Device for sensing rotor position and motor including the same

文档序号：1907717 发布日期：2021-11-30 浏览：13次中文

阅读说明：本技术 用于感测转子位置的装置以及包括该装置的马达 (Device for sensing rotor position and motor including the same ) 是由禹承勋金南勋于 2017-09-05 设计创作，主要内容包括：本发明提供用于感测转子位置的装置以及包括该装置的马达,其中提供一种转子位置感测装置,其包括：中心轴；联接到所述中心轴的磁体；以及对应于述磁体设置的传感器部分；其中,所述传感器部分包括基板、设置在所述基板上的包括第一霍尔传感器和第三霍尔传感器的第一组、以及包括第二霍尔传感器和第四霍尔传感器的第二组,其中,所述第一霍尔传感器和所述第三霍尔传感器被布置为围绕所述中心轴在径向方向上交叠,并且所述第二霍尔传感器和所述第四霍尔传感器被布置为围绕所述中心轴在径向方向上交叠。(The present invention provides an apparatus for sensing a rotor position and a motor including the same, wherein there is provided a rotor position sensing apparatus including: a central shaft; a magnet coupled to the central shaft; and a sensor portion provided corresponding to the magnet; wherein the sensor part includes a substrate, a first group including first and third hall sensors and a second group including second and fourth hall sensors provided on the substrate, wherein the first and third hall sensors are arranged to overlap in a radial direction around the central axis, and the second and fourth hall sensors are arranged to overlap in a radial direction around the central axis.)

1. A rotor position sensing device comprising:

a central shaft;

a magnet coupled to the central shaft; and

a sensor portion provided corresponding to the magnet;

wherein the sensor part includes a substrate, a first group including a first Hall sensor and a third Hall sensor and a second group including a second Hall sensor and a fourth Hall sensor, which are disposed on the substrate,

wherein the first and third hall sensors are arranged to overlap in a radial direction around the central axis, and the second and fourth hall sensors are arranged to overlap in a radial direction around the central axis.

2. The apparatus of claim 1, wherein at least three of the first hall sensors are arranged on a first circumference around the central axis and at least three of the second hall sensors are arranged on a first circumference around the central axis and at least two of the third hall sensors are arranged on a second circumference around the central axis and at least two of the fourth hall sensors are arranged on a second circumference around the central axis.

3. The apparatus of claim 2, wherein at least one of the three first hall sensors overlaps in a radial direction about the central axis with at least one of the two third hall sensors, and at least one of the three second hall sensors overlaps in a radial direction about the central axis with at least one of the two fourth hall sensors.

4. A rotor position sensing device comprising:

a central shaft;

a magnet coupled to the central shaft; and

a sensor portion provided corresponding to the magnet;

wherein the sensor portion includes a substrate, a first group including a plurality of Hall sensors disposed on the substrate, and a second group including a plurality of Hall sensors disposed on the substrate and spaced apart from the first group,

wherein the plurality of Hall sensors in the first group and the plurality of Hall sensors in the second group operate independently.

5. A rotor position sensing device according to claim 4, wherein when one of the first and second sets is not operating, the other set is operating.

6. The rotor position sensing device of claim 4, wherein the plurality of Hall sensors in the first set includes at least three first Hall sensors disposed on a first circumference about the central axis and at least two third Hall sensors disposed on a second circumference about the central axis,

wherein the plurality of Hall sensors in the second group includes at least three second Hall sensors disposed on the first circumference and at least two fourth Hall sensors disposed on the second circumference.

7. A rotor position sensing device comprising:

a central shaft;

a magnet coupled to the central shaft; and

a sensor portion provided corresponding to the magnet;

wherein the sensor part includes a substrate, a first group including a plurality of Hall sensors and a second group including a plurality of Hall sensors provided on the substrate,

wherein the plurality of Hall sensors in the first group includes at least three first Hall sensors disposed on a first circumference around the center axis and at least two third Hall sensors disposed on a second circumference around the center axis,

8. A rotor position sensing device according to claim 1 or 7, wherein the first and second sets are arranged to be spaced apart from each other and to operate independently of each other.

9. A rotor position sensing device as claimed in any one of claims 2, 6 and 7, wherein the radius of the second circumference is greater than the radius of the first circumference.

10. The rotor position sensing device of claim 9, wherein said magnet includes a main magnet corresponding to said first circumferential setting and a sub-magnet corresponding to said second circumferential setting,

wherein the three first Hall sensors and the three second Hall sensors sense changes in the main magnet,

wherein the two third Hall sensors and the two fourth Hall sensors sense a change in the sub-magnet.

11. The rotor position sensing device according to any one of claims 2, 6 and 7, wherein distances between the three first Hall sensors and between the three second Hall sensors on the first circumference are first distances,

wherein a distance between a first Hall sensor adjacent to the second group among the three first Hall sensors on the first circumference and a second Hall sensor adjacent to the first group among the three second Hall sensors is a second distance,

wherein the first distance is different from the second distance.

12. The rotor position sensing device of claim 11, wherein the second distance is greater than the first distance.

13. The rotor position sensing device according to any one of claims 2, 6 and 7, wherein an angle between straight lines connecting the center axis and centers of each of two adjacent first Hall sensors among the three first Hall sensors and an angle between straight lines connecting the center axis and centers of each of two adjacent second Hall sensors among the three second Hall sensors are referred to as a first angle, and

wherein an angle between straight lines connecting the center axis and a center of each of the first and second hall sensors adjacent to each other among the three first and second hall sensors is referred to as a second angle, which is different from the first angle.

