Motor and motor position sensor thereof

Abstract

The invention discloses a motor and a motor position sensor thereof, and relates to the technical field of position sensors, the motor position sensor comprises a first induction assembly and a second induction assembly, the first induction assembly comprises a coil assembly, a control element and a rotor element, and the control element is electrically connected with the coil assembly and controls the coil assembly to generate an excitation magnetic field; the rotor element cuts the excitation magnetic field, so that the coil group forms an induced magnetic field, and the sine circuit and the cosine circuit generate induction signals; the control element receives the induction signal and generates a sine voltage signal and a cosine voltage signal; the second sensing assembly comprises a sensing element and a trigger terminal, and the sensing element can periodically sense the trigger terminal to generate a zero position signal. The motor position sensor can obtain the absolute position of the motor rotor according to the zero position signal and the induction signal. After the motor position sensor is assembled on the motor, the absolute position of the motor rotor can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of position sensors, and in particular to a motor and a motor position sensor thereof. Background Art

[0002] The position sensor in the motor is a device used to detect the position of the motor rotor (rotating part) relative to the stator (fixed part). By obtaining the mechanical position of the motor rotor through the position sensor, the motor controller can decide when to switch the direction and intensity of the motor's current, thereby controlling the motor's rotation speed and torque.

[0003] In new energy vehicles, precise control of the motor is related to the driving safety and stability of the vehicle. The accurate operation of the position sensor can ensure that the motor responds correctly at critical moments such as emergency braking, acceleration or steering.

[0004] Eddy current sensors are currently the most common position sensors. Currently, most existing eddy current sensors have the problem of being heavy or occupying a large area, which is not conducive to the miniaturization of products. Summary of the invention

[0005] The purpose of the present application is to provide a motor and a motor position sensor thereof to accurately obtain the absolute position of the motor rotor and make the position sensor structure compact, thereby solving the problem that the existing position sensor is heavy or occupies a large area.

[0006] In order to achieve the above purpose, this application adopts the following technical solutions:

[0007] A motor position sensor comprises a first sensing component and a second sensing component, wherein:

[0008] The first induction component includes a coil group, a control element and a rotor element, wherein the control element is electrically connected to the coil group and controls the coil group to generate an excitation magnetic field;

[0009] The rotor element rotates synchronously with the rotor of the motor to cut the excitation magnetic field, so that the coil group generates an induction signal; the control element obtains the electrical angle of the rotor of the motor based on the induction signal;

[0010] The second sensing component includes a sensing element and a trigger terminal. The trigger terminal rotates synchronously with the rotor of the motor. The sensing element periodically senses the trigger terminal to generate a zero position signal of the rotor of the motor.

[0011] In some embodiments, the coil group includes an excitation circuit, a sine circuit and a cosine circuit; wherein the control element is electrically connected to the excitation circuit, the sine circuit and the cosine circuit, and causes the excitation circuit to generate an excitation magnetic field; the rotor element rotates synchronously with the rotor of the motor to cut the excitation magnetic field, causing the sine circuit and the cosine circuit to generate an induction signal; and the control element obtains the electrical angle of the rotor of the motor based on the induction signal.

[0012] In some embodiments, the sensing element is arranged corresponding to the rotation path of the trigger terminal to periodically sense the trigger terminal and generate a zero position signal of the rotor of the motor.

[0013] In some embodiments, the first induction component includes a substrate, the coil group is arranged in the substrate, and the excitation circuit, the sine circuit, and the cosine circuit are arranged along the thickness direction of the substrate.

[0014] In some embodiments, the rotor element is arranged on one side of the substrate along the thickness direction and can rotate relative to the substrate to cut the excitation magnetic field and form an induced magnetic field.

[0015] In some embodiments, there are multiple coil groups and multiple control elements, and the control elements are connected to the coil groups in a one-to-one correspondence so that the coil groups operate independently.

[0016] In some embodiments, the plurality of coil groups are arranged sequentially along the thickness direction of the substrate and are arranged parallel to each other.

[0017] In some embodiments, the second sensing component is any one of a Hall sensor, an eddy current proximity switch, a capacitive proximity switch, and a photoelectric proximity switch.

[0018] Based on the above position sensor, the present application also provides a motor, which includes a motor stator, a motor rotor and the above position sensor, wherein:

[0019] The substrate, the control element and the sensing element are fixed on the motor stator;

[0020] The trigger terminal and the rotor element are connected to the motor rotor and rotate synchronously with the motor rotor.

