Electromagnetic structure for angle sensor and angle sensor

Abstract

The present application discloses an electromagnetic structure for an angle sensor and an angle sensor. The electromagnetic structure for the angle sensor comprises: a stator assembly, comprising a stator core and a stator winding, the stator winding being arranged on one side of the stator core and comprising a stator field winding and a stator angle winding, the stator field winding and the stator angle winding being stacked, and the stator field winding being configured to connect to an external power source; and a rotor assembly, comprising a rotor core and a rotor winding, the rotor winding being arranged on one side of the rotor core and located on the side of the stator winding away from the stator core, an air gap being formed between the stator winding and the rotor winding, the rotor winding comprising a rotor field winding and a rotor angle winding, and the rotor field winding and the rotor angle winding being stacked and being electrically connected to each other.

Description

Electromagnetic structure for angle sensor and angle sensor

[0001] This application claims priority to Chinese patent application No. 202311812873.8 filed on December 27, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of sensor equipment, and in particular to an electromagnetic structure for an angle sensor and an angle sensor. Background Art

[0003] Mobile systems such as automobiles and robots require sensors with global effects that can mitigate the interference of mechanical vibration on angle signals. However, high-precision sensors, due to the large number of windings and complex electromagnetic structures, are bulky, difficult to manufacture, and costly. Brushless rotor winding structures are commonly used for angle detection because they offer advantages such as simple maintenance and high reliability. Sensors using brushless rotor winding structures offer higher precision than reluctance resolvers, which use changes in air gap reluctance for position detection. However, because brushless rotor winding sensors require windings on the rotor to generate a magnetic field related to the rotor's position, an additional structure such as a toroidal transformer must be used to transmit the excitation energy to the rotor, resulting in a bulky sensor. Technical issues

[0004] The main purpose of this application is to propose an electromagnetic structure for an angle sensor, aiming to solve the problem of large size of existing sensors. Technical Solutions

[0005] To achieve the above objectives, the electromagnetic structure for the angle sensor proposed in this application includes:

[0006] The stator assembly includes a stator core and a stator winding. The stator winding is arranged on one side of the stator core. The stator winding includes a stator excitation winding and a stator angle winding. The stator excitation winding and the stator angle winding are stacked. The stator excitation winding is used to connect to an external power supply.

[0007] The rotor assembly includes a rotor core and a rotor winding, wherein the rotor winding is arranged on one side of the rotor core, and the rotor winding is located on the side of the stator winding away from the stator core; an air gap is formed between the stator winding and the rotor winding; the rotor winding includes a rotor excitation winding and a rotor angle winding, and the rotor excitation winding and the rotor angle winding are arranged in a stacked manner; the rotor excitation winding and the rotor angle winding are electrically connected.

[0008] In one embodiment, the stator excitation winding and the stator angle winding, the rotor excitation winding and the rotor angle winding are arranged on different layers of circuit boards; and / or,

[0009] The stator angle winding includes a stator angle sine winding and a stator angle cosine winding, and an electrical angle potential difference is provided between the stator angle sine winding and the stator angle cosine winding.

[0010] In one embodiment, the stator excitation winding includes a first excitation winding, a second excitation winding and a first circuit board, the first excitation winding and the second excitation winding are both arranged on the first circuit board, the first circuit board is provided with a first connection hole and a first electrical connection part, one end of the first excitation winding is connected to the first electrical connection part; the other end of the first excitation winding is electrically connected to one end of the second excitation winding through the first connection hole, the other end of the second excitation winding is connected to the first electrical connection part, and the first electrical connection part is used to connect an external power supply.

[0011] In one embodiment, the stator angle sinusoidal winding includes a first angle winding, a second angle winding, and a third circuit board. The first angle winding and the second angle winding are both provided on the third circuit board. The third circuit board is provided with a third connection hole and a third electrical connection portion. The first angle winding is connected to the third electrical connection portion; the first angle winding is electrically connected to the second angle winding through the third connection hole, and the second angle winding is electrically connected to the third electrical connection portion.

[0012] The stator angle cosine winding includes a third angle winding, a fourth angle winding and a fifth circuit board. The third angle winding and the fourth angle winding are both arranged on the fifth circuit board. The fifth circuit board is provided with a fourth connection hole and a fourth electrical connection part. The third angle winding is connected to the fourth electrical connection part; the third angle winding is electrically connected to the fourth angle winding through the fourth connection hole.

[0013] In one embodiment, the rotor excitation winding includes a third excitation winding, a fourth excitation winding and a seventh circuit board. The third excitation winding and the fourth excitation winding are both arranged on one side surface of the seventh circuit board. The seventh circuit board is provided with a fifth connection hole and a fifth electrical connection part. One end of the third excitation winding is connected to the fifth electrical connection part; the other end of the third excitation winding is electrically connected to one end of the fourth excitation winding through the fifth connection hole, the other end of the fourth excitation winding is electrically connected to the fifth electrical connection part, and the fifth electrical connection part is electrically connected to the rotor angle winding.

[0014] In one embodiment, the rotor angle winding includes a fifth angle winding, a sixth angle winding and a ninth circuit board, the fifth angle winding and the sixth angle winding are arranged on the ninth circuit board, the ninth circuit board is provided with a seventh connecting hole and a seventh electrical connecting part, the fifth angle winding is connected to the seventh electrical connecting part; the fifth angle winding and the sixth angle winding are electrically connected to the sixth angle winding through the seventh connecting hole.

[0015] In one embodiment, the electromagnetic structure for the angle sensor includes M groups of stator excitation windings and N groups of stator angle windings; wherein M and N are both positive integers; a second angle difference is provided between different stator angle windings; a third angle difference is provided between the first angle winding and the second angle winding, and a fourth angle difference is provided between the third angle winding and the fourth angle winding; the electromagnetic structure for the angle sensor includes P groups of rotor excitation windings and Q groups of rotor angle windings, wherein P and Q are both positive integers, and a fifth angle difference is provided between different rotor angle windings; a sixth angle difference is provided between the fifth angle winding and the sixth angle winding.