14. The rotor position sensing device according to claim 13, wherein an angle between a straight line connecting a center axis and a center of each of two adjacent third Hall sensors among the at least two third Hall sensors and an angle between a straight line connecting the center axis and a center of each of two adjacent fourth Hall sensors among the at least two fourth Hall sensors are referred to as a third angle,

wherein an angle between straight lines connecting the center axis and a center of each of the at least two third and fourth hall sensors adjacent to each other among the at least two third and fourth hall sensors is referred to as a fourth angle, and the fourth angle is different from the third angle.

15. The rotor position sensing device according to claim 13, wherein the first angle is R1 calculated by the following equation 1,

< equation 1>

R1＝R0/3

R0＝360°/(Nm/2)

Wherein R1 is the first angle, R0 is an electrical angle, Nm is the number of poles of the main magnet, and a constant "3" represents the number of U-phase, V-phase, and W-phase.

Technical Field

Embodiments relate to a rotor position sensing apparatus and a motor including the same.

Background

Generally, the rotor rotates due to an electromagnetic action between the rotor and a stator in the motor. Here, since the rotary shaft inserted into the rotor is also rotated, a rotational driving force is generated.

A sensor including a magnetic element is provided inside the motor as a rotor position sensing device. The sensor grasps the current position of the rotor by sensing the magnetic force of a sensing magnet installed to be rotatable in conjunction with the rotor.

Typically, for a three-phase brushless motor, at least three sensors are required. This is because three sensing signals are required to obtain information on the U-phase, the V-phase, and the W-phase. However, there are problems in that: when one of the three sensors malfunctions, the entire rotor position sensing apparatus may not be driven. In particular, considering sensors that frequently fail, there are problems in that: due to a single sensor failure, the entire rotor position sensing device needs to be replaced, which results in a large economic loss.

Further, when the rotor position sensing device is additionally installed, it is necessary to separately install the added rotor position sensing device in a region different from a region where the existing rotor position sensing device is installed. This is because the sensors of the sensing magnet and the added rotor position sensing device need to be aligned with each other. Further, in the rotor position sensing device, the arrangement of the additional sensor and the design of the substrate are complicated, and thus the space restriction is large.

Meanwhile, since the resolution of the sensing signal is low due to the limitation of the magnetization accuracy of the sensing magnet, the current position of the rotor may not be accurately grasped.

Disclosure of Invention

Technical problem

Embodiments are directed to a rotor position sensing device capable of being driven despite some sensors failing, and a motor including the same. In particular, embodiments are also directed to providing a rotor position sensing device capable of being driven on an existing Printed Circuit Board (PCB) without a separate additional structure, and a motor including the same.

Embodiments are also directed to providing a rotor position sensing apparatus capable of increasing resolution of a sensing signal without adding a sensor, and a motor including the same.

Embodiments are also directed to providing a rotor position sensing device having two channels on its existing substrate without additional structure and a motor including the same.

The objects achieved by the embodiments of the present invention are not limited to the above objects, and other objects not described above may be clearly understood by those skilled in the art from the following description.

Technical scheme

Embodiments provide a motor for sensing a rotor position, a rotor position sensing device, wherein the rotor position sensing device includes: a central shaft; a magnet coupled to the central shaft; and a sensor portion provided corresponding to the magnet; wherein the sensor part includes a substrate, a first group including first and third hall sensors and a second group including second and fourth hall sensors provided on the substrate, wherein the first and third hall sensors are arranged to overlap in a radial direction around the central axis, and the second and fourth hall sensors are arranged to overlap in a radial direction around the central axis.

At least three of the first hall sensors are arranged on a first circumference around the center axis, and at least three of the second hall sensors are arranged on a first circumference around the center axis, and at least two of the third hall sensors are arranged on a second circumference around the center axis, and at least two of the fourth hall sensors are arranged on a second circumference around the center axis.

At least one of the three first hall sensors overlaps in a radial direction with at least one of the two third hall sensors around the center axis, and at least one of the three second hall sensors overlaps in a radial direction with at least one of the two fourth hall sensors around the center axis.

A rotor position sensing device comprising: a central shaft; a magnet coupled to the central shaft; and a sensor portion provided corresponding to the magnet; wherein the sensor portion includes a substrate, a first group including a plurality of hall sensors disposed on the substrate, and a second group including a plurality of hall sensors disposed on the substrate and spaced apart from the first group, wherein the plurality of hall sensors in the first group and the plurality of hall sensors in the second group operate independently.

When one of the first and second groups is not operating, the other group is operating.

The plurality of hall sensors in the first group include at least three first hall sensors disposed on a first circumference around the center axis and at least two third hall sensors disposed on a second circumference around the center axis, wherein the plurality of hall sensors in the second group include at least three second hall sensors disposed on the first circumference and at least two fourth hall sensors disposed on the second circumference.