[0021] In some embodiments, a substrate is further included, wherein the substrate includes a plate substrate, and the control element and the sensing element are arranged on the plate substrate and are arranged toward the motor rotor.

[0022] In some embodiments, the sensing element has a sensing end surface protruding from the substrate toward the motor rotor, the sensing end surface is parallel to the surface of the substrate facing the motor rotor, and there is a distance L between the sensing end surface and the surface of the substrate facing the motor rotor, 3mm≤L≤45mm.

[0023] In some embodiments, at least one of the motor stator and the motor rotor has a connecting shaft portion extending toward the other; the substrate is an annular structure, and has a through hole penetrating along the thickness direction of the substrate, and the connecting shaft portion is inserted into the through hole so that the substrate is sleeved on the connecting shaft portion; and the ring width of the substrate is W, 25mm≤W≤65mm.

[0024] In some embodiments, the sine circuit, the cosine circuit, and the excitation circuit of the first induction component are disposed around the rotation axis of the motor rotor to form an arrangement along a circular path or along an arc path.

[0025] In some embodiments, a motor controller is further included, the motor controller is used to control the movement of the motor rotor and is connected to the control element to supply power to the control element; and the motor controller is configured to:

[0026] Acquiring working information of each of the control elements;

[0027] When the control element is in normal operation, obtaining a signal output of the control element and calculating the absolute position of the motor rotor;

[0028] In the case that any of the control elements is in an abnormal operation, the acquisition of the signal output of the control element in the abnormal operation is stopped.

[0029] In some embodiments, there are multiple coil groups and multiple control elements, and the control elements are connected to the coil groups one-to-one so that the coil groups can operate independently; and one of the control elements is used as the main control element, and when the multiple control elements are in normal operation, the signal output of the main control element is obtained to calculate the absolute position of the motor rotor.

[0030] Compared with the prior art, the motor and the motor position sensor of the embodiment of the present application have the following beneficial effects:

[0031] The motor and its motor position sensor of the present application are provided with a first induction component, and the rotor element of the first induction component can cut the excitation magnetic field generated by the excitation circuit, so that the rotor element generates an induced magnetic field, and the induced magnetic field will hinder the change of the excitation magnetic field. The coil group detects the magnetic field change of the excitation magnetic field, and then generates an induction signal, and as the rotor element rotates, the signal amplitude of the induction signal will also change accordingly, so that after the control element receives the induction signal, the electrical angle amplitude of the motor's rotor rotating in a single time period can be obtained according to the induction signal. In addition, the motor position sensor is provided with a second induction component, so that the trigger terminal rotates synchronously with the rotor element, and the induction element periodically senses the trigger terminal to generate a zero position signal. According to the zero position signal, the absolute position of the rotor element and the trigger terminal when the zero position signal is triggered can be known. Combined with the electrical angle amplitude of the motor's rotor, the motor position sensor can accurately know the absolute position of the motor rotor.

[0032] Moreover, the motor and its motor position sensor arrange the excitation circuit, sine circuit and cosine circuit in a printed manner in the substrate, so that the circuit layout is lighter. Moreover, the excitation circuit, sine circuit and cosine circuit are arranged along the thickness direction, so that the area occupied by the coil group in the radial direction is always the area of ​​the substrate. Moreover, even if the motor position sensor superimposes multiple coil groups, the multiple coil groups are still arranged in sequence along the thickness direction and parallel to each other, and will not occupy more radial space. When the motor position sensor is applied to the motor, there is no need to reserve too much space between the motor stator and the motor rotor, so that the motor can be further miniaturized.

[0033] Moreover, the motor and its motor position sensor connect multiple coil groups to multiple control elements in a one-to-one correspondence, and each control element transmits electrical energy to each coil group accordingly, so that each coil group can operate independently. In this way, the motor position sensor can utilize the arrangement of multiple coil groups to achieve redundant signal transmission and improve the reliability of position identification of the position sensor. Moreover, based on the setting of independent operation of each coil group, even if a coil group operates abnormally, it will not affect the normal operation of the remaining coil groups, thereby ensuring the operational reliability of the motor position sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of a motor position sensor in this application;

[0035] Figure 2 It is a schematic diagram of the fixed part of the motor position sensor of the present application;

[0036] Figure 3 is a cross-sectional schematic diagram of the substrate of the present application;

[0037] Figure 4 yes Figure 3 A magnified view of middle;

[0038] Figure 5 It is a schematic diagram of the coil assembly of the present application arranged in sequence along the thickness direction;

[0039] Figure 6 is a schematic diagram of a rotor element of the present application;

[0040] Figure 7 is a schematic diagram of the motor of the present application;

[0041] Figure 8 is an exploded schematic diagram of the motor of the present application;

[0042] Fig. 9 It is a schematic diagram of the connection between the coil assembly and the control element of the present application;

[0043] Fig.10 It is a schematic diagram of the execution steps of the motor controller of this application.

