Error self-measurement rotary transformer and error self-measurement method
By setting up two independently rotating rotary transformer units in the rotary transformer and using the combined intertropical method, the problem of insufficient measurement accuracy of the rotary transformer is solved, high-precision error separation and precise measurement are achieved, tool design is simplified, and high-precision is met Require.
Patent Information
- Application Number
- CN202411213515.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2024-12-13
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the measurement of angle position, there are inherent errors caused by insufficient manufacturing accuracy, conditional errors, harmonic magnetic field, and electric potential in the rotation transformer, which leads to low measurement accuracy and is difficult to meet the high accuracy requirements.
Design a self-measurement rotation transformer. By setting up two independently rotating rotation transformer units on the rotating shaft system, the combined mutual comparison method is used to collect and separate error data, so as to realize the error separation of the rotation transformer itself, and reduce the high accuracy. Reliance on angle measuring equipment.
In the absence of high-precision angle measurement equipment, the error self-measurement separation of the two sets of equal-precision rotary transformers is achieved, which ensures high-precision measurement, and reduces the error introduced by the position adjustment of the stator rotor, simplifies the type of tooling and is easy to implement.
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Figure CN119132811A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of rotary transformers, and in particular to a rotary transformer with self-error measurement and a method for self-error measurement. Background Art
[0002] Resolvers are widely used in motion servo control systems for sensing and measuring angular position. According to the way the rotor electrical signal is introduced and extracted, resolvers are divided into brush resolvers and brushless resolvers. In a brush resolver, there are windings on both the stator and the rotor. The electrical signal of the rotor winding is introduced or extracted by the slip ring on the rotor and the brush on the stator through sliding contact. At present, there are two structural forms of brushless resolvers. One is called a toroidal transformer-type brushless resolver, and the other is called a reluctance resolver. The toroidal transformer-type brushless resolver has well achieved brushless and contactless operation. Its structure is the same as that of a brush resolver, with stator and rotor windings for signal conversion. The toroidal transformer winding on the rotor is connected to the rotor winding for signal conversion, and its electrical signal input and output are completed by the toroidal transformer. The excitation winding and output winding of the reluctance resolver are placed in the same set of stator slots and are fixed. However, the form of the excitation winding and the output winding are different. The output signal of the two-phase winding should still be an electrical signal that changes sinusoidally with the rotation angle and differs by 90 degrees in electrical angle from each other. The rotor pole shape is specially designed to make the air gap magnetic field close to a sinusoidal shape. The design of the rotor shape must also meet the required number of poles.
[0003] However, the position measurement performed by the rotary transformer is not perfect. For example, insufficient manufacturing precision will cause dimensional deviation, conditional errors caused by installation and adjustment, and inherent principle errors caused by the existence of harmonic magnetic fields and harmonic potentials in the rotary transformer components. As a result of the above phenomenon, the position measurement of the rotary transformer will introduce errors. The rotary transformer occupies a large proportion in the angular position measurement market, and high precision is a major advantage compared to other angle measurement components. However, the precision measurement of high-precision rotary transformers often places higher requirements on the accuracy of the measuring equipment, which is often difficult to achieve. Summary of the invention
[0004] The purpose of the present application is to provide a self-measurement error rotary transformer and a self-measurement error method. By designing a new structure of a rotary transformer with the ability of self-measurement of errors, a specific error separation algorithm is completed to achieve high-precision error separation without the need for higher-precision angle measurement equipment. The error separation of the rotary transformer itself can be achieved by only performing combined mutual comparison measurement with two rotary transformers.
[0005] To achieve the above purpose, the technical solution provided by the present invention is as follows:
[0006] First aspect
[0007] The present invention provides a self-measurement error rotary transformer, which includes a common rotating shaft system and a first rotary transformer unit and a second rotary transformer unit which are used in conjunction with each other and are longitudinally spaced apart on the rotating shaft system; the first rotary transformer unit and the second rotary transformer unit can both rotate together with the rotating shaft system and can both independently rotate a certain angle relative to the rotating shaft system, or only one of the rotary transformers can independently rotate a certain angle relative to the rotating shaft system.
