阅读说明：本技术 一种磁阻式旋转变压器的定子结构及一体化旋转变压器 (Stator structure of reluctance type rotary transformer and integrated rotary transformer ) 是由 李宁 汪木兰 沙鑫 于 2020-12-29 设计创作，主要内容包括：本发明公开了磁阻式旋转变压器定子的一种新结构,以及具有工业总线输出接口的一体化的磁阻式旋转压器,该一体化的磁阻式旋转压器有下面的特点：定子采用了环形主磁轭铁芯冲片和独立内齿冲片,这种结构允许将各个内齿单独缠绕线圈后再与环形主磁轭粘结,有利于提高生产效率,具有特定外轮廓形状的定子内齿,有利于提高此种磁阻式旋转变压器输出调幅波信号的包络线的正弦度,从而提高角度检测的精度。该种一体化的磁阻式旋转变压器的定子、激磁模块、轴角解算模块和总线接口模块集成为一体,可以根据需要采用多种工业现场总线的方式输出轴角信号,包括双工同步串行总线BISS接口和实时以太网总线EtherCAT总线接口,从而在满足实时性要求的前提下,将一般旋转变压器输出的模拟信号变成总线数据包文件,从根本上改变了传统的旋转变压器的使用方式,尤其适合于集群运动控制系统的检测和控制方面的要求。(The invention discloses a new structure of a reluctance type rotary transformer stator and an integrated reluctance type rotary transformer with an industrial bus output interface, wherein the integrated reluctance type rotary transformer has the following characteristics: the stator adopts the annular main magnetic yoke iron core punching sheet and the independent inner tooth punching sheet, the structure allows each inner tooth to be independently wound on the coil and then bonded with the annular main magnetic yoke, the production efficiency is favorably improved, the stator inner teeth with specific outer contour shapes are favorable for improving the sine degree of the envelope curve of the amplitude modulation wave signal output by the reluctance type rotary transformer, and the angle detection precision is further improved. The stator, the excitation module, the shaft angle resolving module and the bus interface module of the integrated reluctance type rotary transformer are integrated into a whole, shaft angle signals can be output in a plurality of industrial field bus modes according to requirements, and the shaft angle signals comprise a duplex synchronous serial bus BISS interface and a real-time Ethernet bus EtherCAT bus interface, so that on the premise of meeting the real-time requirement, analog signals output by a common rotary transformer are changed into bus data packet files, the use mode of the traditional rotary transformer is fundamentally changed, and the integrated reluctance type rotary transformer is particularly suitable for the requirements of detection and control of a cluster motion control system.)

1. A stator structure of a reluctance type rotary transformer is characterized in that a main magnetic yoke of a stator magnetic circuit is formed by laminating annular stamped sheets, an inner tooth iron core of a stator is formed by laminating independent stamped sheets, the stamped sheets of the inner tooth iron core are symmetrical in shape, two sides of the waist of the stamped sheets of the inner tooth iron core are arc-shaped and concave inwards, a stator winding is wound on the waist of inner teeth, and all the inner teeth are symmetrically bonded on the inner side of the annular main magnetic circuit to form the stator of the reluctance type rotary transformer.

2. A stator structure of a reluctance resolver according to claim 1, wherein the portion of the upper edge of the punched piece of the stator inner teeth, which is in adhesive contact with the annular main yoke, is a segment of an arc having the same curvature as the inner side of the annular main yoke.

3. A stator structure of a reluctance resolver according to claim 1, wherein the lower edge of the punching sheet of the inner teeth of the stator is outwardly convex so that the radial distance of the rotor from the middle position of the lower edge line of the inner teeth is minimized.

4. A stator structure of a reluctance resolver according to claim 1, wherein the number of internal teeth of the stator is equal to 4 times the number of pole pairs of the resolver.