[0044] In the figure, 100, position sensor; 200, motor;

[0045] 1. First induction component; 1a. Coil group; 11a. Excitation circuit; 12a. Sine circuit; 13a. Cosine circuit; 1b. Control element; 1c. Rotor element; 1d. Substrate; 10d. Through hole; 11d. Plate shell; 12d. Electrical connection part; 10c. Rotor body; 11c. Rotor blade; 2. Second induction component; 2a. Induction element; 20a. Induction end face; 2b. Trigger terminal; 3. Motor stator; 3a. Stator housing; 30a. First end face; 31a. Coupling part; 4. Motor rotor; 5. Motor controller. DETAILED DESCRIPTION

[0046] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0047] In the description of the present application, it should be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, it may be internal connectivity between two elements or an interactive relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0048] In the description of the present application, it should be understood that the terms "height", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. used in the present application to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In the description of this application, it should be understood that the terms "first" and "second" are used in this application for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0050] like Figure 1-6 As shown, a motor position sensor 100 of an embodiment of the present application is used to obtain the absolute position of a motor rotor 4, and includes a first sensing component 1 and a second sensing component 2, wherein the first sensing component 1 is used to obtain the rotation angle of a rotating member within a time period, and the second sensing component 2 is used to obtain the zero position of the rotating member and the time to reach the zero position. After the motor position sensor 100 is assembled on the motor 200, the rotating member can be the motor rotor 4.

[0051] The first induction component 1 includes a coil group 1a, a control element 1b and a rotor element 1c, wherein the control element 1b is electrically connected to the coil group 1a and controls the coil group 1a to generate an excitation magnetic field. The rotor element 1c rotates synchronously with the motor rotor 4 to cut the excitation magnetic field and form an induction magnetic field, so that the coil group 1a generates an induction signal; and the control element 1b can receive the induction signal and obtain the electrical angle of the motor rotor 4.

[0052] When the excitation circuit 11a is powered, an alternating excitation magnetic field is generated. The rotor element 1c cuts the excitation magnetic field, generating eddy current induction, thereby generating an induced magnetic field. This induced magnetic field hinders the change of the excitation magnetic field, and the coil group 1a can detect this magnetic field change, thereby generating an induced signal. The rotor element 1c rotates synchronously with the motor rotor 4, and also rotates periodically relative to the coil group 1a, thereby causing the signal amplitude of the induced signal to change periodically.

[0053] The control element 1b receives the induction signal and obtains a voltage signal that meets the control requirements after processing. In one rotation cycle of the rotor element 1c, the control element 1b can output voltage signals of multiple cycles and obtain the electrical angle of the motor rotor 4 based on the voltage signal.

[0054] The coil group 1a has a variety of arrangement structures. As long as the coil group 1a can generate an excitation magnetic field and generate an induction signal, it can be adapted to the control element 1b to obtain the electrical angle of the motor rotor 4. As an example of this implementation method, the coil group 1a may include an excitation circuit 11a, a sine circuit 12a, and a cosine circuit 13a. The control element 1b is connected to the excitation circuit 11a, the sine circuit 12a, and the cosine circuit 13a, and the control element 1b is configured to enable the excitation circuit 11a to generate an excitation magnetic field.

[0055] Generally speaking, the coil assembly 1a can be arranged in the substrate 1d, and the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a are printed respectively along the thickness direction of the substrate 1d. The substrate 1d can be configured by a PCB circuit board, such as a PCB circuit board adopting a multi-layer layout, the PCB circuit board is configured with a multi-layer layout plane inside, the multi-layer layout planes are arranged parallel to each other along the thickness direction of the PCB circuit board, and the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a are printed respectively on the multi-layer layout planes, thereby forming the coil assembly 1a.

[0056] It is understandable that the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a are arranged in no particular order in the thickness direction of the substrate 1d. Figure 3-5 The arrangement order of the excitation circuit 11a - sine circuit 12a - cosine circuit 13a shown in the figure may also adopt other arrangement orders, such as the arrangement order of the excitation circuit 11a - cosine circuit 13a - sine circuit 12a, or the arrangement order of the sine circuit 12a - cosine circuit 13a - excitation circuit 11a, etc.