[0016] In one embodiment, the rotor core and the stator core are both made of ferromagnetic material with a magnetic permeability greater than 100.

[0017] In one embodiment, the stator excitation winding includes a ring-shaped winding that surrounds from the center to the edge, and the stator angle winding and the rotor angle winding each include two semi-ring-shaped windings that are symmetrically arranged around the center.

[0018] The present application also proposes an angle sensor, comprising the electromagnetic structure for the angle sensor as described above. Beneficial effects

[0019] The technical solution of the present application is to stack the stator core, stator excitation winding, stator angle winding, rotor excitation winding and rotor angle winding, and form an air gap between the stator winding and the rotor winding. An external power supply provides excitation current to the stator excitation winding, so that the stator excitation winding generates an alternating excitation magnetic field in the air gap. The alternating excitation magnetic field is connected to the rotor excitation winding through the stator core and the rotor core, and generates an induced electromotive force on the rotor excitation winding. However, due to the orthogonality of the electromagnetic structure between the excitation winding and the designed angle winding, even if they are located in the same area, no back electromotive force is induced between them. However, because the rotor excitation winding is connected to the rotor angle winding, an alternating current is generated in the rotor angle winding, and an alternating magnetic field is generated in the air gap. The alternating magnetic field causes the stator angle winding to generate an induced electromotive force. Since the excitation winding composed of the stator excitation winding and the rotor excitation winding and the angle winding composed of the stator angle winding and the rotor angle winding share an air gap in the same area, the structure of the electromagnetic structure is more compact, thereby achieving the purpose of reducing the overall volume of the electromagnetic structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0021] FIG1 is a schematic diagram of the internal structure of an electromagnetic structure for an angle sensor according to an embodiment of the present application;

[0022] FIG2 is a schematic structural diagram of an embodiment of an electromagnetic structure for an angle sensor of the present application;

[0023] FIG3 is a schematic structural diagram of a stator excitation winding of an embodiment of an electromagnetic structure for an angle sensor of the present application;

[0024] FIG4 is a schematic structural diagram of a stator angle winding of an embodiment of an electromagnetic structure for an angle sensor of the present application;

[0025] FIG5 is a schematic structural diagram of a rotor excitation winding of an electromagnetic structure for an angle sensor according to an embodiment of the present application;

[0026] FIG6 is a schematic structural diagram of a rotor angle winding of an electromagnetic structure for an angle sensor according to an embodiment of the present application;

[0027] FIG7 is a schematic structural diagram of a rotor angle winding according to another embodiment of the electromagnetic structure for an angle sensor of the present application.

[0028] Description of Figure Numbers:

[0029] 1- stator assembly; 11- stator core;

[0030] 12-stator winding; 121-stator excitation winding;

[0031] 1211-first excitation winding; 1212-second excitation winding;

[0032] 1213-first circuit board; 12131-first connection hole;

[0033] 12132 - first electrical connection portion; 1214 - second circuit board;

[0034] 12141 - second connection hole; 12142 - second electrical connection portion;

[0035] 122- stator angle winding; 1221- stator angle sine winding;

[0036] 12211-first angle winding; 12212-second angle winding;

[0037] 12213-third circuit board; 122131-third connection hole;

[0038] 122132-third electrical connection portion; 12214-fourth circuit board;

[0039] 122141-eighth connection hole; 1222-stator angle cosine winding;

[0040] 12221-third angle winding; 12222-fourth angle winding;

[0041] 12223-fifth circuit board; 122231-fourth connection hole;

[0042] 122232-fourth electrical connection portion; 21124-sixth circuit board;

[0043] 211241-9th connecting hole; 2-rotor assembly;

[0044] 21- rotor core; 22- rotor winding;

[0045] 221- rotor excitation winding; 2211- third excitation winding;

[0046] 2212- fourth excitation winding; 2213- seventh circuit board;

[0047] 22131-fifth connection hole; 22132-fifth electrical connection portion;

[0048] 2214-eighth circuit board; 22141-sixth connection hole;

[0049] 22142 sixth electrical connection portion; 222- rotor angle winding;

[0050] 2221-Fifth angle winding; 2222-Sixth angle winding;

[0051] 2223-ninth circuit board; 22231-seventh connection hole;

[0052] 22232-seventh electrical connection portion; 2224-tenth circuit board;

[0053] 22241-11th connection hole; 2225-7th angle winding;

[0054] 2226-eighth angle winding; 3-air gap;

[0055] 4-Magnetic lines of force of the excitation magnetic field.

[0056] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0057] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0058] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0059] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0060] The present application proposes an electromagnetic structure for an angle sensor.

[0061] 1 to 7 , in one embodiment of the present application, the electromagnetic structure for the angle sensor includes a stator assembly 1 and a rotor assembly 2. The stator assembly 1 includes a stator core 11 and a stator winding 12. The stator winding 12 is provided on one side of the stator core 11. The stator winding 12 includes a stator excitation winding 121 and a stator angle winding 122. The stator excitation winding 121 and the stator angle winding 122 are stacked. The stator excitation winding 121 is used to connect to an external power supply. The rotor assembly 2 includes a rotor core 21 and a rotor winding 22. The rotor winding 22 is arranged on one side of the rotor core 21 and on the side of the stator winding 12 away from the stator core 11. An air gap 3 is formed between the stator winding 12 and the rotor winding 22. The rotor winding 22 includes a rotor excitation winding 221 and a rotor angle winding 222. The rotor excitation winding 221 and the rotor angle winding 222 are stacked and electrically connected.

