfide film materials a and b, causing their resistance values ​​to change due to the influence of the bar light source.

[0043] Step 2: External power supply a supplies DC power to the bus ring. The bus ring is powered in parallel. Part of the power is supplied through wire a to the molybdenum disulfide thin film material a and the nickel-chromium alloy resistor a. The voltage division signal generates power to the rotor output coil a, which generates a magnetic field V1. Part of the power is supplied through wire b to the molybdenum disulfide thin film material b and the nickel-chromium alloy resistor b. The voltage division signal generates power to the rotor output coil b, which generates a magnetic field V2. The microcontroller has a built-in AD converter to convert the analog signals V1 and V2 received by the switch-type Hall a and switch-type Hall b into digital signals HV1 and HV2.

[0044] Step 3: Both molybdenum disulfide thin film material a and molybdenum disulfide thin film material b have n grids. When a bar light source shines on the molybdenum disulfide thin film material, the resistance increases. Therefore, whenever the material passes through the bar light source, the switching Hall effect sensor receives a high level. When the bar light source shines on a blank area of ​​the grid, the switching Hall effect sensor receives a low level. A pulse signal includes one high level and one low level. The mechanical angle value corresponding to each pulse signal is θ.

[0045]

[0046] Where n is the number of grids on the molybdenum disulfide thin film material;

[0047] Step 4: When molybdenum disulfide thin film material a and molybdenum disulfide thin film material b are placed, there is an angle between them, which is θ / 2. Therefore, there is a time difference between the A-phase pulse signal output by switch-type Hall a and the B-phase pulse signal output by switch-type Hall b. Based on the high and low level changes of the dual Hall digital signals HV1 and HV2, the pulse image generated by one pulse is divided into four intervals, each interval corresponding to θ / 4.

[0048] The position of the current sampling point is determined by comparing the level changes of the dual Hall digital signals: When the A-phase pulse signal is high, the B-phase pulse changes from low to high; when the A-phase pulse signal is low, the B-phase pulse changes from high to low; when the B-phase pulse signal is low, the A-phase pulse changes from low to high; when the B-phase pulse signal is high, the B-phase pulse changes from high to low. When these four conditions occur, the motor rotor rotates forward. The initial value of P is 0, and the value increases by one each time these four conditions occur. Similarly, when the A-phase pulse signal is high, the B-phase pulse changes from high to low; when the A-phase pulse signal is low, the B-phase pulse changes from low to high; when the B-phase pulse signal is low, the A-phase pulse changes from high to low; when the B-phase pulse signal is high, the B-phase pulse changes from low to high. When these four conditions occur, the motor rotor rotates in reverse. The initial value of N is 0, and the value increases by one each time these four conditions occur.

[0049] The final formula for calculating the angle when the motor rotor rotates is:

[0050] Q=P×θ / 4-N×θ / 4 (2)

[0051] Where Q represents the angle of rotation of the motor rotor. A positive result indicates that the final calculation result is forward rotation, and a negative result indicates that the final calculation result is reverse rotation.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for angle calculation based on an incremental angular displacement sensor using grating thin film materials, characterized in that: The specific implementation process of the method is as follows: Step 1: External power supply b generates a magnetic field for the stator coil, causing the motor rotor to start rotating under the influence of the magnetic field. This causes the molybdenum disulfide film materials a and b bonded to the motor rotor to start rotating. A bar light source shines on the molybdenum disulfide film materials a and b, causing their resistance values ​​to change due to the influence of the bar light source. Step 2: External power supply a supplies DC power to the bus ring. The bus ring is powered in parallel. Part of the power is supplied through wire a to the molybdenum disulfide thin film material a and the nickel-chromium alloy resistor a. The voltage division signal generates power to the rotor output coil a, which generates a magnetic field V1. Part of the power is supplied through wire b to the molybdenum disulfide thin film material b and the nickel-chromium alloy resistor b. The voltage division signal generates power to the rotor output coil b, which generates a magnetic field V2. The microcontroller has a built-in AD converter to convert the analog signals V1 and V2 received by the switch-type Hall a and switch-type Hall b into digital signals HV1 and HV2. Step 3: Both molybdenum disulfide thin film material a and molybdenum disulfide thin film material b have n grids. When a bar light source shines on the molybdenum disulfide thin film material, the resistance increases. Therefore, whenever the material passes through the bar light source, the switching Hall effect sensor receives a high level. When the bar light source shines on a blank area of ​​the grid, the switching Hall effect sensor receives a low level. A pulse signal includes one high level and one low level. The mechanical angle value corresponding to each pulse signal is θ. Where n is the number of grids on the molybdenum disulfide thin film material; Step 4: When molybdenum disulfide thin film material a and molybdenum disulfide thin film material b are placed, there is an angle between them, which is θ / 2. Therefore, there is a time difference between the A-phase pulse signal output by switch-type Hall a and the B-phase pulse signal output by switch-type Hall b. Based on the high and low level changes of the dual Hall digital signals HV1 and HV2, the pulse image generated by one pulse is divided into four intervals, each interval corresponding to θ / 4. The position of the current sampling point is determined by comparing the level changes of the dual Hall digital signals: When the A-phase pulse signal is high, the B-phase pulse changes from low to high; when the A-phase pulse signal is low, the B-phase pulse changes from high to low; when the B-phase pulse signal is low, the A-phase pulse changes from low to high; when the B-phase pulse signal is high, the B-phase pulse changes from high to low. When these four conditions occur, the motor rotor rotates forward. The initial value of P is 0, and the value increases by one each time these four conditions occur. Similarly, when the A-phase pulse signal is high, the B-phase pulse changes from high to low; when the A-phase pulse signal is low, the B-phase pulse changes from low to high; when the B-phase pulse signal is low, the A-phase pulse changes from high to low; when the B-phase pulse signal is high, the B-phase pulse changes from low to high. When these four conditions occur, the motor rotor rotates in reverse. The initial value of N is 0, and the value increases by one each time these four conditions occur. The final formula for calculating the angle when the motor rotor rotates is: Q=P×θ / 4-N×θ / 4 (2) Where Q represents the angle of rotation of the motor rotor. A positive result indicates that the final calculation result is forward rotation, and a negative result indicates that the final calculation result is reverse rotation.

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