[0057] The rotor element 1c rotates synchronously with the rotor of the motor to cut the excitation magnetic field and form an induced magnetic field; the sine circuit 12a and the cosine circuit 13a can generate an induced signal based on the excitation magnetic field and the induced magnetic field; and the control element 1b can receive the induced signal to generate a sine voltage signal and a cosine voltage signal.

[0058] When power is applied to the excitation circuit 11a, an alternating excitation magnetic field is generated. The rotor element 1c cuts the excitation magnetic field, generating eddy current induction, thereby generating an induced magnetic field. This induced magnetic field will hinder the change of the excitation magnetic field, and the sine circuit 12a and the cosine circuit 13a can detect this magnetic field change, thereby generating an induced signal, namely a sine induced voltage signal and a cosine induced voltage signal. The rotor element 1c rotates relative to the substrate 1d, and also rotates periodically relative to the coil group 1a, thereby causing the signal amplitudes of the sine induced voltage signal and the cosine induced voltage signal to change periodically.

[0059] The control element 1b receives the sine induced voltage signal and the cosine induced voltage signal, and after processing, obtains the sine voltage signal and the cosine voltage signal that meet the control requirements. In one rotation cycle of the rotor element 1c, the control element 1b can output multiple cycles of sine voltage signals and cosine voltage signals. By finding the inverse tangent function, the rotation angle of the rotor element 1c can be obtained based on the sine voltage signal and the cosine voltage signal.

[0060] It can be understood that the rotor element 1c is arranged on one side of the substrate 1d along the thickness direction of the substrate 1d and can rotate relative to the substrate 1d. It is generally arranged in the thickness direction of the coil group 1a and arranged opposite to the coil group 1a to cut the excitation magnetic field. Specifically, the rotor element 1c may include a rotor body 10c, which is a columnar structure, and the rotor body 10c is arranged opposite to the coil group 1a at one axial end thereof. A plurality of rotor blades 11c are arranged on the outer peripheral side of the rotor body 10c. When the rotor body 10c is driven to rotate relative to the coil group 1a, the rotor blades 11c cut the excitation magnetic field, generate eddy current induction, and then generate an induced magnetic field.

[0061] It is understandable that the control element 1b may be an eddy current chip, which is connected to an external controller or an external power source through a lead wire, so that the external controller or the external power source can independently supply power to the coil assembly 1a through the eddy current chip.

[0062] refer to Figure 1-2 The motor position sensor 100 of this embodiment further includes a second sensing component 2. The second sensing component 2 includes a sensing element 2a and a trigger terminal 2b. The trigger terminal 2b can rotate synchronously with the rotor element 1c. The sensing element 2a periodically senses the trigger terminal 2b to generate a zero position signal.

[0063] The sensing element 2a can be arranged in a rotation path corresponding to the trigger terminal 2b, or in other periodic triggering ways, so that the sensing element 2a can periodically sense the trigger terminal 2b. For example, in the arrangement of the rotation path of the sensing element 2a corresponding to the trigger terminal 2b, as the rotor element 1c rotates, the trigger terminal 2b will periodically pass the position of the sensing element 2a. In this way, the motor position sensor 100 can indicate the current position of the rotor element 1c according to the zero position signal generated by the sensing element 2a.

[0064] Taking the Hall sensor as an example, the trigger terminal 2b is the induction pin of the Hall sensor, which is generally a cylindrical structure to maintain the consistency of the induction signal; the induction element 2a is the excitation permanent magnet and the Hall chip, and the Hall chip is arranged at the end of the excitation permanent magnet and faces the induction pin. The induction pin rotates synchronously with the rotor element 1c and periodically passes through the excitation permanent magnet and the Hall chip. When the induction pin rotates to the position where the Hall chip is located, it is in an overlapping state between the induction pin and the Hall chip; when the induction pin leaves the position where the Hall chip is located, it is in a non-overlapping state between the induction pin and the Hall chip. In the overlapping state and the non-overlapping state, the magnetic field state formed by the excitation permanent magnet is different. The Hall chip can detect the change of this magnetic field state and convert it into a voltage signal. For example, when the induction pin rotates to the position where the Hall chip is located, the voltage signal output by the Hall chip is converted from a high-level signal to a low-level signal. In this way, the rising edge or falling edge of the voltage signal change can be used as a basis for judgment.