[0062] By stacking the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222, and forming an air gap 3 between the stator winding 12 and the rotor winding 22, an external power supply provides an excitation current to the stator excitation winding 121, so that the stator excitation winding 121 generates an alternating excitation magnetic field in the air gap 3. The alternating excitation magnetic field is connected to the rotor excitation winding 221 through the stator core 11 and the rotor core 21, and an induced electromotive force is generated on the rotor excitation winding 221; since the rotor excitation winding 221 is connected to the rotor angle winding 222, an alternating current is generated in the rotor angle winding 222, and an alternating magnetic field is generated in the air gap 3. The alternating magnetic field causes the stator angle winding 122 to generate an induced electromotive force. Since the excitation winding composed of the stator excitation winding 121 and the rotor excitation winding 221 and the angle winding composed of the stator angle winding 122 and the rotor angle winding 222 share the air gap 3 in the same area, the structure of the electromagnetic structure used for the angle sensor is more compact, thereby achieving the purpose of reducing the overall volume of the electromagnetic structure used for the angle sensor.

[0063] In one embodiment, referring to FIG. 3 to FIG. 6 , the stator excitation winding 121 and the stator angle winding 122 , and the rotor excitation winding 221 and the rotor angle winding 222 are disposed on different layers of the circuit board.

[0064] In the above structure, the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222 are all stacked and generate an axial excitation magnetic field and an alternating magnetic field. The stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222 can all be arranged on different layers of circuit boards, so that the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222 can be accurately realized, thereby improving the structural accuracy of the electromagnetic structure; when the electromagnetic structure is used in a sensor, it can also improve the measurement accuracy of the sensor.

[0065] Due to the orthogonal nature of the excitation magnetic field, the excitation magnetic field cannot induce a back EMF in the stator angle winding 122 or the rotor angle winding 222. Therefore, the excitation winding formed by the stator excitation winding 121 and the rotor excitation winding 221 and the angle winding formed by the stator angle winding 122 and the rotor angle winding 222 do not interfere with each other. In other words, the stator excitation winding 121 and the rotor excitation winding 221 have an equivalent magnetic pole pair number of 0 in the tangential direction, but a radial magnetic pole pair number of 1. Therefore, the excitation magnetic field does not induce a back EMF in the angle windings of the stator angle winding 122 or the rotor angle winding 222. It should be noted that the axial direction is perpendicular to the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222; the radial direction refers to the direction that is consistent with or opposite to the radial direction of the orbiting trajectory of the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222; the tangential direction refers to the direction that is consistent with the tangential direction of the orbiting curve trajectory of the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222.

[0066] In one embodiment, the rotor excitation winding 221 is electrically connected to the rotor angle winding 222. The rotor angle winding 222 receives the excitation current provided by the rotor excitation winding 221. The rotor angle winding 222 generates an axial alternating magnetic field in the air gap 3 that is related to the rotor angle information, namely the axial alternating magnetic field mentioned above. This axial alternating magnetic field is connected to the stator angle sine winding 1221 and the stator angle cosine winding 1222. Therefore, the back electromotive force in the rotor excitation winding 221 generates an alternating current in the rotor angle winding 222. When the electromagnetic structure used for the angle sensor is used in the sensor, the rotor angle winding 222 generates an alternating magnetic field with a tangential magnetic pole pair number of 1. The alternating magnetic field generated by the rotor angle winding 222 in the tangential direction has a magnetic pole pair number of 1. The alternating magnetic field is orthogonal to the excitation magnetic field, and therefore does not interfere with each other. However, the alternating magnetic field of a pair of magnetic poles generated by the rotor angle winding 222 can effectively form a connection with the stator angle sine winding 1221 and the stator angle cosine winding 1222, which also have a pole pair number of 1, and generate an induced electromotive force related to the rotor angle position on the stator angle sine winding 1221 and the stator angle cosine winding 1222.

[0067] In one embodiment, referring to FIG. 4 , the stator angle winding 122 includes a stator angle sine winding 1221 and a stator angle cosine winding 1222 , and an electrical angle potential difference is provided between the stator angle sine winding 1221 and the stator angle cosine winding 1222 .

[0068] In the above structure, the amplitude of the back EMF generated by the stator angle sine winding 1221 and the amplitude of the back EMF between the rotor angle winding 222 are sinusoidally related, and the amplitude of the back EMF generated by the stator angle cosine winding 1222 and the amplitude of the back EMF between the rotor angle winding 222 are sinusoidally related. This relationship can be used to accurately detect the angle of the rotor assembly 2. If the ends of the stator angle sine winding 1221 and the stator angle cosine winding 1222 are connected to an external circuit, the back EMF signals of these two windings can be analyzed to calculate the rotation angle of the rotor assembly 2.

[0069] Referring to Figure 3 , the stator excitation winding 121 includes a first excitation winding 1211 (Figure 3 a), a second excitation winding 1212 (Figure 3 b), and a first circuit board 1213. Both the first excitation winding 1211 and the second excitation winding 1212 are disposed on the first circuit board 1213. The first circuit board 1213 is provided with a first connection hole 12131 and a first electrical connection portion 12132. One end of the first excitation winding 1211 is connected to the first electrical connection portion 12132; the other end of the first excitation winding 1211 is electrically connected to one end of the second excitation winding 1212 through the first connection hole 12131. The other end of the second excitation winding 1212 is electrically connected to the first electrical connection portion 12132. The first electrical connection portion 12132 is used to connect to an external power source. The first excitation winding 1211 and the second excitation winding 1212 are printed on the first circuit board 1213.