A rotor position sensing device comprising: a central shaft; a magnet coupled to the central shaft; and a sensor portion provided corresponding to the magnet; the sensor part comprises a substrate, a first group and a second group, wherein the first group is arranged on the substrate and comprises a plurality of Hall sensors, the second group comprises a plurality of Hall sensors, the plurality of Hall sensors in the first group comprise at least three first Hall sensors arranged on a first circumference surrounding the central shaft and at least two third Hall sensors arranged on a second circumference surrounding the central shaft, and the plurality of Hall sensors in the second group comprise at least three second Hall sensors arranged on the first circumference and at least two fourth Hall sensors arranged on the second circumference.

The first and second sets are arranged to be spaced apart from each other and to operate independently of each other.

The radius of the second circumference is greater than the radius of the first circumference.

The magnet includes a main magnet corresponding to the first circumferential arrangement and a sub-magnet corresponding to the second circumferential arrangement, wherein the three first hall sensors and the three second hall sensors sense changes in the main magnet, and wherein the two third hall sensors and the two fourth hall sensors sense changes in the sub-magnet.

Distances between the three first hall sensors and between the three second hall sensors on the first circumference are first distances, wherein a distance between a first hall sensor adjacent to the second group among the three first hall sensors on the first circumference and a second hall sensor adjacent to the first group among the three second hall sensors on the first circumference is a second distance, and wherein the first distances and the second distances are different.

The second distance is greater than the first distance.

An angle between straight lines connecting the center axis and a center of each of two adjacent first hall sensors among the three first hall sensors and an angle between straight lines connecting the center axis and a center of each of two adjacent second hall sensors among the three second hall sensors are referred to as a first angle, and an angle between straight lines connecting the center axis and a center of each of the first hall sensors and the second hall sensors adjacent to each other among the three first hall sensors and the three second hall sensors is referred to as a second angle, which is different from the first angle.

An angle between straight lines connecting the center axis and a center of each of two adjacent third hall sensors among the at least two third hall sensors and an angle between straight lines connecting the center axis and a center of each of two adjacent fourth hall sensors among the at least two fourth hall sensors are referred to as a third angle, wherein an angle between straight lines connecting the center axis and a center of each of the at least two third hall sensors and the at least two fourth hall sensors adjacent to each other among the at least two third hall sensors and the at least two fourth hall sensors is referred to as a fourth angle, and the fourth angle is different from the third angle.

The first angle is R1 calculated by equation 1 below,

< equation 1>

R1＝R0/3

R0＝360°/(Nm/2)

Wherein R1 is the first angle, R0 is an electrical angle, Nm is the number of poles of the main magnet, and a constant "3" represents the number of U-phase, V-phase, and W-phase.

Advantageous effects

According to embodiments, the following advantageous effects are provided: the position of the rotor may be sensed by providing a second sensor in addition to the first sensor even when the first sensor malfunctions.

According to embodiments, the following advantageous effects are provided: the position of the rotor can be accurately grasped by shifting the position of the second sensor by a certain angle with respect to the position corresponding to the position of the first sensor, so that the resolution is doubled.

According to embodiments, the following advantageous effects are provided: a two channel sensing configuration is achieved on an existing Printed Circuit Board (PCB) without separate additional structure by adding the sensor in parallel to the existing PCB and extending the sensing magnet.

Drawings

Fig. 1 is a conceptual diagram illustrating a motor according to an embodiment.

Fig. 2 is a diagram showing a sensing magnet.

Fig. 3 is a graph showing a sensing signal.

Fig. 4 is a diagram showing the rotor position sensing device.

Fig. 5 is a diagram showing a first embodiment of an arrangement of a first sensor and a second sensor corresponding to the main magnet.

Fig. 6 is a diagram showing a first embodiment of an arrangement of the first sensor and the second sensor corresponding to the sub-magnet.

Fig. 7 is a diagram showing a second embodiment of an arrangement of a first sensor and a second sensor corresponding to the main magnet.

Fig. 8 is a diagram showing a first sensor and a second sensor based on an outside sensor.

Fig. 9 is a graph showing a comparison between a conventional sensing signal with a resolution of 60 ° and a sensing signal with a resolution increased to 30 ° with respect to the main magnet.

Fig. 10 is a graph showing a comparison between a conventional sensing signal with a resolution of 90 ° and a sensing signal with a resolution increased to 45 ° with respect to a sub-magnet.

Fig. 11 is a diagram showing an extension region of the main magnet.

Fig. 12 is a graph showing the sensing signal.

Fig. 13 is a diagram illustrating a rotor position sensing device according to an embodiment.

Fig. 14 is a diagram showing the first sensor, the second sensor, and the third sensor.

Fig. 15 is a diagram showing the second sensor and the third sensor aligned and disposed in the circumferential direction of the sensing magnet.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The objects, specific advantages and novel features of the invention will become apparent from the following detailed description of the invention when considered in conjunction with the drawings. In the description of the present invention, when it is determined that detailed description of related known functions unnecessarily obscures the gist of the present invention, detailed description thereof will be omitted.

It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a conceptual diagram illustrating a motor according to an embodiment. Referring to fig. 1, a motor according to an embodiment may include a rotating shaft 100, a rotor 200, a stator 300, and a rotor position sensing device 400.

The rotating shaft 100 may be coupled to the rotor 200. When an electromagnetic interaction is generated between the rotor 200 and the stator 300 by supplying current, the rotor 200 rotates, and the rotation shaft 100 rotates as it rotates. The rotating shaft 100 may be connected to a steering shaft of a vehicle to transmit power to the steering shaft. The rotating shaft 100 may be supported by bearings.