[0065] Therefore, the overlapping state of the sensing pin and the Hall chip is taken as the mechanical zero position of the motor position sensor 100, and when the rotor element 1c rotates, the overlapping state of the sensing pin and the Hall chip again is taken as a rotation cycle, so that the starting point and end point of the rotation of the rotor element 1c within one rotation cycle can be determined. Combined with the rotation angle of the rotor element 1c obtained according to the sinusoidal voltage signal and the cosine voltage signal, the motor position sensor 100 can confirm the rotation angle of the rotor element 1c relative to the Hall chip within one rotation cycle, thereby determining the absolute position of the rotor element 1c within one rotation cycle.

[0066] Of course, the second sensing component 2 does not necessarily adopt a Hall sensor. According to the use requirements of the motor position sensor 100, the second sensing component 2 can be any one of a Hall sensor, an eddy current proximity switch, a capacitive proximity switch, and a photoelectric proximity switch.

[0067] refer to Fig. 9 As an example of this embodiment, there are multiple coil groups 1a and multiple control elements 1b, and the control elements 1b are connected to the coil groups 1a in a one-to-one correspondence so that the coil groups 1a can operate independently.

[0068] By increasing the number of coil groups 1a and control elements 1b, the motor position sensor 100 can achieve signal redundancy, and multiple coil groups 1a and control elements 1b independently output signals as a basis for determining the position of the rotor element 1c. Moreover, multiple coil groups 1a operate independently, and when one of the coil groups 1a fails, the control element 1b corresponding to the coil group 1a can turn off the signal output, while other coil groups 1a and the corresponding control elements 1b output signals normally to ensure the normal operation of the motor position sensor 100.

[0069] refer to Figure 5 As an example of this embodiment, multiple coil groups 1a are arranged in sequence along the thickness direction of the substrate 1d and arranged parallel to each other. In this way, when the motor position sensor 100 adopts the signal redundancy function, the coil group 1a will not expand the radial area of ​​the motor position sensor 100, so that the motor position sensor 100 can be adapted to the motor 200 with limited inner and outer diameter space.

[0070] It is understandable that adding coil groups 1a does not increase the number of substrates 1d, and multiple coil groups 1a are formed inside the same substrate 1d. According to the use requirements, the motor position sensor 100 can divide a suitable number of layout planes in the substrate 1d, and three layout planes are grouped together, and the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a are printed on the three layout planes respectively, so as to form the required number of coil groups 1a.

[0071] Based on the above motor position sensor 100, refer to Figure 7-10 The present application also provides a motor 200, which includes a motor stator 3, a motor rotor 4 and the above-mentioned motor position sensor 100, wherein the stator housing 3a of the motor stator 3 has a first end face 30a perpendicular to the rotation axis of the motor 200, the substrate 1d, the control element 1b and the sensing element 2a are connected to the first end face 30a and are fixedly connected to the motor stator 3; the trigger terminal 2b and the rotor element 1c are connected to the motor rotor 4 and rotate synchronously with the motor rotor 4.

[0072] It can be understood that the substrate 1d, the control element 1b and the sensing element 2a are generally fixed to the stator housing 3a of the motor stator 3, and the trigger terminal 2b and the rotor element 1c are generally connected to the rotor housing of the motor rotor 4 to avoid interfering with the normal operation between the windings of the motor stator 3 and the windings of the motor rotor 4.

[0073] refer to Figure 8The stator housing 3a of the motor stator 3 of this embodiment also has a coupling portion 31a extending toward the motor rotor 4. Specifically, one end of the coupling portion 31a is connected to the first end surface 30a, and the other end extends toward the side where the motor rotor 4 is located, and the extending direction of the coupling portion 31a is parallel to the rotation axis of the motor rotor 4. In addition, in order to facilitate the assembly of the motor position sensor 100, the coil group 1a can be arranged at the end of the coupling portion 31a or sleeved on the coupling portion 31a, so that the thickness direction of the coil group 1a is parallel to the direction of the rotation axis of the motor rotor 4.

[0074] When the motor rotor 4 rotates relative to the motor stator 3, the motor rotor 4 can drive the rotor element 1c and the trigger terminal 2b to rotate synchronously, so that the rotor element 1c and the trigger terminal 2b can rotate relative to the motor stator 3. After the excitation circuit 11a generates an alternating excitation magnetic field, the rotor element 1c rotates with the motor rotor 4 to cut the excitation magnetic field, generate eddy current induction, and then generate an induced magnetic field. The sine circuit 12a and the cosine circuit 13a then generate induced signals accordingly, namely, a sine induced voltage signal and a cosine induced voltage signal. Since the motor rotor 4 rotates periodically relative to the motor stator 3, the rotor element 1c also rotates periodically relative to the coil group 1a, thereby causing the signal amplitudes of the sine induced voltage signal and the cosine induced voltage signal to change periodically.