[0070] In one embodiment, referring to FIG3 , the stator excitation winding 121 includes a first excitation winding 1211 (FIG. 3 a), a second excitation winding 1212 (FIG. 3 b), a first circuit board 1213, and a second circuit board 1214. The first excitation winding 1211 is provided on a side surface of the first circuit board 1213. The first circuit board 1213 is provided with a first connection hole 12131 and a first electrical connection portion 12132. One end of the first excitation winding 1211 is connected to the first electrical connection portion 12132. The second circuit board 1214 is located on the first circuit board 1 On one side of 213, the second excitation winding 1212 is arranged on one side surface of the second circuit board 1214; the second circuit board 1214 is provided with a second connecting hole 12141 and a second electrical connecting part 12142, the other end of the first excitation winding 1211 is electrically connected to one end of the second excitation winding 1212 through the first connecting hole 12131 and the second connecting hole 12141, and the other end of the second excitation winding 1212 is connected to the second electrical connecting part 12142, and the first electrical connecting part 12132 and the second electrical connecting part 12142 are used to connect to an external power supply.

[0071] The first excitation winding 1211 is printed on the first circuit board 1213, and the second excitation winding 1212 is printed on the second circuit board 1214. One end of the first excitation winding 1211 passes through the first connection hole 12131 to connect to the second excitation winding 1212. The arc-shaped conductor gradually transitions from the largest radius to the smallest radius, with the arc-shaped conductor concentrated in the area between the inner hole and the outer periphery of the first circuit board 1213 to maximize the generation of an effective excitation magnetic field in this area. A second connection hole 12141 is provided on the second circuit board 1214. This second connection hole 12141 is located on the path of the smallest radius arc-shaped conductor, facilitating the connection of one end of the first excitation winding 1211 through the first connection hole 12131 and then through the second connection hole 12141 to the second excitation winding 1212. Furthermore, one end of first excitation winding 1211 is connected to one end of second excitation winding 1212. The other end of first excitation winding 1211 is connected to first electrical connection portion 12132, and the other end of second excitation winding 1212 is connected to second electrical connection portion 12142. First electrical connection portion 12132 and second electrical connection portion 12142 are each connected to an external power source. Furthermore, first excitation winding 1211 and second excitation winding 1212 are connected in series or in parallel. The magnetic fields generated by first excitation winding 1211 and second excitation winding 1212 are both axial magnetic fields, and the two excitation magnetic fields reinforce each other.

[0072] In one embodiment, referring to FIG. 3 to FIG. 6 , the stator excitation winding 121 includes a ring-shaped winding extending from the center to the edge, and the stator angle winding 122 and the rotor angle winding 222 each include two semi-ring-shaped windings symmetrically arranged about the center.

[0073] The first excitation winding 1211 and the second excitation winding 1212 are both composed of multiple sections of arc wires, which gradually transition from the arc wire with the largest radius to the arc wire with the smallest radius. The first circuit board 1213 is provided with a first connecting hole 12131, and the second circuit board 1214 is provided with a second connecting hole 12141. The first connecting hole 12131 is located on the arc wire path with the smallest radius of the first excitation winding 1211, and the second connecting hole 12141 is located on the arc wire path with the smallest radius of the second excitation winding 1212. One end of the first excitation winding 1211 passes through the first connecting hole 12131 and the second connecting hole 12141 and is electrically connected to the second excitation winding 1212.

[0074] In one embodiment, the stator angle sinusoidal winding 1221 includes a first angle winding 12211 (a in FIG. 4 ), a second angle winding 12212 (b in FIG. 4 ), and a third circuit board 12213. The first angle winding 12211 is disposed on the third circuit board 12213. The third circuit board 12213 is provided with a third connection hole 122131 and a third electrical connection portion 122132. The first angle winding 12211 is connected to the third electrical connection portion 122132. The first angle winding 12211 is electrically connected to the second angle winding 12212 via the third connection hole 122131. Both the first angle winding 12211 and the second angle winding 12212 are printed and laminated on one side of the third circuit board 12213, or printed on both sides of the third circuit board 12213.

[0075] In one embodiment, referring to FIG4 , the stator angle sinusoidal winding 1221 includes a first angle winding 12211 (a in FIG4 ), a second angle winding 12212 (b in FIG4 ), a third circuit board 12213 and a fourth circuit board 12214 . The first angle winding 12211 is provided on a side surface of the third circuit board 12213 . The third circuit board 12213 is provided with a third connection hole 122131 and a third electrical connection portion 122132 . The first angle winding 12211 and the third electrical connection portion 122132 are connected to each other. 132 connection; the fourth circuit board 12214 is located on one side of the third circuit board 12213, and the second angle winding 12212 is arranged on one side surface of the fourth circuit board 12214; the fourth circuit board 12214 is provided with an eighth connection hole 122141, and the first angle winding 12211 is electrically connected to the second angle winding 12212 through the third connection hole 122131 and the eighth connection hole 122141, and the second angle winding 12212 is electrically connected to the third electrical connection part 122132.

[0076] The electromagnetic structure for the angle sensor can include multiple sets of stator excitation windings 121, multiple sets of stator angle windings 122, multiple sets of rotor excitation windings 221, and multiple sets of rotor angle windings 222. The stator angle sinusoidal winding 1221 is composed of a concentrated winding or a traveling wave winding with a magnetic pair number of 1. The first angle winding 12211 and the second angle winding 12212 are connected via a third connection hole 122131. Furthermore, the third electrical connection portion 122132 includes a first input terminal and a first output terminal. The first input terminal is electrically connected to the first angle winding 12211, and the first output terminal is electrically connected to the second angle winding 12212.

[0077] The first angle winding 12211 is printed on a third circuit board 12213, and the second angle winding 12212 is printed on a second circuit board 1214. The first excitation winding 1211 is composed of multiple segments of semi-arc-shaped conductors, gradually transitioning from the arc with the largest radius to the arc with the smallest radius. A first connection hole 12131 is provided on the first circuit board 1213, located along the arc with the smallest radius. One end of the first excitation winding 1211 passes through the first connection hole 12131 and is electrically connected to the second excitation winding 1212. When the number of magnetic pole pairs of the stator angle sinusoidal winding 1221 in the tangential direction is 1, the electromagnetic structure used in the angle sensor can detect angles. When the number of magnetic pole pairs of the stator angle sinusoidal winding 1221 is a positive integer greater than 1, the electromagnetic structure used in the angle sensor can detect incremental angles.

