JP3103487B2 - Variable reluctance angle detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a variable reluctance type angle detector, and more particularly, to a method in which excitation and output windings are wound at a one-slot pitch so as to have a sinusoidal magnetic flux distribution, thereby enabling mechanical winding. Variable reluctance type conventional resolver, differential sync (3 phase / 3
Phase) and a trans-resolver (3 phase / 2 phase).

[0002]

2. Description of the Related Art Conventionally, a variable reluctance type angle detector of this type which has been used is, for example, shown in FIG.
0 and 21 disclosed in JP-A-6-213614. That is, FIG.
As shown by 0 and 21, the excitation winding and the output winding have different numbers of poles, and both slots 11 a of the stator core 11 are used.
To pay, the pole pairs of the excitation winding as P _1, the pole pairs of the output winding P _2, in the structure rotor 10 is provided with no windings in core having N salient poles, P1 + P2 = N, or When P1-P2 = ± N, the excitation winding is single-phase, and the output winding is two-phase or three-phase, the movement of 1 / N of the entire circumference of the rotor 10 is 1
Utilizing the fact that a two-phase or three-phase voltage of a sinusoidal wave having a period is induced in the output winding, if the excitation winding is two-phase and the output winding is single-phase, it is induced in the output winding. The position is detected by utilizing the fact that the voltage becomes a sinusoidal voltage whose phase changes by 2π when the rotor moves 1 / N of the entire circumference.

[0003]

In the conventional configuration, both the exciting winding 11b and the output windings 11c and 11d are wound with a pitch of at least two slots in order to increase the output efficiency (especially, In the output winding,
Since the sine wave distribution of the magnetic flux was obtained by changing the fixed position at a pitch of two slots and the combination of the number of turns, it was difficult to perform mechanical winding, and it was difficult to perform winding work on the slot unless a skilled operator was used. . Either one-phase excitation / two-phase output or two-phase excitation / one-phase output has only a single-phase configuration. Therefore, generally used two-phase excitation / two-phase output is used. It was impossible to realize the same function as the resolver with this variable reluctance resolver.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. In particular, the excitation and output windings are wound at a pitch of one slot and have a sinusoidal magnetic flux distribution.
A variable reluctance type angle detector capable of mechanical winding and having the functions of a conventional resolver, differential synchro (three-phase / 3-phase) and trans-resolver (three-phase / 2-phase) is obtained. The purpose is to:

[0005]

According to the variable reluctance type angle detector of the present invention, the number of pole pairs of the exciting winding is set to P _1.
And a ring-shaped stator housed in a slot that opens inward with the number of pole pairs of the output winding being P ₂ , and an iron core having N salient poles or an N-cycle sinusoidal gap permeance. and a rotor having no, the P ₁
+ P ₂ = N or P ₁ −P ₂ = ± N, in a variable reluctance type angle detector for obtaining an output of NX (X is a multiple of the axis), the exciting winding and the output winding are provided in each of the slots. And the magnetic flux is wound so as to have a sinusoidal magnetic flux distribution, the excitation winding is m-phase, and the output winding is m-phase.
The excitation winding and the output winding are both multi-phase, and the excitation winding and the output winding are provided only in one stator. is there.

[0006]

In the variable reluctance angle detector according to the present invention, the number of pole pairs of the exciting winding is P ₁ ,
Assuming that the number of pole pairs of the output winding is P ₂ , the rotor is an iron core having N salient poles and has no winding, and P ₁ + P ₂ =
By a N or P ₁ -P ₂ = ± N, the action of the variation of the gap permeance by magnetomotive force and stator teeth caused by current in the excitation winding, resulting gap magnetic flux density of the pole pairs P _2, the rotor When 1 moves 1 / N of the entire circumference, the spatial position of the peak value of the magnetic flux density utilizes the movement of 1 / P ₂ of the entire circumference. The induced voltage to the output winding due to this magnetic flux density is as follows: when the exciting winding is a single-phase (or multiple phases) m-phase and the output winding is a two-phase or three-phase n-phase,
A two-phase or three-phase n-phase voltage having a sinusoidal waveform with one cycle of 1 / N of the entire circumference of the rotor as one cycle, the excitation winding is two-phase m-phase, and the output winding is single-phase (also multi-phase) (Possible) In the case of n phases (multiple phases are also possible), a sine wave voltage whose phase changes by 2π when the rotor moves 1 / N of the entire circumference is obtained.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a variable reluctance type angle detector according to the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a rotor 10 and a stator 11. The ring-shaped stator is formed with slots 11a that open inward at equal intervals over the entire inner circumference thereof (only a part of the slots is shown in the figure).
Pole output winding 11c of the excitation winding 11b and pole pairs P ₂ logarithm P ₁ is housed in the. The rotor 10 has N
The number of salient poles 10a is formed, and the number of pole pairs and the number of salient poles satisfy the relationship of P ₁ + P ₂ = N (1) or P ₁ -P ₂ = ± N (2). Has been chosen. The gap permeance coefficient in this case is

[0008]

(Equation 1)

[0009] Here, Z ₁ is the number of stator slots, α and γ are positive and negative integers including 0, and θ ₁ is fixed with the origin at the center of the entire coil constituting the excitation winding of one pole. The position of an arbitrary point on the inner circumference of the child 11 is a coordinate indicating a space angle, and θ ₂ is set at the moment of t = 0 with the center of the salient pole of the rotor closest to the origin of θ _{1 as} the origin. , And is represented by a space angle in the same manner as θ ₁ .

A space angle corresponding to one pole pitch of the rotor salient poles is denoted by 、, and as shown in FIG. 1, a space angle between the origins θ ₁ and θ ₂ when the rotor 10 is stationary. Is ξψ, there is a relationship of θ ₂ = θ ₁ −ξψ (4), and ξ takes a value of −0.5 ≦ ξ ≦ 0.5.
When the equation (4) is substituted into the equation (3), the gap permeance coefficient becomes the following equation.

[0011]

(Equation 2)

The effective value of the current flowing through the exciting winding 11b is represented by I
And the angular frequency is ω, the fundamental wave magnetomotive force due to this current is

[0013]

(Equation 3)

## EQU1 ## Here W _e is the excitation winding 1
1b of the winding, P ₁ is the number of pole pairs, K _W1 excitation windings 11b are winding factor for the fundamental wave component. Here, in order to show the principle, ignoring the gap permeance pulsation due to the stator slot, it is sufficient to consider the case of α = 0 in equation (5).

[0015]

(Equation 4)

## EQU1 ## The magnetic flux density is obtained as the product of the equations (6) and (7),

[0017]

(Equation 5)

## EQU1 ## Considering the order of magnetic flux density (P ₁ + γN), when γ = 0, (P ₁ + γN) = P _{2. For} γ = ± 1, Equation (1) is satisfied. When γ = −1, (P ₁ + γN) = − P ₂ , and when γ = 1, (P ₁ + γN)
= (2P ₁ + P ₂ ), and when the expression (2) is satisfied,

[0019]

(Equation 6)

At the time of (P ₁ + γN) = P ₂ , when γ = 1, (P ₁ + γN) = (2P ₁ −P ₂ ). Therefore, the number of pole pairs in the gap magnetic flux density is P ₁ , P ₂ and (2P ₁ +
The component of P ₂ ) will be present. Therefore, the magnetic flux density is expressed by the expression (9) or (10) when the expression (1) or the expression (2) is satisfied.

[0021]

(Equation 7)

[0022]

(Equation 8)

When attention is paid to the second term in the equations (9) and (10), since Nψ = 2π, ξ is from −0.5 to +0.5.
This indicates that the position of the peak value of the magnetic flux density of the pole pair number P ₂ moves by one pole pair when the rotor 10 changes to the above, that is, when the rotor 10 moves by one pole pitch of the salient pole. Therefore, the magnitude of the flux linkage between the magnetic flux and the output winding having the number of pole pairs P ₂ accommodated in the stator slot varies depending on the position of the rotor salient pole, and thus the magnitude of the induced voltage of the output winding 11c. Also rotor 10
Varies by. One of the output windings 11c is provided at the position of the same winding axis as the exciting winding, and the other is provided at a position 90 electrical degrees away from the winding axis of the exciting winding 11b. The former is referred to as a first-phase first output winding, and the latter is referred to as a second-phase second output winding.

The induced voltages to these output windings are as follows. That is, the voltage induced in the first and second output windings by the magnetic flux density of the second term of the equation (9) or (10) is expressed by the following equations (11) and (12).

[0025]

(Equation 9)

[0026]

(Equation 10)

In the output winding 11c having the number of pole pairs P _2, a voltage is induced only by a magnetic flux density whose order of the spatial distribution is an odd multiple of P ₂ , so that (2P ₁ ± P ₂ ) is an odd multiple of P ₂ . In this case, a voltage is induced in the output winding 11c by the third term of the equations (9) and (10). Depending on this voltage, (1
1) and (12) only the effective value E ₁ of the voltage change in expression form of expression does not change.

Similarly, when P ₁ is an odd multiple of P ₂ ,
The first term of equations (9) and (10) induces a constant voltage independent of the rotor position on the first output winding, but this voltage can be removed by circuit processing. However, because those who do not require such a circuit processing is desired, by appropriate selection of the combination of P ₁ and P _2, the first
It is possible not to induce a voltage due to the term.

[0029] When the three-phase winding output winding 11c, even odd multiple orders of P ₂ spatial distribution, order of the magnetic flux density component of the integral multiple of 3 voltage to the output winding Even in the case of non-induction, single-phase or two-phase winding, if three-phase winding is connected as shown in Fig. 2 and used as one-phase winding, three-phase winding In the same manner as described above, no induced voltage due to a magnetic flux density component of an integer multiple of 3 is generated. In this case,
(9) and (10) Selection of a combination of P ₁ and P ₂ of the order to prevent the occurrence of voltage induced by the first term becomes easy.

Therefore, the voltage induced by the two sets of output windings, which is one cycle when the rotor moves by one pole pitch of the salient poles, and which is proportional to the cos and sin functions, is a conventional resolver. Is the same as the voltage induced in the input / output winding when it moves by one pole pitch, the position can be detected by processing with the R / D converter.

This is the basic principle of the present invention. Therefore,
The rotor 10 is constituted by an iron core having N salient poles or an N-cycle sinusoidal gap permeance, and has a structure having no winding.

In the above description, the first output winding is arranged at the same position as the excitation winding. However, this is for convenience of explanation, and is not necessarily limited to this arrangement. In the case of two phases, if the two-phase output windings are kept at a position separated by 90 degrees in electrical angle, they can be arranged at any positions in the stator slot. The excitation winding 11b is single-phase (possibly multi-phase) as described above. However, if the output winding is a three-phase winding, the rotor 10 moves one pitch of the salient pole by one pole pitch. Since a three-phase voltage that is a cycle is induced, it can be used in the same manner as a conventional synchro electric machine. Also in this case, the one phase is often arranged at the same position as the excitation winding 11b, but this arrangement is not limited, and the three sets of output windings are separated from each other by 120 degrees in electrical angle. If it is kept, it can be arranged at any position of the stator slot.

When the excitation winding has two phases and the output winding has a single phase (multiple phases are also possible), the induced voltage of the output winding changes in phase depending on the rotor position. The change of 2π with respect to the movement of the rotor with one pole pitch is also the same as that of the conventional resolver.
Position detection can be performed by processing with a D converter. So far, for explanation of the principle, only the fundamental wave magnetomotive force has been considered, and α = 0 and γ = ± 1 have been described. However, the harmonic component of the magnetomotive force and the gap permeance coefficient due to the stator slot have been described. Considering the case where α is an integer value, the gap magnetic flux density becomes

[0034]

[Equation 11]

## EQU1 ## In each term of the expression of the magnetic flux density, a voltage is induced in the output winding only by a component having a coefficient of θ ₁ (npl + αZ ₁ + γN) which is an odd multiple of P ₂ , and in the case of the connection of FIG. A voltage is induced in the output winding only by a component of the order excluding an integer multiple. When the voltage induced in the output winding 11c is determined in consideration of these facts, the voltages are expressed as Expressions 14 and 15, respectively.

[0036]

(Equation 12)

[0037]

(Equation 13)

In this equation, when γ = 0, θ ₁
Is (npl + αZ ₁ ). In the case of an integer slot, Z ₁ is also an integral multiple of P ₁ , so by appropriately setting the combination of P ₁ and P ₂ , the output winding Can avoid inducing a voltage according to this term.
Next, the voltage induced in the output winding by the term corresponding to γ = ± 1 is expressed in the same form as in Equations 11 and 12, but since the harmonic flux density component that induces the voltage increases, the voltage effective value E The size of ₁ changes. However, since the form of the equation does not change, a voltage is induced in the two sets of output windings, which is proportional to the cos and sin functions that become one cycle when the rotor moves by one pole pitch of the salient poles.

Each slot 11a of the stator 11 is
The exciting winding 11b and the output winding 11c which are sequentially wound at the slot pitch are wound around each slot 11a at one slot pitch and the magnetic flux distribution becomes sinusoidal as shown in FIGS. In addition, each winding 11b, 11c
Is provided only on one stator 11. First, FIG.
FIG. 5 shows the case of two phases on the excitation side / two phases on the output side.
When the number of pole pairs P ₁ of the exciting winding 11b on the exciting side of P is 3 and 24 slots 11a are formed, each of the slots 11a is provided with each of the number of normal windings E and the number of reverse windings F,
The stator 11 is wound while being changed so that the magnetic flux distribution in the circumferential direction has a sine wave shape (the same distribution as the conventional configuration). The A-phase and the B-phase as two phases have a phase of the magnetic flux distribution of the excitation winding 11b in each slot 11a of 90 degrees.
It is wound in a state of being shifted by ° (electric angle).

The number of pole pairs P ₂ of the output winding 11c on the output side shown in FIG. 6 is P ₂ = 2, and each slot 11a is provided with the number of positive windings E and the number of reverse windings F on the exciting side shown in FIG. And is composed of two phases, a phase and b phase, which are shifted from each other by 90 ° (electrical angle). Therefore, as shown in FIGS. 7 and 8, the A-phase excitation = E _{R1 −3} and the B-phase excitation =
E _R2 - when ₄ to the output voltage of a phase is represented by the following equation (17).

[0041]

[Equation 14]

[0042]

(Equation 15)

Thus, the output characteristics are exactly the same as those of a conventional two-phase excitation / two-phase output resolver. 9 and FIG.
, The excitation side is different from the m-phase, and the output side is different from the m-phase.
Phase, the electrical angle is 1 from the beginning to the end of the m phase.
By shifting the phase by × 2π / m, 2 × 2π / m, and (m−1) × 2π / m, an output voltage having output characteristics similar to the above-described two-phase excitation / two-phase output can be obtained. In addition,
In the case of the n-phase on the output side, the electrical angle is 1 × 2π / m... (M−1) × 2π / m from the beginning to the end of the n-phase.
The phases are shifted by one by one. 9 and FIG.
Illustration of each slot 11a is omitted.

The connection configurations shown in FIGS. 11 to 19 show the application side to various angle (rotation) detectors when the stator having the winding structure according to the present invention is used. N = X number (axial double angle) can be freely determined by how to determine P ₁ and P ₂ . First, a one-phase excitation / two-phase output resolver can be configured as shown by the double angle in FIG. Also, as in the case of FIG.
Two-phase excitation / 1-phase output resolver, as in the case of FIG.
A two-phase excitation / two-phase output resolver, a one-phase excitation / 3-phase output synchro detector as shown in FIG. 14, and a three-phase excitation / 3-phase output differential synchro detector as shown in FIG. ,
It is possible to configure a three-phase excitation / two-phase output transsolver as in the case of FIG. 16, and an m-phase excitation / n-phase output resolver as in FIGS. Further, in the present invention, since the exciting winding and the output winding are wound around each slot of one stator at a one-slot pitch, there is no need to skip a slot, and the pole of each slot is provided by a needle of a well-known winding machine. It can be moved tooth by tooth, making machine winding much easier than in the conventional slot jump configuration.

[0045]

The variable reluctance type angle detector according to the present invention is configured as described above, and can provide the following effects. That is, by winding the excitation winding and the output winding only on the stator so that the magnetic flux distribution becomes sinusoidal at one slot pitch (sequentially winding on each slot) for each slot, a conventional manual method is used. Unlike this, mechanical winding can be performed by a winding machine, and the manufacturing cost of a variable reluctance detector that does not use a winding on a rotor can be significantly reduced. Also, it is easy to make the excitation side and the output side multi-phase, and it is possible to replace not only the resolver but also a well-known trans resolver, a differential synchro, and the like with a variable reluctance type, thereby improving characteristics and reducing costs. it can.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a variable reluctance angle detector according to the present invention.

FIG. 2 is a configuration diagram illustrating an example of a winding.

FIG. 3 is a configuration diagram showing a rotor.

FIG. 4 is a configuration diagram showing another example of FIG. 1;

FIG. 5 is an explanatory diagram showing an excitation winding.

FIG. 6 is an explanatory diagram showing an output winding.

FIG. 7 is a connection diagram of a resolver.

FIG. 8 is a vector diagram showing input / output voltages.

FIG. 9 is an explanatory diagram showing another example of FIG. 5;

FIG. 10 is an explanatory diagram showing another example of FIG. 6;

FIG. 11 is a connection diagram of a resolver.

FIG. 12 is a connection diagram of a resolver.

FIG. 13 is a connection diagram of a resolver.

FIG. 14 is a connection diagram of a synchro detector.

FIG. 15 is a connection diagram of a differential synchronization connection diagram.

FIG. 16 is a connection diagram showing a trans resolver.

FIG. 17 is a connection diagram illustrating a resolver.

FIG. 18 is a connection diagram illustrating a resolver.

FIG. 19 is a connection diagram showing a resolver.

FIG. 20 is a configuration diagram showing a conventional variable reluctance resolver.

FIG. 21 is an explanatory diagram showing windings in each slot of FIG. 20;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Rotor 11 Stator 11a Slot 11b Excitation winding 11c Output winding

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01B ⁷ /00-7/34 G01D 5/245 101

Claims (1)

(57) [Claims] [Claim 1] and the pole pairs of the excitation winding (11b) and P _1, the fixed annular the pole pairs was placed in the slot (11a) which opens toward the inside as P ₂ output winding (11c) And a rotor (10) composed of an iron core having N salient poles or N cycles of sinusoidal gap permeance and having no winding, wherein P ₁ + P ₂ = N or P ₁ NX as -P ₂ = ± N
In the variable reluctance type angle detector which obtains an output of (X is a multiple of the axis), the exciting winding (11b) and the output winding (11c) are arranged at a pitch of one slot with respect to each of the slots (11a). And the magnetic flux distribution is sinusoidal, and the exciting winding (11b) is m
Phase, the output winding (11c) is the same or different from the m phase, n-phase, and the excitation winding (11b) and the output winding (11
c) is a polyphase, and the exciting winding (11b) and the output winding (11c) are provided only in one stator (11). vessel.