[0008] Second aspect
[0009] The present invention provides a method for self-measurement of a rotary transformer error for self-measurement of error, wherein the rotary transformer for self-measurement of error is the rotary transformer described in the first aspect; the method comprises the following steps:
[0010] Step S1: assembling the rotary transformer;
[0011] Step S2: collecting angular position data corresponding to the first rotary transformer unit and the second rotary transformer unit in multiple measurement rounds;
[0012] Step S3: according to the angle position data, error data is obtained by using a combined comparison method.
[0013] Compared with the prior art, the present invention has the following beneficial effects:
[0014] By using the present application scheme, in the absence of high-precision angle measurement equipment, the error self-measurement separation of two sets of equal-precision rotary transformers can be achieved through the designed new structure rotary transformer, and high measurement accuracy can be guaranteed;
[0015] In addition, there is no need to change or adjust the relative position between the stator and the rotor during the entire process, which reduces the error introduced by adjusting the relative position between the stator and the rotor and ensures the accuracy of the measurement.
[0016] In addition, only two rotor gaskets and one rotor moving sleeve are required, eliminating other rotor transfer parts, reducing the types of tooling, and facilitating implementation. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 A schematic diagram of the cross-sectional structure of an error self-measuring rotary transformer provided in an embodiment of the present application;
[0018] Figure 2 A schematic diagram of the structure of the rotating shaft system provided in an embodiment of the present application;
[0019] Figure 3 A schematic diagram of the structure of a rotor moving sleeve provided in an embodiment of the present application;
[0020] Figure 4 A schematic diagram of the structure of a rotor gasket provided in an embodiment of the present application;
[0021] In the figure, there are a first rotating transformer unit 1, a second rotating transformer unit 2, a rotating shaft system 3, a first stator casing 4, a second stator casing 5, a first casing pressure ring 6, a second casing pressure ring 7, a first rotor sleeve 8, a second rotor sleeve 9, a first rotor pressure ring 10, a second rotor pressure ring 11, a rotor moving sleeve 12, and a rotor gasket 13. DETAILED DESCRIPTION
[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0024] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected, set, or detachably connected, set, or integrally connected, set, and can refer to direct connection or indirect connection. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.
[0025] As a position sensor, the accuracy of the resolver is the most important technical indicator of this component. The accuracy of the resolver is determined by its own error. Only by obtaining the error of the resolver can the error be corrected, and only in this way can the accuracy of the resolver be guaranteed. The solution provided in this application is a structure of a resolver that can complete the normal measurement function of the resolver and has a self-test function.
[0026] like Figure 1-Figure 4 The structure of the embodiment provided by the present invention is shown in FIG.
[0027] Example 1
[0028] The present embodiment provides a self-measurement error rotary transformer, which includes a common rotating shaft system 3 and a first rotary transformer unit 1 and a second rotary transformer unit 2 which are used in conjunction with each other and are longitudinally spaced apart on the rotating shaft system 3; the first rotary transformer unit 1 and the second rotary transformer unit 2 can rotate together with the rotating shaft system 3 at the same time, and can also independently rotate a certain angle relative to the rotating shaft system 3, or only one of the rotary transformers can independently rotate a certain angle relative to the rotating shaft system 3.
[0029] It should be noted that the following specific implementation structure is designed under the following circumstances: the first rotary transformer unit 1 and the second rotary transformer unit 2 can rotate together with the rotating shaft system 3 at the same time, and the second rotary transformer unit 2 can independently rotate a certain angle relative to the rotating shaft system 3.