[0078] The stator angle cosine winding 1222 includes a third angle winding 12221 (c in Figure 4 ), a fourth angle winding 12222 (d in Figure 4 ), and a fifth circuit board 12223. The third angle winding 12221 is located on one side of the fifth circuit board 12223. The fifth circuit board 12223 is provided with a fourth connection hole 122231 and a fourth electrical connection portion 122232. The third angle winding 12221 is connected to the fourth electrical connection portion 122232. The third angle winding 12221 is electrically connected to the fourth angle winding 12222 via the fourth connection hole 122231. The third angle winding 12221 (c in Figure 4 ) and the fourth angle winding 12222 (d in Figure 4 ) are located on one side of the fifth circuit board 12223 or printed on both sides of the fifth circuit board 12223.

[0079] In one embodiment, referring to Figure 4, the stator angle cosine winding 1222 includes a third angle winding 12221 (c in Figure 4), a fourth angle winding 12222 (d in Figure 4), a fifth circuit board 12223 and a sixth circuit board 21124. The third angle winding 12221 is arranged on a side surface of the fifth circuit board 12223. The fifth circuit board 12223 is provided with a fourth connecting hole 122231 and a fourth electrical connecting portion 122232. The third angle winding 12221 is connected to the fourth electrical connecting portion 122232; the sixth circuit board 21124 is located on one side of the fifth circuit board 12223, and the fourth angle winding 12222 is provided on a side surface of the fifth circuit board 12223; the sixth circuit board 21124 is provided with a ninth connecting hole 211241, and the third angle winding 12221 is electrically connected to the fourth angle winding 12222 through the fourth connecting hole 122231 and the ninth connecting hole 211241.

[0080] The third angle winding 12221 is printed on the fifth circuit board 12223, and the fourth angle winding 12222 is printed on the sixth circuit board 21124. The third excitation winding 2211 is composed of multiple segments of semi-arc conductors, with the semi-arc conductor with the largest radius gradually transitioning to the semi-arc conductor with the smallest radius. The fifth circuit board 12223 is provided with a fourth connection hole 122231, located along the path of the semi-arc conductor with the smallest radius. One end of the third excitation winding 2211 passes through the fourth connection hole 122231 and is electrically connected to the fourth excitation winding 2212. When the number of magnetic pole pairs of the stator angle cosine winding 1222 in the tangential direction is equal to the number of magnetic pole pairs of the stator angle sine winding 1221, there is a 90° electrical angle difference between the stator angle sine winding 1221 and the stator angle cosine winding 1222. A fourth angle difference is set between the third angle winding 12221 and the fourth angle winding 12222 , and the size of the fourth angle difference is determined by the number of higher harmonics to be eliminated in the overall back electromotive force.

[0081] The stator angle winding 122 adopts a 180° full-pitch winding setting, and can also adopt a wave winding or fractional-slot concentrated winding setting to form a winding structure with a tangential pole pair number of 1, and the stator angle winding 122 is also set on the circuit board.

[0082] In one embodiment, the rotor excitation winding 221 includes a third excitation winding 2211 (a in Figure 5), a fourth excitation winding 2212 (b in Figure 5) and a seventh circuit board 2213. The third excitation winding 2211 and the fourth excitation winding 2212 are both arranged on the seventh circuit board 2213. The seventh circuit board 2213 is provided with a fifth connecting hole 22131 and a fifth electrical connecting portion 22132. One end of the third excitation winding 2211 is connected to the fifth electrical connecting portion 22132; the other end of the third excitation winding 2211 is electrically connected to one end of the fourth excitation winding 2212 through the fifth connecting hole 22131, the other end of the fourth excitation winding 2212 is connected to the fifth electrical connecting portion 22132, and the fifth electrical connecting portion 22132 is electrically connected to the rotor angle winding 222. The third excitation winding 2211 (a in FIG. 5 ) and the fourth excitation winding 2212 (b in FIG. 5 ) are disposed on one side surface of the seventh circuit board 2213 , or are printed on both side surfaces of the seventh circuit board 2213 .

[0083] In one embodiment, referring to FIG5 , the rotor excitation winding 221 includes a third excitation winding 2211 (a in FIG5 ), a fourth excitation winding 2212 (b in FIG5 ), a seventh circuit board 2213 and an eighth circuit board 2214. The third excitation winding 2211 is provided on a side surface of the seventh circuit board 2213. The seventh circuit board 2213 is provided with a fifth connection hole 22131 and a fifth electrical connection portion 22132. One end of the third excitation winding 2211 is connected to the fifth electrical connection portion 22132. The eighth circuit board 2214 is located on the seventh circuit board. On one side of the board 2213, the fourth excitation winding 2212 is arranged on one side surface of the eighth circuit board 2214; the eighth circuit board 2214 is provided with a sixth connecting hole 22141 and a sixth electrical connecting part 22142, the other end of the third excitation winding 2211 is electrically connected to one end of the fourth excitation winding 2212 through the fifth connecting hole 22131 and the sixth connecting hole 22141, the other end of the fourth excitation winding 2212 is connected to the sixth electrical connecting part 22142, and the sixth electrical connecting part 22142 is electrically connected to the rotor angle winding 222.