[0075] The sensing element 2a is arranged corresponding to the rotation path of the trigger terminal 2b. As the rotor element 1c rotates, the trigger terminal 2b will also periodically pass the position of the sensing element 2a. When the trigger terminal 2b passes the position of the sensing element 2a, the sensing element 2a will generate a zero position signal, indicating that the rotor element 1c rotates to the position of the sensing element 2a. Since the trigger terminal 2b and the rotor element 1c are fixedly connected to the motor rotor 4, then, in one rotation cycle of the motor rotor 4, the position of the sensing element 2a is the starting point of the rotation cycle when the trigger terminal 2b reaches the position of the sensing element 2a, and the end point of the rotation cycle is the next time when the trigger terminal 2b reaches the position of the sensing element 2a. In this way, combined with the rotation angle of the rotor element 1c obtained according to the sine voltage signal and the cosine voltage signal, the motor position sensor 100 can confirm the absolute position of the motor rotor 4 in one rotation cycle.

[0076] It can be understood that when the rotor element 1c is driven to rotate by the motor rotor 4, the rotation path of the rotor element 1c is a full circle. Therefore, correspondingly, the sine circuit 12a, cosine circuit 13a and excitation circuit 11a of the coil group 1a can be arranged around the rotation axis of the motor rotor 4 to form a circular path arrangement, so that when the rotor element 1c rotates, the sine circuit 12a, cosine circuit 13a and excitation circuit 11a of the coil group 1a can play a corresponding role to ensure the accuracy of the motor position sensor 100. Of course, the arrangement of the sine circuit 12a, cosine circuit 13a and excitation circuit 11a can also be changed according to the requirements of position accuracy. For example, the sine circuit 12a, cosine circuit 13a and excitation circuit 11a can also be arranged around the rotation axis of the motor rotor 4 to form an arc path.

[0077] refer to Figure 7-10 As an example of this embodiment, the substrate 1d includes a plate shell 11d, which is fixedly connected to the first end surface 30a of the motor stator 3; the control element 1b and the sensing element 2a are arranged on the plate shell 11d and arranged toward the motor rotor 4.

[0078] By setting up a substrate 1d, the coil group 1a, the control element 1b and the sensing element 2a can be integrated into the substrate 1d. By means of overall glue potting packaging, the structural strength of the motor position sensor 100 is improved. Moreover, multiple coil groups 1a can be integrated into the same substrate 1d to achieve the signal redundancy function of the motor position sensor 100 and make the motor position sensor 100 compact.

[0079] In order to facilitate the arrangement of the motor position sensor 100, the motor stator 3 and the motor rotor 4 of the motor 200 to which the motor position sensor 100 is applied can be compactly matched. Figure 1 As an example of this embodiment, the sensing element 2a, such as a Hall chip, has a sensing end surface 20a protruding from the substrate 1d, the sensing end surface 20a is parallel to the substrate 1d, and there is a distance L between the sensing end surface and the substrate 1d, 3mm≤L≤45mm. More preferably, 15mm≤L≤35mm.

[0080] And, reference Figure 2 , 8As an example of this embodiment, the motor stator 3 has a coupling portion 31a extending toward the motor rotor 4; the substrate 1d is an annular structure, and the substrate 1d has a through hole 10d penetrating along the thickness direction thereof, and the coupling portion 31a is penetrated in the through hole 10d, so that the substrate 1d is sleeved on the coupling portion 31a; and the ring width of the substrate 1d is W, 25mm≤W≤65mm, so that the size of the substrate 1d can take into account the accuracy and lightweight requirements of the control element 1b. More preferably, 30≤W≤50mm. In addition, as an example of this embodiment, the plate housing 11d can extend radially outward along the through hole 10d to form an electrical connection portion 12d, and the electrical connection portion 12d is arranged on the outer periphery of the substrate 1d, and the control element 1b and the induction element 2a are arranged in the electrical connection portion 12d to ensure that when the rotor element 1c rotates relative to the substrate 1d, it will not interfere with the control element 1b and the induction element 2a, and this can facilitate the wiring between the control element 1b and the coil group 1a.

[0081] As an example of this embodiment, the motor 200 of this embodiment further includes a motor controller 5, which is used to control the action of the motor rotor 4 and is electrically connected to the control element 1b to supply power to the control element 1b; and the motor controller 5 is configured to perform the following steps:

[0082] S1, obtaining power supply information of each control element 1b;

[0083] S2, when the control element 1b is working normally, obtaining the signal output of the control element 1b and calculating the absolute position of the motor rotor 4;

[0084] S3. When any control element 1b is in an abnormal operation, turn off the signal output of the abnormal control element 1b, and stop obtaining the signal output of the abnormal control element 1b.