[0030] The rotary transformer also includes a first stator housing 4, a second stator housing 5, a first housing pressure ring 6, a second housing pressure ring 7, a first rotor sleeve 8, a second rotor sleeve 9, a first rotor pressure ring 10, a second rotor pressure ring 11, and a rotor moving sleeve 12;
[0031] The first stator housing 4, the first housing pressure ring 6 and the stator of the first rotary transformer unit 1 are fixed together, the first rotor sleeve 8, the first rotor pressure ring 10 and the rotor of the first rotary transformer unit 1 are fixed together, the first rotor sleeve 8 is fixed to the rotating shaft system 3, and a radial air gap is provided between the stator and the rotor of the first rotary transformer unit 1;
[0032] The second stator housing 5, the second housing pressure ring 7 and the stator of the second rotary transformer unit 2 are fixed together, the second rotor sleeve 9, the second rotor pressure ring 11 and the rotor of the second rotary transformer unit 2 are fixed together, the rotor moving sleeve 12 is detachably connected to the rotating shaft system 3, and a radial air gap is provided between the stator and the rotor of the second rotary transformer 1;
[0033] During each measurement, the second rotor sleeve 9 and the rotor moving sleeve 12 are fixed together with the rotor of the second rotary transformer unit 2 by tight fit, and the rotor of the second rotary transformer unit 2 always rotates coaxially with the rotor sleeve 9 and the rotor moving sleeve 12, and the rotor moving sleeve 12 rotates driven by the rotating shaft system 3;
[0034] After each measurement, when the second rotary transformer unit 2 needs to be rotated, the rotor moving sleeve 12 is disassembled from the rotating shaft system 3, and the two are separated. The rotor of the second rotary transformer unit 2 and the rotating shaft system 3 are independent, and the second rotary transformer unit 2 can independently rotate a certain angle.
[0035] The radial air gap between the stator and the rotor of the first rotary transformer unit 1 is 0.5 mm, and the radial air gap between the stator and the rotor of the second rotary transformer unit 2 is 0.5 mm.
[0036] The outer diameter of the first rotary transformer unit 1 and the second rotary transformer unit 2 are both 70 mm, the inner diameter is 37 mm, and the precision is 15.
[0037] The following provides a specific connection structure between a rotor moving sleeve 12 and a rotating shaft system 3, wherein the rotor moving sleeve 12 and the rotating shaft system 3 are fixed by screws. Positioning holes are set at corresponding positions on the rotor moving sleeve 12 and the rotating shaft system 3. After the screws pass through the positioning holes of the rotor moving sleeve 12, they are fixed to the positioning holes set on the rotating shaft system 3, thereby realizing the vertical positioning of the two.
[0038] In addition, the rotary transformer provided in this embodiment also includes a rotor gasket 13 installed between the housing pressure ring 7 and the rotor moving sleeve 12 when the second rotary transformer unit 2 needs to be rotated after each measurement, to release the fixation of the rotating shaft system 3 and the rotor moving sleeve 12, and to loosen the rotor moving sleeve 12 by turning the screw to separate it from the rotating shaft system 3, so that the independence between the rotor of the second rotary transformer unit 2 below and the rotating shaft system 3 is achieved, while the rotor of the first rotary transformer unit 1 above is always connected to the rotating shaft system 3, so that the independent rotation between the two rotors can be achieved, that is, the design requirement that the first rotary transformer unit 1 above rotates with the shaft and the second rotary transformer unit 2 below can independently rotate an angle is achieved. The gap of each measurement can rotate the shaft system so that the rotors of the two rotary transformers are staggered by a relative angle.
[0039] In order to ensure the positioning of the rotor of the second rotating transformer unit 2 below when it is separated and connected to the rotating shaft system 3, the following design is made. The rotor moving sleeve 12 is fixed to the rotating shaft system 3 by screws, and we achieve vertical positioning by drilling positioning holes on the rotor moving sleeve 12 and the rotating shaft system 3. Before each vertical release of the rotor moving sleeve 12, two rotor gaskets 13 are first installed to ensure that the stator and rotor positions of the second rotating transformer unit 2 below do not move relative to each other during each measurement interval, and no additional measurement errors are introduced. After a measurement is completed, the rotor moving sleeve 12 is loosened by turning the screw to separate it from the rotating shaft system 3, thereby achieving independence between the rotor and the main shaft system of the second rotating transformer unit 2 below.
[0040] In addition, the rotary transformer is installed on the indexing table through the rotary shaft system 3, and the rotary indexing table drives the rotary shaft system 3 to rotate, thereby driving the entire rotary transformer to rotate together.