[0084] The third excitation winding 2211 is printed on the seventh circuit board 2213, and the fourth excitation winding 2212 is printed on the eighth circuit board 2214. One end of the third excitation winding 2211 passes through the fifth connection hole 22131 to connect to the fourth excitation winding 2212. Both the third excitation winding 2211 and the fourth excitation winding 2212 gradually transition from an arc-shaped conductor with the largest radius to an arc-shaped conductor with the smallest radius. The arc-shaped conductor is concentrated in the area between the inner hole and the outer periphery of the seventh circuit board 2213 or the eighth circuit board 2214, maximizing the generation of an effective excitation magnetic field in this area. A sixth connection hole 22141 is provided on the seventh circuit board 2213. This sixth connection hole 22141 is located along the arc-shaped conductor path with the smallest radius, facilitating the connection of one end of the third excitation winding 2211 through the fifth connection hole 22131 and then through the sixth connection hole 22141 to the fourth excitation winding 2212. In addition, one end of the third excitation winding 2211 is connected to one end of the fourth excitation winding 2212, the other end of the third excitation winding 2211 is connected to the fifth electrical connection portion 22132, and the other end of the second excitation winding 1212 is connected to the sixth electrical connection portion 22142. Furthermore, the first excitation winding 1211 and the second excitation winding 1212 are connected in series or in parallel. The magnetic fields generated by the first excitation winding 1211 and the second excitation winding 1212 are both axial magnetic fields, and the two excitation magnetic fields have a mutually reinforcing relationship. It should be noted that the centers of the stator excitation winding 121 and the rotor excitation winding 221 are coaxially arranged.

[0085] In one embodiment, the rotor angle winding 222 includes a fifth angle winding 2221 (a in FIG. 6 ), a sixth angle winding 2222 (b in FIG. 6 ), and a ninth circuit board 2223. The fifth angle winding 2221 is disposed on the ninth circuit board 2223. The ninth circuit board 2223 is provided with a seventh connection hole 22231 and a seventh electrical connection portion 22232. The fifth angle winding 2221 is connected to the seventh electrical connection portion 22232. The fifth angle winding 2221 is electrically connected to the sixth angle winding 2222 via the seventh connection hole 22231. The seventh electrical connection portion 22232 is electrically connected to the sixth electrical connection portion 22142. The fifth angle winding 2221 (a in FIG. 6 ) and the sixth angle winding 2222 (b in FIG. 6 ) are disposed on one side of the ninth circuit board 2223 or are printed on both sides of the ninth circuit board 2223.

[0086] In one embodiment, referring to Figure 6, the rotor angle winding 222 includes a fifth angle winding 2221 (a in Figure 6), a sixth angle winding 2222 (b in Figure 6), a ninth circuit board 2223 and a tenth circuit board 2224, the fifth angle winding 2221 is provided on a side surface of the ninth circuit board 2223, the ninth circuit board 2223 is provided with a seventh connecting hole 22231 and a seventh electrical connecting portion 22232, the fifth angle winding 2221 is connected to the seventh electrical connecting portion 22232; the tenth circuit board 2224 is located on one side of the ninth circuit board 2223, the sixth angle winding 2222 is provided on a side surface of the tenth circuit board 2224; the tenth circuit board 2224 is provided with an eleventh connecting hole 22241, the fifth angle winding 2221 is electrically connected to the sixth angle winding 2222 through the seventh connecting hole 22231 and the eleventh connecting hole 22241; the seventh electrical connecting portion 22232 is electrically connected to the sixth electrical connecting portion 22142.

[0087] The fifth angle winding 2221 is printed on the ninth circuit board 2223, and the sixth angle winding 2222 is printed on the tenth circuit board 2224. Both the fifth angle winding 2221 and the sixth angle winding 2222 are composed of multiple segments of semi-arc-shaped conductors, gradually transitioning from the largest radius to the smallest radius. A seventh connection hole 22231 is provided on the ninth circuit board 2223, located along the path of the smallest radius arc-shaped conductor. One end of the fifth excitation winding passes through the seventh connection hole 22231 and is electrically connected to the sixth excitation winding. The seventh electrical connection portion 22232 is electrically connected to the rotor excitation winding 221, allowing the stator angle winding 122 to receive the excitation current provided by the rotor excitation winding 221 and generate an axial alternating magnetic field in the air gap 3 that is related to the rotor angle information.

[0088] In one embodiment, the electromagnetic structure for the angle sensor includes M groups of stator excitation windings 121 and N groups of stator angle windings 122; wherein M and N are both positive integers; a second angle difference is provided between different stator angle windings 122; a third angle difference is provided between the first angle winding 12211 and the second angle winding 12212, and a fourth angle difference is provided between the third angle winding 12221 and the fourth angle winding 12222; the electromagnetic structure for the angle sensor includes P groups of rotor excitation windings 221 and Q groups of rotor angle windings 222, wherein P and Q are both positive integers, and a fifth angle difference is provided between different rotor angle windings; a sixth angle difference is provided between the fifth angle winding and the sixth angle winding.

[0089] In order to make the back electromotive force induced by the stator angle winding 122 have smaller high-order harmonics, the fifth angle winding and the sixth angle winding can be staggered according to the high-order harmonics that need to be eliminated and form a sixth angle difference. For example, to eliminate the third harmonic, the fifth angle winding and the sixth angle winding are staggered by a rotation angle of 60°.

[0090] In order to make the back electromotive force induced by the stator angle winding 122 have smaller higher harmonics, the first angle winding 12211 and the second angle winding 12212 can be staggered according to the higher harmonics that need to be eliminated and form a third angle difference, and at the same time, the third angle winding 12221 and the fourth angle winding 12222 can be staggered by a fourth angle difference according to the higher harmonics that need to be eliminated; for example, to eliminate the 5th harmonic, the first angle winding 12211 and the second angle winding 12212 are staggered by a rotation angle of 36°, and at the same time, the third angle winding 12221 and the fourth angle winding 12222 are staggered by a rotation angle of 36°.

