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Contactless electro-mechanical actuator with coupled electronic motor commutation and output position sensors
| Details |
Inventors: Eric, Seger; Gary, Frederick L.;
Assignee: BVR Technologies Company (Rockford, IL)
Primary Examiner: Le; Dang
Assistant Examiner:
Attorney, Agent or Firm: Frantz; Keith
An electromechanical actuator includes a brushless motor driving an output shaft through a torque-amplifying geartrain. An integrated motor commutation sensor includes an annular, two-pole magnet rotating with the motor and two ratiometric Hall-effect sensors at right angles around the magnet. The sensor signals are utilized by a processor to compute motor angle over 360 degrees rotation. An integrated output position sensor includes a second annular magnet rotating with the output shaft, and a second pair of Hall-effect sensors providing signals to the processor for computation of output shaft absolute position. The commutation magnet angle is predicted from the output shaft position, and compared to the motor's sensed rotational angle. The difference is used to correct the output shaft sensed angle with improved accuracy proportional to the gear ratio. The processor also provides logic signals to control motor winding current and provide closed-loop control of actuator position. |
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DETAILED DESCRIPTION OF THE INVENTION For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.
It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated device, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates.
FIG.
1 is a block diagram of an electromechanical actuator 1 in accordance with the present invention.
The actuator includes a brushless motor 2 with a motor shaft 2A, a motor shaft sensor magnet 3, motor shaft magnetic field sensors 4, an actuator geartrain 5, an output shaft 6, an output shaft sensor magnet 7, output shaft magnetic field sensors 8, and a control circuit including a microcontroller module 9 and a motor power controller module 10.
The sensor magnet 3 is connected to rotate with the motor shaft, and the sensor magnet 7 is connected to rotate with the output shaft.
The actuator geartrain is coupled between the motor shaft and output shaft, and is driven by the motor shaft to cause rotation of the output shaft and drive a load (not shown) coupled thereto in response to an input command signal 30 supplied to the microcontroller.
The input command signal typically contains position command information that corresponds to a desired or target output shaft position.
In FIG.
1, the motor shaft magnet 3 and magnetic field sensors 4 are indicated by dashed lines as comprising a motor shaft commutation sensor 31, and the output shaft magnet 7 and magnetic field sensors 8 are indicated by dashed lines as comprising output shaft angular position sensor 32, the components of which are integrally packaged in the actuator.
The geartrain 5 is a torque amplifying geartrain which causes the output shaft 6 to rotate one revolution for several rotations of the motor shaft 2A as established by the step-down gear ratio of the geartrain
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