5. A stator structure of a reluctance-type resolver according to claim 1, wherein the stator winding includes an excitation winding and two output windings, the excitation winding is wound on each of the internal teeth, the excitation windings of adjacent two teeth are wound in opposite directions, the two output windings are wound with an internal tooth therebetween, and the winding directions of each output winding on the teeth with adjacent teeth therebetween are opposite.

6. The integrated reluctance type rotary transformer is characterized in that a stator, an excitation module, an axial angle resolving module and a bus interface module of the reluctance type rotary transformer are integrated into a whole, the excitation module is connected with an excitation winding of the stator of the rotary transformer, the axial angle resolving module is respectively connected with two output windings of the stator of the rotary transformer, the bus interface module is connected with the axial angle resolving module, a rotor of the rotary transformer is another independent module, the outer contour of a rotor punching sheet is in a cam shape, the number of teeth of the cam is equal to the number of pole pairs of the rotary transformer, and the rotor is not provided with a winding circuit.

7. The integrated reluctance type rotary transformer of claim 6, wherein the operation process of the excitation signal module generating the excitation signal of the rotary transformer comprises the following steps:

step one, generating a high-frequency digital sinusoidal signal D by a microprocessor according to a DDS algorithm_ex；

And step two, converting the digital sinusoidal signal into an analog signal through D/A, and realizing level shift and power amplification through an operational amplifier, wherein the excitation signal is used for driving an excitation winding of the rotary transformer.

8. An integrated reluctance resolver according to claim 6, wherein the shaft angle calculation comprises the steps of:

receiving output signals of two output windings of a rotary transformer, and obtaining two paths of digitized amplitude modulated wave signals through two paths of high-speed A/D conversion;

step two, taking the current shaft angle value as the instantaneous phaseGenerating two paths of orthogonal digital sine and cosine signalsAnd

multiplying the two paths of generated digital sine and cosine signals with two paths of digitized amplitude modulation wave signals respectively, and adding products to obtain a product sum;

step four, utilizing the digital sine signal D_exMultiplying the result obtained in the third step to realize phase-sensitive demodulation;

and fifthly, performing digital low-pass filtering operation on the result obtained in the fourth step, and accumulating the filtered result and the current shaft angle numerical value to obtain a new shaft angle numerical value.

9. The integrated reluctance-type resolver according to claim 6, wherein the bus interface module comprises a full-duplex synchronous serial bus BISS interface and a real-time Ethernet bus EtherCAT bus interface.

Technical Field

The invention belongs to the technical field of sensors of motion control systems, and particularly relates to a novel stator structure of a reluctance type rotary transformer and an integrated reluctance type rotary transformer with a bus interface, which are suitable for application occasions for position measurement based on the rotary transformer.

Background

The fields of AC/DC servo systems, numerical control machines, robot systems and the like all need the measurement of motion angles, and commonly used sensors for measuring rotation angles and rotation speeds comprise photoelectric pulse encoders and rotary transformers. Although the photoelectric pulse encoder has the advantages, the photoelectric pulse encoder is not suitable for working in a severe environment, and the rotary transformer can be used for detecting the absolute angular position of a rotating object, and is widely applied to the fields of aerospace, automobiles, military application and the like with higher requirements on detection precision and reliability due to the characteristics of simple structure, high precision, strong reliability, suitability for severe environments and the like. The conventional first generation rotary transformer is in contact type and has a brush and a slip ring, which makes the structure more complicated and reduces the reliability. The second generation coupling type rotary transformer can be brushless, but needs to be added with windings, so that the structure is more redundant and complex. The third generation of rotary transformer is a reluctance type rotary transformer, the rotor of which is in the shape of a cam, and has no additional compensation winding, simple structure, good mechanical strength, low manufacturing cost and high reliability. However, the resolver outputs an analog signal, and a special shaft angle resolver is required, so that the resolver is not as convenient to use as a photoelectric pulse encoder which outputs a digital or pulse signal. Furthermore, the stator of the reluctance type rotary transformer is of an internal tooth shape, and an excitation winding and two output signal windings are wound on the internal teeth of the stator according to a certain rule. The internal space of the rotary transformer is limited, the number of the internal teeth is determined to be more by the working principle of the rotary transformer, so that the winding of the stator internal teeth in a falling line mode becomes a work with strong skill when the reluctance type rotary transformer is produced, the manual winding or semi-manual winding mode is often adopted, and the improvement of the production efficiency is limited by the process.