[0041] In addition, the rotary transformer is installed on the AGV body through the rotating shaft system 3 to achieve use on the AGV body.
[0042] Example 2
[0043] This embodiment provides a method for self-measurement of a rotary transformer error by self-measurement, wherein the rotary transformer for self-measurement of the error is a rotary transformer according to any one of claims 1 to 9; the method comprises the following steps:
[0044] Step S1: assembling the rotary transformer;
[0045] Step S2: collecting angular position data corresponding to the first rotary transformer unit and the second rotary transformer unit in multiple measurement rounds;
[0046] Step S3: according to the angle position data, error data is obtained by using a combined comparison method.
[0047] Specifically, after a measurement starts, the first rotating transformer unit and the second rotating transformer unit can rotate with the shaft, and the corresponding angle position signals are output in real time through the angle measurement circuit at n measurement positions. The readings of the master and slave rotating transformers are directly read from the angle display device, and the difference between the two is filled in the error table for use in the algorithm.
[0048] The zero position of the first rotary transformer unit is selected as the reference zero, and the actual measurement of 8 rounds with 45° as the interval angle of each round is taken as an example to illustrate the actual test method based on the combined mutual comparison method.
[0049] Before the first measurement, the first rotary transformer unit and the second rotary transformer unit are adjusted to a state where the digital display reading is zero, and 8 mutual comparison measurements are performed with 0° as the starting position, and the readings of the first rotary transformer unit ψ are read out respectively. a(1,1) , a(1,2) , a(1,3) , a(1,4) , a(1,5) , a(1,6) , a(1,7) , a(1,8) , the reading of the second resolver unit ψ b(1,1) , b(1,2) , b(1,3) , b(1,4) , b(1,5) , b(1,6) ,b(1,7) , b(1,8) .
[0050] In the second measurement, the first rotary transformer unit still starts at 0°, and the second rotary transformer unit is rotated clockwise by an angle relative to the first rotary transformer unit. A new set of data is measured, and the readings of the first rotary transformer unit ψ are read out respectively. a(2,1) , a(2,2) , a(2,3) , a(2,4) , a(2,5) , a(2,6) , a(2,7) , a(2,8) , the reading of the second resolver unit ψ b(2,1) , b(2,2) , b(2,3) , b(2,4) , b(2,5) , b(2,6) , b(2,7) , b(2,8) .
[0051] The third to eighth rounds of measurement are performed in this way, and eight rounds of measurement are completed, each round of measurement contains eight first rotary transformer unit measurement values ψ a(i,j) and the 8 second resolver units measure the values ψ b(i,j) Then, the data of the first rotary transformer unit and the second rotary transformer unit at the same position point in each measurement are compared to obtain an 8×8-order matrix, and then the error data of the two rotary transformers of the first rotary transformer unit and the second rotary transformer unit can be separated by the combined comparison method.
[0052] It should be noted that the error self-measurement rotary transformer provided in this embodiment includes two rotary transformer units. The two rotary transformer units can be coaxially installed in the system and used in the same way as one unit to achieve angular position output and calibration.
[0053] The above shows and describes 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 by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A self-measurement error rotary transformer, characterized in that: The error self-measuring rotary transformer comprises a common rotary shaft system (3) and a first rotary transformer unit (1) and a second rotary transformer unit (2) which are used in conjunction with each other and are longitudinally spaced apart on the rotary shaft system (3); the first rotary transformer unit (1) and the second rotary transformer unit (2) can both rotate simultaneously with the rotary shaft system (3) and can both independently rotate relative to the rotary shaft system (3) by a certain angle, or only one of the rotary transformers can independently rotate relative to the rotary shaft system (3) by a certain angle.
2. The error self-measuring rotary transformer according to claim 1, characterized in that: The first rotary transformer unit (1) and the second rotary transformer unit (2) can rotate simultaneously with the rotary shaft system (3), and the second rotary transformer unit (2) can also independently rotate at a certain angle relative to the rotary shaft system (3).