[0091] Many applications are sensitive to certain higher-order harmonics in the back EMF of the stator signal winding. These harmonics can be eliminated by adding a new set of stator angular windings 122 or rotor angular windings 222. These new angular windings are spaced at a predetermined angle relative to the existing stator angular windings 122 or rotor angular windings 222. When the new and old angular windings are connected in series, the fundamental component of the back EMF of the two windings is amplified due to superposition, but the corresponding higher-order harmonics are canceled out due to their phase opposition.

[0092] Harmonics greater than or equal to the seventh order can be eliminated by providing multiple sets of stator angle windings or multiple sets of rotor angle windings. A second angle difference is provided between different stator angle windings 122, and a fifth angle difference is provided between different rotor angle windings. The rotor angle winding 222 is used as an example for illustration, with reference to FIG7 . For example, the electromagnetic structure for the angle sensor includes two sets of rotor angle windings 222. The fifth angle winding 2221 and the sixth angle winding 2222 in one set are the original rotor angle windings 222, while the seventh angle winding 2225 and the eighth angle winding 2226 in the other set are new rotor angle windings 222. The new rotor angle windings 222 have the same topological structure as the original rotor angle windings 222. In order to eliminate the 7th harmonic of the back electromotive force of the stator angle winding 122, the original rotor angle winding 222 composed of the fifth angle winding 2221 and the sixth angle winding 2222 and the new rotor angle winding 222 composed of the seventh angle winding 2225 and the eighth angle winding 2226 are spatially spaced by 25.71429° (180° / 7). In this way, the 7th harmonic magnetic field in the air gap 3 is eliminated, and the 7th harmonic magnetic field in the stator angle winding 122 is also eliminated, that is, the second angle difference can be 25.71429°. Among them, the sixth angle difference between the seventh angle winding 2225 and the eighth angle winding 2226 is equal to the second angle difference between the fifth angle winding 2221 and the sixth angle winding 2222.

[0093] If the 11th harmonic needs to be eliminated, a ninth angle winding and a tenth angle winding are added to form a new rotor angle winding 222. The original rotor angle winding 222 composed of the fifth angle winding 2221 and the sixth angle winding 2222 and the new rotor angle winding 222 composed of the seventh angle winding 2225 and the eighth angle winding 2226 have a spatial phase difference of 16.36364° (180° / 11). The new rotor angle winding 222 composed of the seventh angle winding 2225 and the eighth angle winding 2226 and the new rotor angle winding 222 composed of the ninth angle winding and the tenth angle winding have a spatial phase difference of 16.36364°.

[0094] Similarly, specific higher harmonics in the back electromotive force can be eliminated by adding multiple groups of stator angle windings 122. That is, when the fifth angle difference is 25.71429°, the 7th harmonic magnetic field in the stator angle winding 122 can be eliminated.

[0095] To achieve incremental angle measurement, the number of magnetic pole pairs in the stator angle winding 122 and the rotor angle winding 222 can be a positive integer greater than 1, but the number of fundamental wave magnetic pole pairs in the stator angle winding 122 and the rotor angle winding 222 must be the same. Furthermore, to eliminate more high-order harmonics of the back EMF of the angle windings, the number of groups of the stator angle winding 122 or the rotor angle winding 222 can be increased, and the spatial angle difference between each layer of windings can be adjusted to match the harmonics to be eliminated.

[0096] In one embodiment, both the rotor core 21 and the stator core 11 are made of ferromagnetic material with a magnetic permeability greater than 100. Ferromagnetic materials with a magnetic permeability greater than 100 are also called high-permeability soft magnetic materials, and examples include silicon steel sheets or ferrite soft magnetic materials. Magnetic permeability reflects a material's ability to respond to magnetic fields. Higher magnetic permeability enhances the magnetic material's magnetic properties, thereby improving the energy conversion efficiency of the electromagnetic structure used in the angle sensor.

[0097] The number of tangential magnetic pole pairs of rotor angle winding 222, stator angle sine winding 1221, and stator angle cosine winding 1222 is 1. Therefore, the magnetic field of rotor angle winding 222 can be effectively connected with the stator angle winding 122. To improve sensor accuracy, the number of magnetic pole pairs of rotor angle winding 222 and stator angle winding 122 can also be greater than 1 to achieve incremental angle measurement.

[0098] In addition, to fully utilize the space available in the electromagnetic structure of the angle sensor and the magnetic field generated by the windings, the stator core 11 and rotor core 21 can also be configured in other ways. For example, the stator core 11 can be provided with a first groove for receiving the stator excitation winding 121 and the stator angle winding 122, while the rotor core 21 can be provided with a second groove for receiving the rotor excitation winding 221 and the rotor angle winding 222. This can further make the electromagnetic structure of the angle sensor more compact. The stator angle winding 122 and the rotor angle winding 222 can both be implemented in a distributed, centralized, or wave winding format.

[0099] The technical solution of the present application is achieved by stacking the stator core 11, the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222, and forming an air gap 3 between the stator winding 12 and the rotor winding 22. An external power supply provides an excitation current to the stator excitation winding 121, so that the stator excitation winding 121 generates an alternating excitation magnetic field in the air gap 3. The alternating excitation magnetic field is connected to the rotor excitation winding 221 through the stator core 11 and the rotor core 21, and an induced electromotive force is generated on the rotor excitation winding 221; since the rotor excitation winding 221 is connected to the rotor angle winding 222, an alternating current is generated in the rotor angle winding 222, and an alternating magnetic field is generated in the air gap 3. The alternating magnetic field causes the stator angle winding 122 to generate an induced electromotive force. Since the excitation winding composed of the stator excitation winding 121 and the rotor excitation winding 221 and the angle winding composed of the stator angle winding 122 and the rotor angle winding 222 share the air gap 3 in the same area, the structure of the electromagnetic structure is more compact, thereby achieving the purpose of reducing the overall volume of the electromagnetic structure.