Disclosure of Invention

In order to solve the problems, the invention provides a new structure of a stator of a reluctance type rotary transformer and an integrated reluctance type rotary transformer with an industrial bus output interface, wherein the integrated reluctance type rotary transformer has two characteristics, namely, a new stator structure and a corresponding manufacturing process are adopted, so that the production efficiency is improved; secondly, a stator and a rotor body of the rotary transformer and the shaft angle resolving circuit are integrated, and shaft angle signals are output in a multi-industrial field bus mode, so that the rotary transformer can be used conveniently like a photoelectric pulse encoder.

The stator structure of the reluctance type rotary transformer is characterized in that a main magnetic yoke of a stator magnetic circuit is formed by laminating annular stamped sheets, an inner tooth iron core of the stator is formed by laminating independent stamped sheets, the stamped sheets of the inner tooth iron core are symmetrical in shape, two sides of the waist of the stamped sheet of the inner tooth iron core are concave inwards in an arc shape, a stator winding is wound on the waist of inner teeth, and all the inner teeth are symmetrically bonded on the inner side of the annular main magnetic yoke to form the stator of the reluctance type rotary transformer.

Preferably, the part of the upper edge of the stator inner tooth punching sheet, which is in bonding contact with the annular main magnetic yoke, is an arc segment, and the curvature of the arc segment is the same as that of the inner side of the annular main magnetic yoke.

Preferably, the lower edge of the punching sheet in the stator is outwards convex, so that the radial distance between the middle position of the lower edge line of the inner teeth and the rotor is minimum.

Preferably, the number of internal teeth of the stator is equal to 4 times the number of pole pairs of the resolver.

Preferably, the stator winding includes an excitation winding and two output windings, the excitation winding is wound on each internal tooth, the excitation windings of two adjacent teeth are wound in opposite directions, the two output windings are wound with an interval of one internal tooth, and the winding directions of the output windings on the adjacent teeth are opposite.

The integrated reluctance type rotary transformer is characterized in that a stator, an excitation module, an axial angle resolving module and a bus interface module of the reluctance type rotary transformer are integrated into a whole, the excitation module is connected with an excitation winding of the stator of the rotary transformer, the axial angle resolving module is respectively connected with two output windings of the stator of the rotary transformer, the bus interface module is connected with the axial angle resolving module, a rotor of the rotary transformer is another independent module, the outer contour of a rotor punching sheet is in a cam shape, the number of teeth of a cam is equal to the number of pole pairs of the rotary transformer, and no winding is arranged on the rotor.

Preferably, the working process of the excitation module generating the excitation signal of the resolver includes the following steps:

step one, generating a high-frequency digital sinusoidal signal D by a microprocessor according to a DDS algorithm_ex；

And step two, converting the digital sinusoidal signal into an analog signal through D/A, and realizing level shift and power amplification through an operational amplifier, wherein the excitation signal is used for driving an excitation winding of the rotary transformer.

Preferably, the shaft angle calculation includes the steps of:

step one, receiving signals U of two output windings of a rotary transformer₁And U₂Obtaining two paths of digitized amplitude modulated wave signals through two paths of high-speed A/D conversion;

step two, taking the current shaft angle value as the instantaneous phaseGenerating two paths of orthogonal digital sine and cosine signalsAnd

multiplying the two paths of generated digital sine and cosine signals with two paths of digitized amplitude modulation wave signals respectively, and adding products to obtain a product sum;

step four, utilizing the digital sine signal D_exMultiplication with the result obtained in step threeRealizing phase-sensitive demodulation

And fifthly, performing digital low-pass filtering operation on the result obtained in the fourth step, and accumulating the filtered result and the current shaft angle numerical value to obtain a new shaft angle numerical value.