The rotor 200 rotates by electrical interaction with the stator 300.

The rotor 200 may include a rotor core 210 and a magnet 220. The rotor core 210 may be formed in a shape in which a plurality of plates having a circular thin steel plate shape are stacked. A hole may be formed at the center of the rotor core 210 such that the rotation shaft 100 is coupled to the rotor core 210. A protrusion configured to guide the magnet 220 may protrude from an outer circumferential surface of the rotor core 210. The magnet 220 may be attached to the outer circumferential surface of the rotor core 210. The plurality of magnets 220 may be arranged at regular intervals along the circumference of the rotor core 210. The rotor 200 may include a pot member surrounding the magnet 220, fixing the magnet 220 so as not to be separated from the rotor core 210, and preventing the magnet 220 from being exposed.

Meanwhile, the rotor 200 may include a one-piece rotor core 210 having a cylindrical shape and magnets 220 provided in a single stage on the rotor core 210. Here, the single stage refers to a structure in which the magnets 220 may be disposed such that there is no skew on the outer circumferential surface of the rotor 200. Accordingly, the rotor core 210 may be formed to have the same height as that of the magnet 220 based on a longitudinal section of the rotor core 210 and a longitudinal section of the magnet 220. That is, the magnet 220 may be implemented to cover the entire rotor core 210 with respect to the height direction.

The stator 300 may be wound by coils to induce electrical interaction with the rotor 200. The detailed configuration of the stator 300 for winding the coil 320 is as follows. The stator 300 may include a stator core 310 having a plurality of teeth. The stator core 310 may be provided with a yoke portion having an annular shape and teeth around which coils are wound in a central direction from the yoke portion. The teeth may be arranged at regular intervals along the outer circumferential surface of the yoke. Meanwhile, the stator core 310 may be formed by stacking a plurality of plates having a thin steel plate shape. Further, the stator core 310 may be formed by coupling or connecting a plurality of divided cores to each other.

The rotor position sensing device 400 may include a sensing magnet 410 and a base plate 420.

The housing 500 is formed in a cylindrical shape to provide a space therein, in which the stator 300 and the rotor 200 can be installed. Here, although the shape or material of the case 500 may be variously changed, a metal material that can well withstand high temperature may be selected. The open upper portion of the case 500 is covered by a cover 600.

Fig. 2 is a diagram showing a sensing magnet.

Referring to fig. 2, the sensing magnet 410 may include a main magnet 411, a sub-magnet 412, and a sensing plate 413. The sensing magnet 410 is disposed above the rotor 200 to indicate the position of the rotor 200.

The sensing plate 413 is formed in a circular plate shape. In addition, the rotation shaft 100 is coupled to the center of the sensing plate 413. The main magnet 411 is arranged at the center of the sense plate 413. In addition, the sub-magnet 412 is disposed on the outside of the main magnet 411 and may be disposed on the edge of the sensing plate 413.

The main magnet 411 corresponds to the magnet 220 of the rotor 200. In other words, the number of poles of the magnet 220 of the rotor 200 is the same as the number of poles of the main magnet 411. For example, when the magnet 220 of the rotor 200 has 6 poles, the main magnet 411 also has 6 poles. The pole sections of the magnet 220 of the rotor 200 are aligned with the pole sections of the main magnet 411 such that the position of the main magnet 411 can indicate the position of the magnet 220 of the rotor 200. The main magnet 411 is used to grasp an initial position of the rotor 200.

The sub-magnet 412 is used to accurately grasp the detailed position of the rotor 200. For example, the sub-magnet 412 may have 72 poles.

The sensor disposed on the substrate 420 senses a change in magnetic flux passing through the main magnet 411 and the sub-magnet 412 according to the rotation of the sensing magnet 410. The substrate 420 may be disposed above the sensing magnet 410.

Fig. 3 is a graph showing a sensing signal.

Referring to fig. 3, the sensor disposed on the substrate 420 may sense three sensing signals T1, T2, and T3 by sensing changes of the N pole and the S pole of the main magnet 411. In addition, the substrate 420 may also sense two sensing signals E1 and E2 by sensing a change in the magnetic flux of the sub-magnet 412.

As described above, since the magnet coupled to the rotor 200 is directly copied to the main magnet 411, the position of the rotor 200 can be sensed by sensing a change in magnetic flux based on the main magnet 411. The sensing signals T1, T2, and T3 may be used for initial driving of the motor and may feed back U-phase, V-phase, and W-phase information, respectively.

Fig. 4 is a diagram showing the rotor position sensing device.

As shown in fig. 4, the shape of the base plate 420 may be implemented in a ring shape corresponding to the arrangement of the main magnet 411 and the sub-magnet 412.

The substrate 420 may include first sensors S1 and S3 and second sensors S2 and S4. The first sensors S1 and S3 and the second sensors S2 and S4 may be arranged on the same track having a circular shape based on the center C of the sensing magnet 410. The first sensors S1 and S3 may include a plurality of first hall sensors H1 adjacent to each other on a track of a circular shape. In addition, the second sensors S2 and S4 may include a plurality of second hall sensors H2 adjacent to each other on a circular-shaped track.