3. A self-error measuring rotary transformer according to claim 1 or 2, characterized in that: The rotary transformer further comprises a first stator housing (4), a second stator housing (5), a first housing pressure ring (6), a second housing pressure ring (7), a first rotor sleeve (8), a second rotor sleeve (9), a first rotor pressure ring (10), a second rotor pressure ring (11), and a rotor moving sleeve (12); The first stator housing (4), the first housing pressure ring (6) and the stator of the first rotary transformer unit (1) are fixed together, the first rotor sleeve (8), the first rotor pressure ring (10) and the rotor of the first rotary transformer unit (1) are fixed together, the first rotor sleeve (8) is fixed to the rotating shaft system (3), and a radial air gap is provided between the stator and the rotor of the first rotary transformer unit (1); The second stator housing (5), the second housing pressure ring (7) and the stator of the second rotary transformer unit (2) are fixed together, the second rotor sleeve (9), the second rotor pressure ring (11) and the rotor of the second rotary transformer unit (2) are fixed together, the rotor movable sleeve (12) is detachably connected to the rotating shaft system (3), and a radial air gap is provided between the stator and the rotor of the second rotary transformer 1; During each measurement, the second rotor sleeve (9) and the rotor moving sleeve (12) are fixed together with the rotor of the second rotary transformer unit (2) by tight fit, the rotor of the second rotary transformer unit (2) always rotates coaxially with the rotor sleeve 9 and the rotor moving sleeve (12), and the rotor moving sleeve (12) rotates driven by the rotating shaft system (3); After each measurement, when it is necessary to rotate the second rotary transformer unit (2), the rotor moving sleeve (12) and the rotary shaft system (3) are disassembled and separated, and the rotor and the rotary shaft system (3) of the second rotary transformer unit (2) are independent, so that the second rotary transformer unit (2) can independently rotate a certain angle.
4. The error self-measuring rotary transformer according to claim 3, characterized in that: The rotor moving shaft sleeve (12) and the rotating shaft system (3) are fixed by screws. Positioning holes are provided at corresponding positions on the rotor moving shaft sleeve (12) and the rotating shaft system (3). After the screws pass through the positioning holes of the rotor moving shaft sleeve (12), they are fixed with the positioning holes provided on the rotating shaft system (3), thereby achieving vertical positioning of the two.
5. The error self-measurement rotary transformer according to claim 3, characterized in that: It also includes a rotor gasket (13) installed between the housing pressure ring 7 and the rotor moving sleeve (12) when the second rotary transformer unit (2) needs to be rotated after each measurement is completed, so that the positions of the stator and rotor of the second rotary transformer unit (2) do not move relative to each other during the interval of each measurement, and no additional measurement error is introduced.
6. The error self-measuring rotary transformer according to claim 5, characterized in that: There are two rotor gaskets (13).
7. The error self-measuring rotary transformer according to claim 3, characterized in that: The radial air gap between the stator and the rotor of the first rotary transformer unit (1) is 0.5 mm, and the radial air gap between the stator and the rotor of the second rotary transformer unit (2) is 0.5 mm.
8. The error self-measuring rotary transformer according to claim 3, characterized in that: The first rotary transformer unit (1) and the second rotary transformer unit (2) both have an outer diameter of 70 mm, an inner diameter of 37 mm, and a precision of 15.
9. The error self-measuring rotary transformer according to claim 3, characterized in that: The rotary transformer is mounted on a dividing table via a rotary shaft system (3), and the rotary dividing table drives the rotary shaft system (3) to rotate, thereby driving the entire rotary transformer to rotate together, or the rotary transformer is mounted on an AGV body via a rotary shaft system (3).
10. A rotary transformer error self-measurement method for error self-measurement, characterized in that: The error self-measurement rotary transformer is a rotary transformer as claimed in any one of claims 1 to 9; the method comprises the following steps: Step S1: assembling the rotary transformer; Step S2: collecting angular position data corresponding to the first rotary transformer unit and the second rotary transformer unit in multiple measurement rounds; Step S3: according to the angle position data, error data is obtained by using a combined comparison method.