Preferably, the bus interface module comprises a full duplex synchronous serial bus BISS interface and a real-time Ethernet bus EtherCAT bus interface.

The invention has the following beneficial effects: the invention provides a new structure of a reluctance type rotary transformer stator and an integrated reluctance type rotary transformer with an industrial bus output interface, wherein the integrated reluctance type rotary transformer has the following characteristics: the stator adopts the annular main magnetic yoke iron core punching sheet and the independent inner tooth punching sheet, the structure allows each inner tooth to be independently wound on the coil and then bonded with the annular main magnetic yoke, the production efficiency is favorably improved, the stator inner teeth with specific outer contour shapes are favorable for improving the sine degree of the envelope curve of the amplitude modulation wave signal output by the reluctance type rotary transformer, and the angle detection precision is further improved. The stator module, the excitation module, the shaft angle resolving module and the bus interface module of the integrated reluctance type rotary transformer are integrated into a whole, shaft angle signals can be output in a plurality of industrial field bus modes according to requirements, the shaft angle signals comprise a duplex synchronous serial bus BISS interface and a real-time Ethernet bus EtherCAT bus interface, and on the premise that the real-time requirement is met, analog signals output by a common rotary transformer are changed into bus data packet files, so that the use mode of the traditional rotary transformer is fundamentally changed, and the integrated reluctance type rotary transformer is particularly suitable for occasions of detection and control of a cluster motion control system.

Drawings

FIG. 1 is a general functional block diagram including an excitation module, an axis angle solution module, and a bus interface module

FIG. 2 is a flow chart of excitation signal generation and shaft angle resolution

FIG. 3 is a partial cross-sectional view of a reluctance resolver stator

FIG. 4 is a profile view of an inner tooth lamination of a stator of a reluctance resolver

FIG. 5 is an outer contour view of a cam rotor of the integrated reluctance resolver

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

FIG. 1 is a functional structure diagram of a circuit of an integrated reluctance type rotary transformer, wherein the circuit adopts STM32F429 as a processor, an excitation module, an axial angle resolving module and a bus interface module are included in the processor, and the STM32F429 is used as the processor to generate a high-frequency digital sinusoidal signal D according to a DDS algorithm_exThe digital sinusoidal signal is converted into an analog signal through D/A conversion, level shift and power amplification are realized through an operational amplifier, and an excitation signal is used for driving an excitation winding of a rotary transformer.

Signal U of two output windings of rotary transformer₁And U₂And the two paths of signals are input into an STM32F429 through two paths of high-speed A/D conversion to obtain two paths of digitized amplitude modulated wave signals.

Taking the current shaft angle value as the instantaneous phaseGenerating two paths of orthogonal digital sine and cosine signalsAndmultiplying the two paths of generated digital sine and cosine signals with two paths of digitized amplitude modulated wave signals respectively, adding the products to obtain a product sum, and multiplying the product sum by a digital sine signal D_exAnd phase-sensitive demodulation is realized.

And performing digital low-pass filtering operation on the result after the phase-sensitive demodulation, and accumulating the filtered result and the current shaft angle value to obtain a new shaft angle value.

The shaft angle value is output through the bus interface module, and a full-duplex synchronous serial bus BISS interface and a real-time Ethernet bus EtherCAT bus interface can be selected according to requirements.

FIG. 2 is a work flow chart of the STM32F429 for carrying out DDS operation to generate excitation signals and carrying out axial angle calculation. Fig. 3 is a partial cross-sectional view of an integrated reluctance resolver stator. Fig. 4 is a profile view of an inner tooth lamination of a stator of the integrated reluctance resolver. Fig. 5 is an external profile view of a cam rotor of the integrated reluctance resolver, in this particular embodiment, the number of cam teeth of the rotor is 3.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.