The first sensor S1 and the second sensor S2 located relatively more inward may be disposed along a circular-shaped track disposed on the main magnet 411. In other words, the first and second sensors S1 and S2 may be disposed to correspond to the main magnet 411 in a radial direction of the sensing magnet 410. The first and second sensors S3 and S4 located at relatively more outer sides may be disposed along a circular-shaped track provided on the sub-magnet 412. In other words, the first and second sensors S3 and S4 may be disposed to correspond to the sub-magnet 412 in a radial direction of the sensing magnet 410.

First embodiment

Fig. 5 is a diagram showing a first embodiment of an arrangement of first and second sensors corresponding to a main magnet.

Referring to fig. 4 and 5, the first and second sensors S1 and S2 disposed on the inner side of the base plate 421 sense a change in magnetic flux passing through the main magnet 411.

The first sensor S1 may include three first hall sensors H1. The first sensor S1 can generate continuous sensing signals having U-phase, V-phase, and W-phase corresponding to the rotation of the main magnet 411. The three first hall sensors H1 may be disposed apart from each other by a first angle R1.

The second sensor S2 may include three second hall sensors H2. The second sensor S2 may additionally generate continuous sensing signals having U-phase, V-phase, and W-phase corresponding to the rotation of the main magnet 411. Therefore, a continuous sensing signal having a U-phase, a V-phase, and a W-phase can be generated even when any one of the first hall sensors H1 of the first sensor S1 malfunctions. The three second hall sensors H2 may be disposed apart from each other by a first angle R1 in the same manner as the first hall sensor H1.

Here, the first angle R1 may be calculated by the following equation 1,

[ equation 1]

R1＝R0/3

R0＝360°/(Nm/2)

Where R1 is the first angle, R0 is the electrical angle, Nm is the number of poles of the main magnet 411, and the constant "3" refers to the number of U-phase, V-phase, and W-phase.

For example, when the magnet 220 of the rotor 200 has 6 poles, the number of poles of the main magnet 411 is 6. Thus, the electrical angle R0 of the respective motor is 120 °. Therefore, the first angle R1 may be calculated as 40 °. Here, the electrical angle indicates a physical angle (mechanical angle) of the magnet occupied by the N pole and the S pole of the magnet based on 360 °. For example, when the magnet 220 of the rotor 200 has 8 poles, the electrical angle R0 of the corresponding motor is 90 °.

The second sensor S2 may be disposed at a position offset from a position corresponding to the first sensor S1 to increase the resolution of the sensing signal. In other words, the first and second sensors S1 and S2 may be disposed on the same track having a circular shape so as to be separated from each other by a second angle R2 different from the first angle R1. That is, the first and second hall sensors H1a and H2a adjacent to each other may be disposed along a circumference on the track of the circular shape to be separated from each other by a second angle R2 different from the first angle R1.

Here, the second angle R2 can be calculated by the following equation 2,

[ equation 2]

R2＝R1±R0'/(Nm/2)

Where R2 is the second angle, R1 is the first angle, R0' is the electrical angle to be shifted, and Nm is the number of poles of the main magnet 411.

The resolution of the sensing signals due to the main magnet 411 may be set to 60 °, and here, in case an electrical angle shifted by 30 ° is needed to increase the resolution from 60 ° by two to 30 °, when R1 is 40 °, the second angle R2 may be calculated to be 30 ° or 50 °.

Fig. 6 is a diagram showing a first embodiment of the arrangement of the first sensor and the second sensor corresponding to the sub-magnet.

Referring to fig. 4 and 6, the first and second sensors S3 and S4 disposed on the outer side of the base plate 421 sense a change in magnetic flux passing through the sub-magnet 412.

The first sensor S3 may include two first hall sensors H1. The first sensor S3 may generate a continuous sensing signal corresponding to the rotation of the sub-magnet 412. The two first hall sensors H1 may be disposed apart from each other by a first angle R1.

The second sensor S4 may include two second hall sensors H2. The second sensor S4 may additionally generate a continuous sensing signal corresponding to the rotation of the sub-magnet 412. Therefore, a continuous sensing signal can be generated even when any of the first hall sensors H1 of the first sensor S3 malfunctions. The two second hall sensors H2 may be disposed apart from each other by a first angle R1 in the same manner as the first hall sensor H1.

Here, the first angle R1 may be calculated by the following equation 3,

[ equation 3]

R1 ═ R0 × n + Q (Ns/2) (n is an integer)

R0＝360°/(Ns/2)

Where R1 is the first angle, R0 is the electrical angle, Q is the resolving angle, and Ns is the number of poles of the sub-magnet 412.

For example, when the number of poles of the sub-magnet 412 is 72, the electrical angle R0 of the corresponding motor is 10 °. When Q is 90 °, the first angle R1 is 10 ° + n +2.5 °. Therefore, it is difficult to physically separate the two first sensors S3 from each other by the first angle R1. Therefore, when the electrical angle R0 is 10 °, 10 ° + n +2.5 ° having the same phase difference may be calculated as the first angle R1.

The second sensor S4 may be disposed at a position offset from a position corresponding to the first sensor S3 to increase the resolution of the sensing signal. In other words, the first and second sensors S3 and S4 may be disposed on the same track having a circular shape to be separated from each other by a second angle R2 different from the first angle R1. That is, the first and second hall sensors H1a and H2a adjacent to each other may be disposed along a circumference on the track of the circular shape to be separated from each other by a second angle R2 different from the first angle R1.