[0085] It is understandable that the control element 1b is in a normal working state or an abnormal working state, which can be set according to the parameters of the control element 1b, such as the working voltage or the feedback signal amplitude, etc. By setting the motor controller 5, the motor 200 of this embodiment can monitor the working state of each control element 1b, for example, Fig.10, the motor controller 5 can obtain the signal output of the control element 1b in normal operation according to the power supply condition of the control element 1b, and stop obtaining the signal output of the control element 1b in abnormal power supply. When a certain control element 1b is in abnormal power supply, the control element 1b can perform self-diagnosis and implement corresponding strategies, such as shutting down its own signal output, so that the motor controller 5 can always obtain the signal output of the control element 1b in normal operation, so that the motor position sensor 100 can more reliably confirm the absolute position of the motor rotor 4. Of course, when multiple control elements 1b are configured, the motor controller 5 only needs to use the signal output of one of the control elements 1b as the basis for calculation. For example, the motor position sensor 100 can use one of the control elements 1b as the main control element. At this time, when multiple control elements 1b are in normal operation, the motor controller 5 obtains the signal output of the main control element and calculates the absolute position of the motor rotor 4.

[0086] In summary, the embodiment of the present application provides a motor position sensor 100 and a motor 200 by setting a first sensing component 1. The rotor element 1c of the first sensing component 1 can cut the excitation magnetic field generated by the excitation circuit 11a, so that the rotor element 1c generates an induced magnetic field. The induced magnetic field will hinder the change of the excitation magnetic field. The sine circuit 12a and the cosine circuit 13a detect the magnetic field change of the excitation magnetic field, and then generate an induction signal. Moreover, as the rotor element 1c rotates, the signal amplitude of the induction signal will also change accordingly. In this way, the control element 1b receives the induction signal, generates a sine voltage signal and a cosine voltage signal, and can feedback the angular amplitude of the rotation of the rotor element 1c in a single time period. In addition, the motor position sensor 100 sets a second sensing component 2, so that the trigger terminal 2b rotates synchronously with the rotor element 1c. In this way, when the control element 1b generates a sine voltage signal and a cosine voltage signal, the sensing element 2a also periodically senses the trigger terminal 2b to generate a zero position signal. According to the zero position signal, the absolute position of the rotor element 1c and the trigger terminal 2b when the zero position signal is triggered can be obtained. Combined with the angular amplitude of the rotor element 1c fed back by the sine voltage signal and the cosine voltage signal, the motor position sensor 100 can obtain the absolute position of the rotor element 1c and the trigger terminal 2b. After the motor position sensor 100 is assembled on the motor 200, the absolute position of the motor rotor 4 can be obtained through the motor position sensor 100.

[0087] Moreover, the motor position sensor 100 arranges the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a in the substrate 1d in a printed manner, and the circuit layout is more convenient. Moreover, the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a are arranged in parallel with each other in the thickness direction, so that the excitation circuit 11a, the sine circuit 12a and the cosine circuit 13a of a single coil group 1a are stacked on each other in the thickness direction, and the area occupied by the coil group 1a in the radial direction is always the area of ​​a single substrate 1d. Moreover, even if the motor position sensor 100 superimposes multiple coil groups 1a, the multiple coil groups 1a are still arranged in sequence and parallel to each other in the thickness direction, and will not occupy more radial space. When the motor position sensor 100 is applied to the motor 200, there is no need to reserve too much space between the motor stator 3 and the motor rotor 4, so that the motor 200 can be further miniaturized.

[0088] Moreover, the motor position sensor 100 connects multiple coil groups 1a with multiple control elements 1b in a one-to-one correspondence, and each control element 1b transmits electrical energy to each coil group 1a accordingly, so that each coil group 1a can operate independently. In this way, the motor position sensor 100 can utilize the arrangement of multiple coil groups 1a to achieve redundant signal transmission and improve the reliability of position identification of the motor position sensor 100. Moreover, based on the setting of independent operation of each coil group 1a, even if a coil group 1a operates abnormally, it will not affect the normal operation of the remaining coil groups 1a, thereby ensuring the operational reliability of the motor position sensor 100.

[0089] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present application. These improvements and substitutions should also be regarded as the scope of protection of the present application.