[0100] The present application also proposes an angle sensor, which includes an electromagnetic structure for the angle sensor. The specific structure of the electromagnetic structure for the angle sensor refers to the above-mentioned embodiment. Since the present sensor adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0101] In the assembled angle sensor, the central axes of the stator excitation winding 121 , the stator angle winding 122 , the rotor excitation winding 221 and the rotor angle winding 222 are aligned.

[0102] An axial hole is provided in the center of the electromagnetic structure used for the angle sensor, and the axial hole is used to connect to the connecting shaft of the sensor. The additional axial hole has the advantage of facilitating installation, and can also enable the stator excitation winding 121, the stator angle winding 122, the rotor excitation winding 221 and the rotor angle winding 222 to be coaxially installed.

[0103] The above descriptions are merely some embodiments of the present application and are not intended to limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. An electromagnetic structure for an angle sensor, wherein, The electromagnetic structure for the angle sensor includes: A stator assembly, including a stator core and a stator winding. The stator winding is disposed on one side of the stator core. The stator winding includes a stator excitation winding and a stator angle winding, and the stator excitation winding and the stator angle winding are stacked. The stator excitation winding is used to connect to an external power supply. A rotor assembly, including a rotor core and a rotor winding. The rotor winding is disposed on one side of the rotor core, and the rotor winding is located on the side of the stator winding away from the stator core. An air gap is formed between the stator winding and the rotor winding. The rotor winding includes a rotor excitation winding and a rotor angle winding, and the rotor excitation winding and the rotor angle winding are stacked. The rotor excitation winding and the rotor angle winding are electrically connected.

2. The electromagnetic structure for an angular sensor according to claim 1, wherein, The stator excitation winding and the stator angle winding, the rotor excitation winding and the rotor angle winding are located in the same axial electromagnetic region but are disposed on circuit boards of different layers; and / or, the stator angle winding includes a stator angle sine winding and a stator angle cosine winding, and there is a first angular phase difference between the stator angle sine winding and the stator angle cosine winding.

3. The electromagnetic structure for an angle sensor according to claim 2, wherein, The stator excitation winding includes a first excitation winding, a second excitation winding and a first circuit board. The first excitation winding and the second excitation winding are both disposed on the first circuit board. The first circuit board is provided with a first connection hole and a first electrical connection part. One end of the first excitation winding is connected to the first electrical connection part; the other end of the first excitation winding is electrically connected to one end of the second excitation winding through the first connection hole, and the other end of the second excitation winding is connected to the first electrical connection part. The first electrical connection part is used to connect to an external power supply.

4. The electromagnetic structure for an angle sensor according to claim 2, wherein, The stator angle sine winding includes a first angle winding, a second angle winding and a third circuit board. The first angle winding and the second angle winding are both disposed on the third circuit board. The third circuit board is provided with a third connection hole and a third electrical connection part. The first angle winding is connected to the third electrical connection part; the first angle winding is electrically connected to the second angle winding through the third connection hole, and the second angle winding is electrically connected to the third electrical connection part. The stator angle cosine winding includes a third angle winding, a fourth angle winding and a fifth circuit board. The third angle winding and the fourth angle winding are both disposed on one side surface of the fifth circuit board. The fifth circuit board is provided with a fourth connection hole and a fourth electrical connection part. The third angle winding is connected to the fourth electrical connection part; the third angle winding is electrically connected to the fourth angle winding through the fourth connection hole.

5. The electromagnetic structure for an angle sensor according to claim 4, wherein, The rotor excitation winding includes a third excitation winding, a fourth excitation winding, and a seventh circuit board. The third excitation winding and the fourth excitation winding are both disposed on the seventh circuit board. The seventh circuit board is provided with a fifth connection hole and a fifth electrical connection portion. One end of the third excitation winding is connected to the fifth electrical connection portion; the other end of the third excitation winding is electrically connected to one end of the fourth excitation winding through the fifth connection hole, and the other end of the fourth excitation winding is electrically connected to the fifth electrical connection portion. The fifth electrical connection portion is electrically connected to the rotor angle winding.

6. The electromagnetic structure for an angular sensor according to claim 5, wherein, The rotor angle winding includes a fifth angle winding, a sixth angle winding, and a ninth circuit board. The fifth angle winding and the sixth angle winding are both disposed on the ninth circuit board. The ninth circuit board is provided with a seventh connection hole and a seventh electrical connection portion. The fifth angle winding is connected to the seventh electrical connection portion; the fifth angle winding and the sixth angle winding are electrically connected to the sixth angle winding through the seventh connection hole.

7. The electromagnetic structure for an angle sensor according to claim 6, wherein, The electromagnetic structure for the angle sensor includes M sets of stator excitation windings and N sets of stator angle windings; wherein both M and N are positive integers; there is a second angle difference between different stator angle windings; there is a third angle difference between the first angle winding and the second angle winding, and there is a fourth angle difference between the third angle winding and the fourth angle winding; the electromagnetic structure for the angle sensor includes P sets of rotor excitation windings and Q sets of rotor angle windings, where both P and Q are positive integers, and there is a fifth angle difference between different rotor angle windings; there is a sixth angle difference between the fifth angle winding and the sixth angle winding.

8. The electromagnetic structure for an angular sensor according to any one of claims 1 to 7, wherein, Both the rotor magnetic core and the stator magnetic core are made of ferromagnetic materials with a magnetic permeability greater than 100.

9. The electromagnetic structure for an angular sensor according to any one of claims 2 to 7, wherein, The stator excitation winding includes an annular winding that surrounds from the center to the edge. Both the stator angle winding and the rotor angle winding include two semi-annular windings that are symmetrically arranged with respect to the center.

10. An angle sensor, wherein, The angle sensor includes the electromagnetic structure for the angle sensor according to any one of claims 1 to 9.

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