Here, the second angle R2 can be calculated by the following equation 4,

[ equation 4]

R2＝R1±R0'/(Ns/2)

Where R2 is the second angle, R1 is the first angle, R0' is the electrical angle to be offset, and Ns is the number of poles of the sub-magnet 412. Therefore, when the electrical angle R0' to be shifted is 45 ° and the number of poles of the sub-magnet 412 is 72, the second angle R2 is a value obtained by adding 1.25 ° to 10 ° + n +2.5 ° as the first angle R1.

Therefore, as shown in fig. 6, the resolution of the sensing signal can be increased from 90 ° to 45 ° by setting the first hall sensor H1a and the second hall sensor H2a adjacent to each other to be opened from each other by a value obtained by adding 1.25 ° to 10 ° + n +2.5 ° as the first angle R1.

Second embodiment

Fig. 7 is a diagram showing a second embodiment of an arrangement of first and second sensors corresponding to the main magnet.

Referring to fig. 4 and 7, the first and second sensors S1 and S2 disposed on the inner side of the base plate 420 sense a change in magnetic flux passing through the main magnet 411.

The second sensor S2 may include three second hall sensors H2. The second sensor S2 may additionally generate continuous sensing signals having U-phase, V-phase, and W-phase corresponding to the rotation of the main magnet 411. Therefore, a continuous sensing signal having a U-phase, a V-phase, and a W-phase can be generated even when any one of the first hall sensors H1 of the first sensor S1 malfunctions. The three second hall sensors H2 may be disposed apart from each other by a third angle R3 in the same manner as the first hall sensor H1.

Here, the third angle R3 can be calculated by the following equation 5,

[ equation 5]

R3＝R0/3

R0＝360°/(Nm/2)

Where R3 is the third angle, R0 is the electrical angle, Nm is the number of poles of the main magnet, and the constant "3" refers to the number of U-phases, V-phases, and W-phases.

For example, when the magnet 220 of the rotor 200 has 6 poles, the number of poles of the main magnet 411 is 6. Thus, the electrical angle R0 of the respective motor is 120 °. Therefore, the first angle R1 may be calculated as 40 °. For example, when the magnet 220 of the rotor 200 has 8 poles, the electrical angle R0 of the corresponding motor is 90 °.

The second sensor S2 may be disposed at a position offset from a position corresponding to the first sensor S1 to increase the resolution of the sensing signal. In other words, when a position symmetrical with respect to each first hall sensor H1 of the first sensor S1 is defined as "P" in fig. 7 based on the reference line CL passing through the center C of the shaft, the second hall sensor H2 of the second sensor S2 may be located at a position shifted by a fourth angle R4 in the circumferential direction with respect to "P" in fig. 7.

Here, the fourth angle is R4 calculated by the following equation 6,

[ equation 6]

R4＝R3±R0'/(Nm/2)

Where R4 is the fourth angle, R0' is the electrical angle to be shifted, and Nm is the number of poles of the main magnet 411.

The resolution of the sensing signals due to the main magnet 411 may be set to 60 °, and here the second angle R2 may be calculated to be 10 ° in case an offset of 30 ° in electrical angle is needed to increase the resolution from 60 ° by two to 30 °. Therefore, in the case where the pole number of the main magnet 411 is 6, when the second sensor S2 is disposed by being moved 10 ° clockwise or counterclockwise compared to the first sensor S1, the resolution of the sensing signal may be increased from 60 ° to 30 °.

Fig. 8 is a diagram showing a first sensor and a second sensor based on an outside sensor.

Referring to fig. 4 and 8, the plurality of sensors disposed on the outer side of the substrate 421 may be divided into a first sensor S3 and a second sensor S4. The first and second sensors S3 and S4 sense changes in the magnetic flux passing through the sub-magnet 412.

Here, the third angle R3 may be calculated by the following equation 7,

[ equation 7]

R3 ═ R0 × n + Q (Ns/2) (n is an integer)

R0＝360°/(Ns/2)

Where R3 is the third angle, R0 is the electrical angle, Q is the resolving angle, and Ns is the number of poles of the sub-magnet 412.

For example, when the number of poles of the sub-magnet 412 is 72, the electrical angle R0 of the corresponding motor is 10 °. When Q is 90 °, the third angle R3 is 10 ° + n +2.5 °. Therefore, it is difficult to physically separate the two first hall sensors H1 from each other by the third angle R3. Therefore, when the electrical angle R0 is 10 °, 10 ° + n +2.5 ° having the same phase difference may be calculated as the third angle R3.

In addition, when the electrical angle R0 is 90 ° and an offset of the electrical angle of 45 ° is required, the fourth angle R4 may be calculated as 1.25 ° by the following equation 8.

[ equation 8]

R4＝R3±R0'/(Ns/2)

Where R4 is the fourth angle, R0' is the electrical angle to be offset, and Ns is the number of poles of the sub-magnet 412.

Accordingly, when the number of poles of the sub-magnet 412 is 72, the resolution of the sensing signal may be set to 90 °, and when the second sensor S4 is set by being moved 1.25 ° clockwise or counterclockwise compared to the first sensor S3, the resolution of the sensing signal may be increased from 90 ° to 45 °.

Fig. 9 is a graph showing a comparison between a conventional sensing signal with a resolution of 60 ° and a sensing signal with a resolution increased to 30 ° with respect to the main magnet.