Claims

1. A motor position sensor, characterized in that: It includes a first sensing component and a second sensing component, wherein: The first induction component includes a coil group, a control element and a rotor element, wherein the control element is electrically connected to the coil group and controls the coil group to generate an excitation magnetic field; The rotor element rotates synchronously with the rotor of the motor to cut the excitation magnetic field, so that the coil group generates an induction signal; the control element obtains the electrical angle of the rotor of the motor based on the induction signal; The second sensing component includes a sensing element and a trigger terminal. The trigger terminal rotates synchronously with the rotor of the motor. The sensing element periodically senses the trigger terminal to generate a zero position signal of the rotor of the motor.

2. The motor position sensor according to claim 1, characterized in that: The coil group includes an excitation circuit, a sine circuit and a cosine circuit; wherein the control element is electrically connected to the excitation circuit, the sine circuit and the cosine circuit, and enables the excitation circuit to generate an excitation magnetic field; the rotor element rotates synchronously with the rotor of the motor to cut the excitation magnetic field, so that the sine circuit and the cosine circuit generate an induction signal; the control element obtains the electrical angle of the rotor of the motor based on the induction signal.

3. The motor position sensor according to claim 1, characterized in that: The sensing element is arranged corresponding to the rotation path of the trigger terminal to periodically sense the trigger terminal and generate a zero position signal of the rotor of the motor.

4. The motor position sensor according to claim 1, characterized in that: The first induction component includes a substrate, the coil group is arranged in the substrate, and the excitation circuit, the sine circuit and the cosine circuit are arranged along the thickness direction of the substrate.

5. The motor position sensor according to claim 4, characterized in that: The rotor element is arranged on one side of the substrate along the thickness direction and can rotate relative to the substrate to cut the excitation magnetic field and form an induced magnetic field.

6. The motor position sensor according to claim 1, characterized in that: There are multiple coil groups and multiple control elements, and the control elements are connected to the coil groups in a one-to-one correspondence so that the coil groups can operate independently.

7. The motor position sensor according to claim 1, characterized in that: The plurality of coil groups are arranged in sequence along the thickness direction of the substrate and are arranged parallel to each other.

8. A motor, characterized in that: It comprises a motor stator, a motor rotor and a motor position sensor according to any one of claims 1 to 7, wherein: The control element and the sensing element are fixed on the motor stator; The trigger terminal and the rotor element are connected to the motor rotor and rotate synchronously with the motor rotor.

9. The motor according to claim 8, characterized in that The first induction component includes a substrate, the substrate is fixed on the motor stator, and the substrate includes a plate shell. The control element and the induction element are arranged on the plate shell and are arranged toward the motor rotor.

10. The motor according to claim 9, characterized in that The sensing element has a sensing end surface protruding from the substrate toward the motor rotor, the sensing end surface is parallel to the surface of the substrate facing the motor rotor, and there is a distance L between the sensing end surface and the surface of the substrate facing the motor rotor, 3mm≤L≤45mm.

11. The motor according to claim 9, characterized in that At least one of the motor stator and the motor rotor has a connecting shaft portion extending toward the other; the substrate is an annular structure, and has a through hole penetrating along the thickness direction of the substrate, and the connecting shaft portion is inserted into the through hole so that the substrate is sleeved on the connecting shaft portion; and the ring width of the substrate is W, 25mm≤W≤65mm.

12. The motor according to claim 9, characterized in that The plate shell extends outward along the radial direction of the through hole to form an electrical connection portion, the electrical connection portion is arranged on the outer periphery of the substrate, and the control element and the sensing element are arranged in the electrical connection portion.

13. The motor according to claim 8, characterized in that The coil group includes an excitation circuit, a sine circuit and a cosine circuit. The sine circuit, the cosine circuit and the excitation circuit of the coil group are arranged around the rotation axis of the motor rotor to form a circular path or an arc path.

14. The motor according to claim 8, characterized in that The device further comprises a motor controller, which is used to control the movement of the motor rotor and is connected to the control element to supply power to the control element; and the motor controller is configured as follows: Acquiring working information of each of the control elements; When the control element is in normal operation, obtaining a signal output of the control element and calculating the absolute position of the motor rotor; In the case that any of the control elements is in an abnormal operation, the acquisition of the signal output of the control element in the abnormal operation is stopped.

15. The motor according to claim 8, characterized in that There are multiple coil groups and multiple control elements, and the control elements are connected to the coil groups in a one-to-one correspondence so that the coil groups can operate independently; and One of the control elements is used as a main control element, and when a plurality of the control elements are in normal operation, a signal output of the main control element is obtained to calculate the absolute position of the motor rotor.

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