When the pole number of the main magnet 411 is 6, as shown in (a) in fig. 9, the resolution of the sensing signal is confirmed as 60 ° by the first sensor S1. However, as shown in (b) of fig. 7 and 9, when the second sensor S2 is added and the second hall sensor (H2 of fig. 7) of the second sensor S2 is disposed in such a manner that its position is shifted by 10 ° clockwise compared to the first hall sensor H1 of the first sensor S1, the resolution of the sensing signal may be increased from 60 ° to 30 °. Therefore, the initial driving position of the motor can be grasped more accurately.

Fig. 10 is a graph illustrating a comparison between a conventional sensing signal having a resolution of 90 ° and a sensing signal whose resolution is increased to 45 ° with respect to a sub-magnet.

When the number of poles of the sub-magnet 412 is 72, as shown in (a) of fig. 10, the resolution of the sensing signal is confirmed as 90 ° by the first sensor S3. However, as shown in (b) of fig. 8 and 10, when the second sensor S4 is added and the second hall sensor (H2 of fig. 8) of the second sensor S4 is disposed in such a manner that its position is shifted by 1.25 ° clockwise compared to the first hall sensor H1 of the first sensor S3, the resolution of the sensing signal may be increased from 90 ° to 45 °.

Third embodiment

Fig. 11 is a diagram showing an extension region of the main magnet.

Referring to fig. 11, the main magnet 411 may include an extension region 411a extending toward the center of the sensing magnet 410. The extension area 411a is a portion corresponding to the position of the third sensor 423 (in fig. 13) added in parallel to the second sensor 422 (in fig. 13). Meanwhile, the sub-magnet 412 is used to precisely grasp the detailed position of the rotor 200. For example, the sub-magnet 412 may have 72 poles.

The sensor may be disposed on the substrate 420. The sensor senses a change in magnetic flux according to rotation of the sensing magnet 410. The substrate 420 may be disposed above the sensing magnet 410.

Fig. 12 is a graph showing the sensing signal.

Referring to fig. 12, the sensor disposed on the substrate 420 may sense three sensing signals T1, T2, and T3 by sensing changes of the N pole and the S pole of the main magnet 411. In addition, the two sensing signals E1 and E2 may also be sensed by sensing a change in the magnetic flux of the sub-magnet 412.

Fig. 13 is a diagram illustrating a rotor position sensing device according to an embodiment, and fig. 14 is a diagram illustrating a first sensor, a second sensor, and a third sensor.

Referring to fig. 13 and 14, the substrate 420 may include a first sensor 421, a second sensor 422, and a third sensor 423. The first sensor 421 senses a change in magnetic flux passing through the sub-magnet 412 according to the rotation of the sensing magnet 410. The second and third sensors 422 and 423 sense a change in magnetic flux passing through the main magnet 411 according to rotation of the sensing magnet 410. The base plate 420 may be provided in the form of drawing an arc corresponding to the arrangement of the main magnet 411 and the sub-magnet 412.

The first sensor 421, the second sensor 422, and the third sensor 423 may be disposed on rails O1, O2, and O3, respectively, the rails O1, O2, and O3 being different from each other with respect to the center C of the sensing magnet 410. The first sensor 421 is disposed on the outer side of the second sensor 422, and the third sensor 423 is disposed on the inner side of the second sensor 422 in the radial direction of the sensing magnet 410.

The first sensor 421 may include a plurality of first hall sensors 421a (e.g., four first hall sensors), and the plurality of sensors may be disposed at regular intervals along the outer rail O1 so as to be aligned with the sub-magnet 412.

The second sensors 422 may be disposed at regular intervals along the middle rail O2 such that a plurality of second hall sensors 422a (e.g., three second hall sensors) are aligned with the main magnet 411. The third sensors 423 may be disposed at regular intervals along the inner rail O3 such that a plurality of third hall sensors 423a (e.g., three third hall sensors) are aligned with the extension region 411a of the main magnet 411.

Fig. 15 is a diagram showing the second sensor and the third sensor aligned and disposed in the circumferential direction of the sensing magnet.

Here, referring to fig. 15, the second hall sensor 422a of the second sensor 422 and the third hall sensor 423a of the third sensor 423 are aligned and disposed in the circumferential direction of the sensing magnet 410. The second and third hall sensors 422a and 423a are disposed on different circular-shaped rails. In addition, since the second and third hall sensors 422a and 423a are aligned based on the circumferential direction of the sensing magnet 410, even in the case where the third hall sensor 423a is added, it is not necessary to extend the substrate 420 or mount a separate substrate 420 to be connected with a cable. That is, a dual channel sensing structure may be implemented, and the limitation of the installation space may be overcome by fixing the region where the third sensor 423 is installed inside the existing substrate 420 in the radial direction of the sensing magnet 410. Accordingly, as described above, the main magnet 411 includes the extension region 411a extending toward the center of the sensing magnet 410.

Second sensor 422 may be electrically connected in parallel with third sensor 423. Accordingly, the third sensor 423 may sense a sensing signal when an abnormality occurs in the second sensor 422.

As described above, the rotor position sensing device and the motor according to the embodiments of the present invention have been described in detail with reference to the accompanying drawings.

The above description is merely an example to describe the technical scope of the present invention. Various changes, modifications and substitutions may be made by one skilled in the art without departing from the spirit and scope of the invention. Therefore, the embodiments disclosed above and in the drawings should be considered in descriptive sense only and not for purposes of limiting the technical scope. The technical scope of the present invention is not limited by these embodiments and drawings. The spirit and scope of the present invention should be construed by the appended claims and covers all equivalents that fall within the scope of the appended claims.

Supplementary notes:

1. an apparatus for sensing rotor position, the apparatus comprising:

a sensing magnet; and

a substrate disposed over the sensing magnet,

wherein the sensing magnet comprises a main magnet and a sub-magnet, an

The substrate includes a first sensor and a second sensor disposed on the same orbit having a circular shape based on a center of the sensing magnet,

wherein the first sensor includes a plurality of first Hall sensors adjacent to each other on a track of a circular shape, and

the second sensor includes a plurality of second hall sensors adjacent to each other on a track of a circular shape,

wherein the plurality of first Hall sensors are disposed apart from each other at a first angle along a circumference on a circular-shaped track, an

The plurality of second hall sensors are disposed apart from each other by the first angle along a circumference on the circular-shaped track, and

wherein the first and second Hall sensors adjacent to each other are disposed apart from each other by a second angle different from the first angle along a circumference on the circular-shaped track.

2. The apparatus according to supplementary note 1, wherein the first sensor and the second sensor are disposed to correspond to the main magnet in a radial direction of the sensing magnet.

3. The apparatus according to supplementary note 2, wherein the first angle is R1 calculated by the following equation 1,

< equation 1>

R1＝R0/3

R0＝360°/(N/2)

Wherein R1 is the first angle, R0 is an electrical angle, and N is the number of poles of the main magnet.

4. The apparatus according to supplementary note 3, wherein the second angle is R2 calculated by the following equation 2,

< equation 2>

R2＝R1±R0'/(N/2)

Wherein R2 is the second angle, R1 is the first angle, R0' is the electrical angle to be shifted, and N is the number of poles of the main magnet.

5. The apparatus according to supplementary note 1, wherein the first sensor and the second sensor are disposed to correspond to the sub-magnet in a radial direction of the sensing magnet.

6. The apparatus according to supplementary note 5, wherein the first angle is R1 calculated by the following equation 3,

< equation 3>

R1 ═ R0 xn + R3/(N/2) (N is an integer)

R0＝360°/(N/2)

Wherein R1 is the first angle, R0 is an electrical angle, R3 is a resolution angle, and N is the number of poles of the sub-magnet.

7. The apparatus according to supplementary note 6, wherein the second angle is R2 calculated by the following equation 4,

< equation 4>

R2＝R1±R0'/(N/2)

Wherein R2 is the second angle, R1 is the first angle, R0' is the electrical angle to be offset, and N is the number of poles of the sub-magnet.

8. An apparatus for sensing rotor position, the apparatus comprising:

a sensing magnet; and

a substrate disposed over the sensing magnet,

wherein the sensing magnet comprises a main magnet and a sub-magnet, an

The substrate includes a first sensor and a second sensor disposed on the same orbit having a circular shape based on a center of the sensing magnet,

wherein the first sensor includes a plurality of first Hall sensors adjacent to each other on a track of a circular shape, and

the second sensor includes a plurality of second hall sensors adjacent to each other on a track of a circular shape,

wherein the plurality of first Hall sensors are disposed apart from each other at a third angle along a circumference on the circular-shaped track,

the plurality of second hall sensors are disposed apart from each other by the third angle along a circumference on the circular-shaped track, an

Wherein the second sensor is disposed at a position shifted from a position symmetrical to the first sensor by a fourth angle along a circumference on the circular-shaped orbit based on a reference line passing through a center of the circular-shaped orbit.

9. The apparatus according to supplementary note 8, wherein the first sensor and the second sensor are disposed to correspond to the main magnet in a radial direction of the sensing magnet.

10. The apparatus according to supplementary note 9, wherein the third angle is R3 calculated by the following equation 5,

< equation 5>

R3＝R0/3

R0＝360°/(N/2)

Wherein R3 is the third angle, R0 is the electrical angle, and N is the number of poles of the main magnet.

11. The apparatus according to supplementary note 10, wherein the fourth angle is R4 calculated by the following equation 6,

< equation 6>

R4＝R3±R0'/(N/2)

Wherein R4 is the fourth angle, R3 is the third angle, R0' is the electrical angle to be shifted, and N is the pole count of the main magnet.

12. A motor, comprising:

a rotating shaft;

a rotor including a hole in which the rotation shaft is disposed;

a stator disposed outside the rotor; and

means for sensing the position of the rotor disposed above the rotor,

wherein the means for sensing the rotor position comprises a sensing magnet and a substrate disposed above the sensing magnet,

wherein the sensing magnet comprises a main magnet and a sub-magnet, an

The substrate includes a first sensor and a second sensor disposed on the same orbit having a circular shape based on a center of the sensing magnet,

wherein the first sensor includes a plurality of first Hall sensors adjacent to each other on a track of a circular shape, and

the second sensor includes a plurality of second hall sensors adjacent to each other on a track of a circular shape,

wherein the plurality of first Hall sensors are disposed apart from each other at a first angle along a circumference on a circular-shaped track, an

The plurality of second hall sensors are disposed apart from each other by the first angle along a circumference on the circular-shaped track, and

13. A motor, comprising: