CN202855523U

CN202855523U - Rotary transformer device, direct drive motor system and angle position detection device

Info

Publication number: CN202855523U
Application number: CN201220430124XU
Authority: CN
Inventors: 太田裕介; 小泉和则; 丸山正幸; 渡边逸男
Original assignee: NSK Ltd
Current assignee: NSK Ltd
Priority date: 2012-08-27
Filing date: 2012-08-27
Publication date: 2013-04-03
Anticipated expiration: 2022-08-27

Abstract

Provided is a rotary transformer device, a direct drive motor system and an angle position detection device. The rotary transformer device, the direct drive motor system and the angle position detection device enable the required space of a winding winded on the magnetic pole on each phase of the stator to be small, and the insulation between windings is unnecessary. The rotary transformer device is provided with a rotary transformer which is formed by a rotor and the stator. The magnetic resistance in the gap between a rotator iron core and a stator iron core in the rotary transformer varies according to the position variance of the rotor iron core. The rotating angle position or the rotating speed is detected through the detection of the magnetic resistance variance. The rotary transformer is provided with a monopole rotary transformer with a structure that the rotor iron core rotates one circle and a fundamental component of a reluctance is in a period. The stator is provide with magnetic poles of at least three phases which are in a match at 120 o intervals and the winding winded on each magnetic pole. The rotary transformer device is provided with a magnetic excitation unit and a current detection unit, wherein the magnetic excitation unit carries out the magnetic excitation on the magnetic poles by powering on windings, and the current detection unit is suitable for detecting the current value which flows through the windings. The detected current value is utilized for detecting the rotating angle position or the rotating speed.

Description

Resolver arrangement, direct drive motor system and ration angle-position detection device

Technical field

The utility model relates to a kind of resolver (resolver) device that detects rotary angle position, rotating speed.In addition, the utility model relates to a kind of improving technology that possesses the direct drive motor system of variable reluctance (variable reluctance) type resolver.In addition, the utility model relates to a kind of ration angle-position detection device that a plurality of VR type resolvers have been installed, and particularly relates to a kind of be suitable for realizing when realizing high-precision angular position detection the precision miniaturization of direct drive motor, the improving technology of slimming.

Background technology

As resolver arrangement in the past, known a kind of bipolar variable reluctance type resolver (for example patent documentation 1) for example, it has stator and the rotor of following structure: the magnetic resistance in the space between rotor core and the stator tooth changes according to the variation of rotor core position, rotor core revolves and turns around then that the fundametal compoment of magnetic resistance change rate is one-period, this bipolar variable reluctance type resolver detects rotary angle position or rotating speed by the variation that detects above-mentioned magnetic resistance, with 120 ° intervals the three-phase AC excitation winding that independently has respectively and three stator tooths exporting winding are set, the identical stator tooth that has with the reverse output winding of excitation winding is set at 180 ° of symmetric position places of each phase stator tooth organizes stator tooth as A, in the position that has been offset respectively 90 ° with respect to these six A group stator tooths six B group stator tooths with winding identical with the A group are set.In this resolver arrangement, phase difference (θ+π/4) between the output voltage that synthetic output signal from each output winding is obtained and the exciting voltage that puts on each excitation winding detects, position in-π/4 arranges datum mark, rotary angle position θ that thus can detection rotor.

As the detector that detects for the rotary angle position that directly drives the direct drive motor of load to not using decelerator, following a kind of resolver arrangement has been proposed: the absolute position relationship that comes detection rotor and stator according to the monopole rotary transformer signal that obtains from monopole rotary transformer, it is rotary angle position, and detect high-resolution rotary angle position according to the multipolar resolver signal that obtains from multipolar resolver, thus can be with the high resolution detection absolute position, wherein, the structure of above-mentioned monopole rotary transformer is, by being revolved, rotor core turns around, the fundametal compoment of the magnetic resistance in the space of rotor core and stator core becomes one-period, the structure of above-mentioned multipolar resolver is, turn around by rotor core is revolved, the fundametal compoment of above-mentioned magnetic resistance becomes a plurality of cycles.

In resolver arrangement in the past, owing to forming in the structure of the magnetic pole of the roughly T font that is arranged at stator string around the three-phase AC excitation winding with being highlighted, therefore be difficult to realize uniform winding state for a plurality of magnetic poles, produce deviation in the signals of rotating transformer between each phase.Therefore, phase transformation circuit in utilization is arranged on driver element will be converted to two-phase output signal (sin signal, cos signal) afterwards from the heterogeneous output signal that is arranged on the resolver in the direct drive motor in the past, obtain for to the unbalance correction data of proofreading and correct between each phase that is caused by above-mentioned deviation, utilize digital converter of rotary transformer to obtain digital position signal (for example patent documentation 2).

In addition, can there be the high-precision location of space, dry run (lost motion) in the direct drive motor that does not use decelerator and directly drive load, therefore the various uses such as mechanical arm of a kind of turntable that can be used in NC lathe etc. of expectation exploitation, conveying device, apparatus for assembling, more small-sized and can carry out the direct drive motor of high-precision location.In Japanese kokai publication hei 6-46552 communique (for example patent documentation 3), following a kind of improving technology has been proposed, namely constitute by configuring the shading member that is difficult to by magnetic flux between the monopole rotary transformer in being installed in the motor chassis of direct drive motor and the multipolar resolver, avoid from the leakage flux of one of them resolver another resolver being caused magnetic disturbance, can carry out high-precision location thus.

Patent documentation 1: the flat 1-218344 communique of Japanese Patent Application

Patent documentation 2: Japanese kokai publication hei 12-262081 communique

Patent documentation 3: Japanese kokai publication hei 6-46552 communique

The utility model content

The problem that utility model will solve

These the two kinds of windings of output winding that are wound with the excitation winding that is used to form magnetic field and are used for to according to rotor-position the output signal of carrying out phase-modulation with the anglec of rotation and obtaining being detected at tooth, therefore there is following problem points: for the broad space of winding needs of reeling, and need to make between above-mentioned two kinds of windings at above-mentioned each stator tooth and insulate.

Second

The correction data that arranges in the driver element according to the difference of each direct drive motor is also different.Particularly, possessing absolute position detection usefulness resolver and relative position detection with in the direct drive motor of resolver, can utilize above-mentioned correction data to proofread and correct relative position and detect the deviation of using resolver, but can not utilize above-mentioned correction data to proofread and correct the deviation that absolute position detection is used resolver, the deviation that therefore in the past can not proofread and correct this direct drive motor.Therefore, in the situation that owing to the single replacing direct drive motor of the reasons such as fault, maintenance or driver element, owing to not having compatibility between product, therefore as by direct drive motor, driver element and the whole direct drive motor system that connects that the two cable (resolver cable, motor cable) consists of, must integrally change.

In addition, in the past as the resolver cable that is used for signals of rotating transformer is transferred to driver element, optional position in cable disposes the radical for input, if but the position relationship of each detection signal in the resolver cable is asymmetric, then can produce the problem that causes electrical interference along with the variation of length of cable, about the resolver cable that in the direct drive motor system, uses, guarantee that compatibility also becomes problem.

The 3rd

When inserting shading member in the space between resolver, the volume that resolver is installed to the interior space required in the motor chassis becomes large, therefore is difficult to realize miniaturization, the slimming of direct drive motor.On the other hand, if remove shading member, although then can realize miniaturization, the slimming of direct drive motor, because the impact of the leakage flux between a plurality of resolvers of disposed adjacent causes position detection accuracy decline.

The utility model with in the following problem at least one as technical problem:

Provide the required space of winding on a kind of magnetic pole that can make each phase that is winding to stator to diminish, and do not need to make the resolver arrangement that insulate between winding,

A kind of compatible direct drive motor system that has is proposed, this system adopts cable structure, deviation to the coil that is arranged on the resolver in the direct drive motor with absolute position detection function is proofreaied and correct, and prevents the phase mutual interference of signals of rotating transformer

Propose a kind of can be when guaranteeing high-precision angular position detection precision, realize the miniaturization of ration angle-position detection device, the improving technology of slimming.

For the scheme of dealing with problems

The utility model is a kind of resolver arrangement, possesses the resolver that comprises rotor and stator, magnetic resistance in the space between this resolver rotor iron core and the stator core changes according to the variation of rotor core position, detect rotary angle position or rotating speed by the variation that detects above-mentioned magnetic resistance, above-mentioned resolver possesses monopole rotary transformer, the structure of this monopole rotary transformer is that rotor core revolves and turns around then that the fundametal compoment of magnetic resistance is one-period, said stator has with the magnetic pole of at least three-phase of 120 ° arranged spaced and is wound on a kind of winding on each magnetic pole, and, above-mentioned resolver arrangement constitutes, be provided with by each above-mentioned winding is switched on to above-mentioned each magnetic pole is carried out the excitation unit of excitation and the current detecting unit of the current value that detects each above-mentioned winding of flowing through, utilize detected this current value to detect rotary angle position or rotating speed.

In order to reach above-mentioned problem, preferably, in the utility model, above-mentioned resolver is except possessing above-mentioned monopole rotary transformer, also possesses multipolar resolver, the structure of this multipolar resolver is to possess to have at least magnetic pole and the stator that is wound on a kind of winding on each magnetic pole of three-phase, rotor core revolves and turns around then that the fundametal compoment of magnetic resistance is a plurality of cycles, and above-mentioned resolver also is provided with digital converter of rotary transformer, and this digital converter of rotary transformer utilizes the above-mentioned current value of each winding of detected above-mentioned monopole rotary transformer and multipolar resolver to detect rotary angle position or rotating speed.

In above-mentioned resolver arrangement, the current value of a kind of each winding on the magnetic pole of each phase that is wound on stator to flowing through detects, and utilizes detected this current value to detect rotary angle position or rotating speed.

Direct drive motor of the present utility model system, comprise: direct drive motor, it possesses monopole rotary transformer and multipolar resolver, output is from the heterogeneous signals of rotating transformer of each resolver, wherein, in this monopole rotary transformer, rotation by the first rotor, the fundametal compoment of the magnetic resistance in the space between the first rotor and the first ring-type stator becomes one-period, in this multipolar resolver, by bitrochanteric rotation, the fundametal compoment of the magnetic resistance in the space between the second rotor and the second ring-type stator becomes a plurality of cycles; Driver element, it is according to exporting be used to the exciting current that drives above-mentioned direct drive motor from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output; And resolver cable, it will be transported to above-mentioned driver element from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output, this direct drive motor system is characterised in that, above-mentioned the first ring-type stator and above-mentioned the second ring-type stator constitute the magnetic pole that has in the circumferential direction of the circle around the column that arranges, by being plugged in magnetic pole around the stator coil on the bobbin (coil bobbin) by mould, can position coil position freely.

According to said structure, can proofread and correct the deviation of the coil position of resolver etc., a kind of compatible direct drive motor system that has can be provided.In addition, about the replacing of direct drive motor etc., also can guarantee compatibility, therefore have good convenience at aspects such as the repairing of system, maintenances.

In addition, be desirably in the resolver cable for direct drive motor of the present utility model system, between the holding wire of each phase of heterogeneous signals of rotating transformer and the distance between each holding wire and the bridging line be adjusted into roughly fixing.According to said structure can the Inhibitory signal line electrical interference.

Preferably, in the utility model, above-mentioned monopole rotary transformer and above-mentioned multipolar resolver have respectively the signals of rotating transformer of three-phase, and above-mentioned resolver cable has: as the first monopole rotary transformer holding wire, the second monopole rotary transformer holding wire and the 3rd monopole rotary transformer holding wire of the holding wire of above-mentioned monopole rotary transformer; And as the first multipolar resolver holding wire, the second multipolar resolver holding wire and the 3rd multipolar resolver holding wire of the holding wire of above-mentioned multipolar resolver, wherein, the holding wire of above-mentioned monopole rotary transformer and the holding wire of above-mentioned multipolar resolver are alternately configured, and the center of these holding wires roughly equally spaced is configured.

Preferably, in the utility model, above-mentioned monopole rotary transformer and above-mentioned multipolar resolver have respectively the signals of rotating transformer of three-phase, and above-mentioned resolver cable has: as the first monopole rotary transformer holding wire, the second monopole rotary transformer holding wire and the 3rd monopole rotary transformer holding wire of the holding wire of above-mentioned monopole rotary transformer; The first multipolar resolver holding wire, the second multipolar resolver holding wire and the 3rd multipolar resolver holding wire as the holding wire of above-mentioned multipolar resolver; And six shared lines, wherein, the holding wire of above-mentioned monopole rotary transformer and the holding wire of above-mentioned multipolar resolver are alternately configured, and these holding wires consist of the twisted-pair cable cable with above-mentioned bridging line respectively.

In addition, the manufacture method of a kind of direct drive motor system is provided, this direct drive motor system is by consisting of with lower member: direct drive motor, it possesses monopole rotary transformer and multipolar resolver, output is from the heterogeneous signals of rotating transformer of each resolver, wherein, in this monopole rotary transformer, rotation by the first rotor, the fundametal compoment of the magnetic resistance in the space between the first rotor and the first ring-type stator becomes one-period, in this multipolar resolver, by bitrochanteric rotation, the fundametal compoment of the magnetic resistance in the space between the second rotor and the second ring-type stator becomes a plurality of cycles; Driver element, it is according to exporting be used to the exciting current that drives above-mentioned direct drive motor from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output; And resolver cable, it will be transported to above-mentioned driver element from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output, above-mentioned the first ring-type stator and above-mentioned the second ring-type stator have in the circumferential direction of the circle the magnetic pole around the column that arranges, to be fixed on the above-mentioned magnetic pole around the stator coil on the bobbin by mould, the manufacture method of this direct drive motor is characterised in that, possess following steps: adjust the coil position of said stator coil, so that the signals of rotating transformer of each phase of above-mentioned heterogeneous signals of rotating transformer averages out; And the said stator coil engaged with above-mentioned magnetic pole.

Can proofread and correct the deviation of the coil position of resolver etc. according to said structure, can make and have compatible direct drive motor system.

Ration angle-position detection device of the present utility model possesses: a plurality of VR type resolvers, and it is installed to be the rotary synchronous ground that makes magnetic resistance and rotating shaft and changes; Transmitter, it exports excitation signal; Switch unit, switch in its path that provides to excitation signal from above-mentioned transmitter to above-mentioned a plurality of VR type resolvers that provide from, so that provide above-mentioned excitation signal to a VR type resolver of selecting from above-mentioned a plurality of VR type resolvers; And detecting unit, its output signal according to above-mentioned VR type resolver detects the angle position of above-mentioned rotating shaft.

Wherein, above-mentioned a plurality of VR type resolvers comprise monopole rotary transformer and multipolar resolver at least,

When plugged, above-mentioned switch unit is provided by the above-mentioned path that provides, so that provide above-mentioned excitation signal to above-mentioned monopole rotary transformer, after detecting the angle position of above-mentioned rotating shaft by above-mentioned detecting unit according to the output signal of above-mentioned monopole rotary transformer, above-mentioned switch unit is provided by the above-mentioned path that provides, so that provide above-mentioned excitation signal to above-mentioned multipolar resolver.

According to said structure, can the switched energization signal the path is provided so that a plurality of resolver is by the while excitation, therefore the leakage flux from one of them resolver can not cause magnetic disturbance to another resolver.Thereby, the mutual relative distance of a plurality of VR resolvers can be foreshortened to the limit, thereby can realize miniaturization, the slimming of ration angle-position detection device, and can carry out high-precision position probing.

Preferably, above-mentioned detecting unit comprises single current-to-voltage convertor, and this current-to-voltage convertor will be converted to signals of rotating transformer from the current signal that above-mentioned a plurality of VR type resolvers are exported respectively.According to said structure, the current-to-voltage convertor of a plurality of VR type resolvers can share a current-to-voltage convertor, therefore can simplify hardware configuration.

Preferably, above-mentioned detecting unit comprises a plurality of current-to-voltage convertors, and these a plurality of current-to-voltage convertors will be converted to signals of rotating transformer from the current signal that above-mentioned a plurality of VR type resolvers are exported respectively.

Preferably, above-mentioned detecting unit also possesses analog switch, the transmission path of a plurality of signals of rotating transformer that this analog switch obtains utilizing above-mentioned a plurality of current-to-voltage convertor to change respectively switches, so that the signals of rotating transformer that output is selected from above-mentioned a plurality of signals of rotating transformer.

Preferably, above-mentioned a plurality of VR type resolver also comprises the resolver with number of poles identical with the number of poles of PM motor.

Description of drawings

Fig. 1 is the sectional view that is illustrated in the monopole rotary transformer that uses in the related resolver arrangement of an execution mode of the present utility model.

Fig. 2 is the winding diagram that is wound onto the winding on the magnetic pole of this resolver.

Fig. 3 is the Sketch figure of the related resolver arrangement of an expression execution mode of the present utility model.

Fig. 4 is the sectional view that is illustrated in the multipolar resolver that uses in this resolver arrangement.

Fig. 5 is the winding diagram that is wound onto the winding on the magnetic pole of this resolver.

Fig. 6 A is converted to voltage signal respectively with the current signal that each winding from the A phase of monopole rotary transformer obtains and the A phase signals that obtains.

Fig. 6 B is converted to voltage signal respectively with the current signal that each winding from the A phase phase of monopole rotary transformer obtains and the A phase signals that obtains.

Fig. 7 A is that the signals of rotating transformer of the expression three-phase that will obtain from monopole rotary transformer is converted to the signal of two-phase and the oscillogram of the cos signal that obtains.

Fig. 7 B is that the signals of rotating transformer of the expression three-phase that will obtain from monopole rotary transformer is converted to the signal of two-phase and the oscillogram of the sin signal that obtains.

Fig. 8 is the Sketch figure of expression digital converter of rotary transformer.

Fig. 9 is that expression is carried out digital translation and the curve chart of the multipolar resolver signal that obtains.

Figure 10 is the structure chart of direct drive motor system.

Figure 11 is the cross section structure figure of direct drive motor.

Figure 12 is the cross section structure figure that absolute position detection is used resolver.

Figure 13 is that relative position detects the cross section structure figure with resolver.

Figure 14 is the key diagram of the location of stator coil.

Figure 15 is the cross section structure figure of resolver cable.

Figure 16 is the cross section structure figure of resolver cable.

Figure 17 is the modular structure figure that comprises the ration angle-position detection device of execution mode 3.

Figure 18 is the flow chart that angular position detection is processed routine.

Figure 19 is the sectional view of the direct drive motor of execution mode 3.

Figure 20 is the curve chart that carries out the signals of rotating transformer that obtains after the digital translation.

Figure 21 is the winding diagram of the stator coil of monopole rotary transformer.

Figure 22 is the winding diagram of the stator coil of multipolar resolver.

Figure 23 is the part of the hardware configuration of testing circuit section.

Figure 24 is the vertical view of monopole rotary transformer.

Figure 25 is the vertical view of multipolar resolver.

Figure 26 is the modular structure figure of the related ration angle-position detection device of the first variation of execution mode 3.

Figure 27 is the modular structure figure of the related ration angle-position detection device of the second variation of execution mode 3.

Figure 28 is the modular structure figure of the related ration angle-position detection device of the 3rd variation of execution mode 3.

Description of reference numerals

1: resolver arrangement; 3,320: monopole rotary transformer (resolver); 30: rotor; 30a: rotor core; 31: stator; 31a: stator core; 33 ₁~ 33 ₁₈: magnetic pole; C ₁~ C ₁₈: winding; 50: oscillator (excitation unit); 52: current-to-voltage convertor (current detecting unit); 58: digital converter of rotary transformer; 210,310: direct drive motor; 211: rotating shaft; 220: driver element; 230: controller; 241: the resolver cable; 250: the absolute position detection resolver; 251: the resolver stator; 252: magnetic pole; 253: bobbin; 254: stator coil; 260: relative position detects uses resolver; 261: the resolver stator; 262: magnetic pole; 263: bobbin; 264: stator coil; 330: multipolar resolver; 340: testing circuit section; 341: current-to-voltage convertor; 342: three/two phase converter; 343: analog switch; 344:RDC; 345: phase shifter; 350: servo-driver; 353: diverter switch; 360: driver element; 361:CPU.

Embodiment

Explain be used to implementing mode of the present utility model (execution mode) with reference to accompanying drawing.

Fig. 3 is the Sketch figure of the related resolver arrangement of execution mode of expression.As shown in Figure 3, be provided with in this resolver arrangement 1: monopole rotary transformer 3 and multipolar resolver 4, their rotor are connected with the rotor of Megatorque (huge moment of torsion) motor 2 (Megatorque is registered trade mark) respectively; Servo-driver 5, it applies excitation signal to each resolver 3,4 winding, and detects the current value of each resolver 3 of flowing through, 4 winding, utilizes detected this current value to detect digital position signal

And analogue speed signal; And the control unit (CPU) 6 such as microcomputer, it is according to the digital position signal from these servo-driver 5 outputs Calculate the rotary angle position of huge torque motor 2 and export this position signalling.

As shown in Figure 1, above-mentioned monopole rotary transformer 3 is the three-phase variable reluctance type resolvers that possess rotor 30 and stator 31, in this monopole rotary transformer, magnetic resistance in the space 32 between rotor core 30a and the stator core 31a changes according to the variation of the position of rotor core 30a, and rotor core 30a revolves and turns around then that the fundametal compoment of magnetic resistance change rate is one-period.That is, the internal diameter center O of rotor 30 ₁Consistent with the internal diameter center of stator 31, but the heavy wall of change rotor core 30a makes the external diameter center O of rotor 30 ₂From this internal diameter center O ₁Depart from fixing offset A, above-mentioned magnetic resistance changes according to the variation of the position of rotor core 30a as described above thus.

Said stator 31 disposes: with the magnetic pole of A phase, B phase and the C phase three-phase of 120 ° arranged spaced, with respect to this A mutually, B phase and C departed from respectively mutually 180 ° position configuration A ' phase, B ' mutually and the magnetic pole of C ' phase.Dispose respectively three magnetic poles at these in mutually, in stator 31, altogether be provided with 18 magnetic poles 33 ₁~ 33 ₁₈At each magnetic pole 33 ₁~ 33 ₁₈On a kind of winding C that reeling ₁~ C ₁₈And, as shown in Figure 2, three winding C of A phase ₁, C ₂, C ₃Be connected in series, with A mutually similarly, three windings of other each phase also are connected in series.In addition, three of A phase winding C ₁~ C ₃Be connected common terminal 34 and current detecting resistance R ₁An end between.With A mutually similarly, three windings of other each phase also are connected respectively common terminal 34 and current detecting resistance R ₂~ R ₆An end between.R ₁~ R ₆The other end respectively inner ground connection.

In the monopole rotary transformer 3 with said structure, when the sine wave with a certain frequency puts on common terminal 34 as excitation signal, rotor 30 revolve turn around during, according to every AC signal that all has been offset mutually the one-period that obtains after 120 ° the phase place, from the A phase, each winding output current value of B phase and C phase and the monopole rotary transformer signal that above-mentioned magnetic resistance change rate correspondingly changes are from A ' phase, each winding output of B ' phase and C ' phase is with respect to the A phase, the signal of B phase and C phase has departed from respectively the monopole rotary transformer signal of 180 ° phase place.As shown in Figure 4, above-mentioned multipolar resolver 4 has rotor 40 cylindraceous and stator 41, and the external diameter center of this rotor 40 is consistent with the internal diameter center of stator 41.Be formed with the tooth 40a of a plurality of (for example 150) salient pole shape at the outer peripheral face of rotor 40.Alternately dispose each magnetic pole of A phase, B phase and C phase with the interval of regulation in the interior perimembranous of stator 41, winding C is reeling respectively on the magnetic pole of each phase _A, C _B, C _COn the inner peripheral surface of stator 41, the tooth of the salient pole shape of (being to be 144 in 150 the situation at the tooth 40a of rotor 40 for example) so that each mode that all is offset mutually 120 ° electrical degree forms is a plurality of.As shown in Figure 5, the winding C of each phase _A, C _B, C _CBe connected to common terminal 42 and current detecting resistance R _A, R _B, R _CAn end between.R _A, R _B, R _COther end ground connection.

In the multipolar resolver 4 with said structure, when the sine wave with a certain frequency puts on common terminal 42 as excitation signal, rotor 40 revolve turn around during, the AC signal in 150 cycles is pressed in the three-phase each from above-mentioned each winding C as the multipolar resolver signal _A, C _B, C _COutput.Above-mentioned servo-driver 5 has oscillator 50 and the amplifier 51 of for example exporting the sine wave about 6kHz, is amplified resulting sine wave by this amplifier 51 and is applied simultaneously to the common terminal 34 of above-mentioned monopole rotary transformer 3 and the common terminal 42 of multipolar resolver 4 as excitation signal.In addition, this servo-driver 5 has: two current-to-

voltage convertors

52,53, subtracter 54, two three/two phase converter 55,56, analog switch 57, digital converter of rotary transformer (RDC) 58 and phase shifters 59.

Current-to-voltage convertor 52 has above-mentioned current detecting resistance R ₁~ R ₆, utilize the current detecting resistance R ₁~ R ₆With the A phase of the monopole rotary transformer 3 of flowing through, B phase, C phase, A ' phase, B ' mutually and the current signal of each winding of C ' phase be converted to voltage signal.Specifically, the following voltage signal of 54 outputs from this transducer 52 to subtracter.The A phase signals is shown in Fig. 6 a, and A ' phase signals is shown in Fig. 6 b.

A phase signals=(A ₀+ A ₁Cos θ) sin ω t

A ' phase signals=(A ₀-A ₁Cos θ sin ω t

B phase signals={ A ₀+ A ₁Cos (θ+2/3 π) } sin ω t

B ' phase signals={ A ₀-A ₁Cos (θ+2/3 π) } sin ω t

C phase signals={ A ₀+ A ₁Cos (θ+4/3 π) } sin ω t

C ' phase signals={ A ₀-A ₁Cos (θ+4/3 π) } sin ω t

At this, ω=2 π f, f is carrier frequency.Above-mentioned subtracter 54 carries out following subtraction, and following voltage signal is outputed to three/two phase converter 55 as the monopole rotary transformer signal (ABS signal) of three-phase.

A phase-A ' phase=2A ₁Cos θ sin ω t ... (1)

B phase-B ' phase=2A ₁Cos (θ+2/3 π) sin ω t ... (2)

C phase-C ' phase=2A ₁Cos (θ+4/3 π) sin ω t ... (3)

Current-to-voltage convertor 53 has above-mentioned current detecting resistance R _A, R _B, R _C, utilize the current detecting resistance R _A, R _B, R _CThe current signal (AC signal of three-phase) of each winding of A phase, B phase and the C phase of the multipolar resolver 4 of flowing through is converted to voltage signal, this voltage signal is outputed to three/two phase converter 56 as the multipolar resolver signal (INC signal) of three-phase.

Above-mentioned three/two phase converter 55 are converted to the ABS signal of the three-phase shown in above-mentioned (1) ~ (3) signal (following cos signal and sin signal) of two-phase, and the signal of this two-phase is outputed to analog switch 57.The cos signal is shown in Fig. 7 a, and the sin signal is shown in Fig. 7 b.

Cos signal=Kcos θ * sin ω t

Sin signal=Ksin θ * sin ω t

With three/two phase converter 55 similarly, above-mentioned three/two phase converter 56 also will be converted to from the multipolar resolver signal (INC signal) of the above-mentioned three-phase of current-to-voltage convertor 53 output the signal (cos signal and sin signal) of two-phase, and the signal of this two-phase is outputed to analog switch 57.

Above-mentioned analog switch 57 utilizes the switch that switches according to the ABS/INC switching signal, and from the signal of three/two phase converter, 55 gating two-phases, afterwards, gating is from the signal of the two-phase of three/two phase converter 56 when connecting driving power.Above-mentioned phase shifter 59 makes the phase delay from the excitation signal of above-mentioned amplifier 51, will output to digital converter of rotary transformer (RDC) 58 with each cos signal of above-mentioned ABS or INC and the phase locked Ref signal (sin ω t) of the carrier signal in the sin signal.

Above-mentioned digital converter of rotary transformer 58 is converted to digital signal with the signal of two-phase, is common commercially available transducer.For example when the transducer that uses 12 bit specifications was used as this transducer 58, the ABS signal of above-mentioned two-phase was converted into the digital position signal of 4096 (pulse/rotor one circles)

That is, the rotor 30 of monopole rotary transformer 3 revolve turn around during, this position signalling

Count down to 4095 digital value (with reference to the part shown in Fig. 9 (b)) for increasing progressively from 0.

On the other hand, in the situation of transducer 58 that is 12 bit specifications, the INC signal of above-mentioned two-phase is converted into the digital position signal of 4096 * 150 (quantity of the tooth 40a of above-mentioned salient pole shape)=614400 (pulse/rotor one circle) That is, the rotor 40 of multipolar resolver 4 revolve turn around during, this position signalling

Become the digital value (with reference to the part shown in a of Fig. 9) that obtains behind the counting that carries out 150 times from 0 to 4095.Specifically, as shown in Figure 8, digital converter of rotary transformer 58 has: high speed sin/cos multiplier 81, subtracter 82, error amplifier 83, synchronous rectifier 84, integrator 85, electric voltage/frequency converter (V.C.O) 86, counter 87 and D/A converter 88.

When the cos signal of above-mentioned ABS or INC signal and sin signal being made as cos signal=cos θ * sin ω t, sin signal=sin θ * sin ω t, above-mentioned high speed sin/cos multiplier 81 carries out

Multiplying and

Multiplying, the former multiplying value is outputed to the positive side input terminal of subtracter 82, the latter's multiplying value is outputed to the minus side input terminal of subtracter 82.At this,

With

To utilize D/A converter 88 with the count value of counter 87

The signal that is converted to the analog signal of two-phase and obtains.

Subtracter 82 carries out

Subtraction.The signal of this subtraction value enters synchronous rectifier 84 via error amplifier 83.Inputted Ref signal (sin ω t) from above-mentioned phase shifter 59 to this

synchronous rectifier

84,85 outputs from this synchronous rectifier 84 to integrator

Signal.85 pairs of integrators are above-mentioned

Signal carry out integration and analogue speed signal outputed to not shown display unit.

Above-mentioned electric voltage/frequency converter 86 will output to counter 87 with the spike train of the corresponding frequency of magnitude of voltage of above-mentioned analogue speed signal.And 87 pairs of pulses from electric voltage/frequency converter 86 outputs of counter are counted.In above-mentioned digital converter of rotary transformer 58, servo system from above-mentioned high speed sin/cos multiplier 81 to D/A converter 88 adopt so that

Namely

The signal processing part of the tracking type followed the trail of of mode, will

The time the count value of counter 87 as digital position signal

And export.And, when the cos signal that will utilize 58 couples of above-mentioned ABS of digital converter of rotary transformer and sin signal carry out digital translation and the digital position signal that obtains

Value be made as abs, will utilize the cos signal of 58 couples of above-mentioned INC of transducer and sin signal to carry out digital translation and the digital position signal that obtains

Value when being made as inc, above-mentioned control unit (CPU) 6 calculates rotary angle position by the computing of carrying out abs * 150+ (2048-inc)+offset value.

The action of above-mentioned execution mode then, is described.When the rotor of huge torque motor 2 arrives a certain rotary angle position, the electric current that is represented as the variation of current value with the corresponding magnetic resistance change rate of this rotary angle position θ flow through monopole rotary transformer 3 A phase, B phase, C phase, A ' phase, B ' mutually and each winding of C ' phase, utilize current-to-voltage convertor 52 that these six current signals are converted to voltage signal, above-mentioned each signal of A phase, B phase, C phase, A ' phase, B ' phase and C ' phase is output to subtracter 54 from this transducer 52.This subtracter carries out above-mentioned subtraction, and the voltage signal of above-mentioned (1) ~ (3) is outputed to three/two phase converter 55 as the ABS signal of three-phase.Utilize three/two phase converter 55 the ABS signal of this three-phase to be converted to cos signal and the sin signal of two-phase, the ABS signal of this two-phase is output to analog switch 57.

On the other hand, from each winding C of multipolar resolver 4 _A, C _B, C _CExport mutually AC signal with the corresponding cycle of above-mentioned rotary angle position θ by in the three-phase of A phase, B phase and C phase each, utilize current-to-voltage convertor 53 that the AC signal of this three-phase is converted to voltage signal, and, utilize three/two phase converter the AC signal of this three-phase to be converted to cos signal and the sin signal of two-phase, the INC signal of this two-phase is output to analog switch 57.When connecting driving power, these analog switch 57 gatings are from the ABS signal of the two-phase of three/two phase converter 55, and gating is from the INC signal of the two-phase of three/two phase converter 56 afterwards.

When the ABS of above-mentioned two-phase signal was imported into digital converter of rotary transformer 58, this transducer 58 carried out digital translation to the ABS signal (cos signal and sin signal) of this two-phase and as described above with digital position signal

Output to control unit 6.This moment

Value be abs.On the other hand, when the INC of above-mentioned two-phase signal was imported into above-mentioned transducer 58, this transducer 58 carried out digital translation to the INC signal (cos signal and sin signal) of this two-phase and as described above with digital position signal

Output to control unit 6.This moment

Value be inc.Then, control unit 6 utilizes above-mentioned abs and inc to carry out the computing of abs * 150+ (2048-inc)+offset value, calculates rotary angle position θ.In addition, the detection resolution of the rotary angle position θ of the resolver arrangement 1 of an above-mentioned execution mode is following like that.

In the situation that digital converter of rotary transformer 58 is 12 bit specifications, when the tooth 40a of the salient pole shape of the rotor 40 of multipolar resolver 4 was 150, resolution was 614400 (pulses/revolve and turn around); When the tooth 40a of salient pole shape was 120, resolution was 491520 (pulses/revolve and turn around); When the tooth 40a of salient pole shape was 100, resolution was 409600 (pulses/revolve and turn around).In addition, in the situation that digital converter of rotary transformer 58 is 14 bit specifications, when resolution is 12 bit specification 4 times.

According to above-mentioned execution mode, above-mentioned monopole rotary transformer 3 constitutes respectively going up mutually of A phase, B phase, C phase, A ' phase, B ' phase and C ' phase and configures respectively three magnetic poles, and at the magnetic pole that has departed from respectively mutually 180 ° position configuration A ' phase, B ' phase and C ' phase with respect to A phase, B phase and C, be not vulnerable to thus the adverse effect that the foozle etc. by the external diameter shape of the rotor 30 of this resolver 3 causes, like this, the accuracy of detection of rotary angle position obtains certain raising.In addition, the quantity of the magnetic pole of above-mentioned each phase is not limited to three, and this quantity for example also can be two.

In addition, according to above-mentioned execution mode, in above-mentioned digital converter of rotary transformer 58, adopt the signal processing part of tracking type as described above to be used as its inner servo system, therefore can easily realize the high precision int of digital translation.In addition, in the above-described embodiment, above-mentioned monopole rotary transformer 3 is made as three-phase structure, but also it can be made as six phase structures.

(effect of execution mode 1)

As above detailed description, the resolver arrangement related according to execution mode 1, the current value that flows through in a kind of each winding on the magnetic pole of each phase of being wound onto stator is detected, utilize this current value that detects to detect rotary angle position or rotating speed.Thereby, the required space of winding of the magnetic pole of each phase that is winding to stator is diminished, and do not need to make between winding to insulate, in the time of can cutting down worker thus and manufacturing cost.

In addition, possess rotor core and revolve and turn around then that the fundametal compoment of magnetic resistance is the monopole rotary transformer of the structure of one-period, therefore can detection rotor and stator between absolute position relationship, be spin angular position.And, except possessing monopole rotary transformer, also possess multipolar resolver, detect rotary angle position, rotating speed according to the current value that obtains from two resolvers, therefore can detect high-resolution rotary angle position.

(execution mode 2)

Figure 10 is the structure chart of the direct drive motor system of present embodiment.This system is by the direct drive motor 210 that is used for countershaft 211 and is rotated driving, drive the driver element 220 of control and resolver cable 241 and motor cable 242 that both are connected are consisted of direct drive motor 210.Driver element 220 possesses controller circuitry 221 and power amplifier circuit 223, wherein, this controller circuitry 221 is built in direct drive motor 210 with 231 pairs of terminals via resolver cable 241 and resolver absolute position detection provides excitation signal with resolver and relative position detection with resolver, and obtain from the heterogeneous signals of rotating transformer of each resolver output and be converted to the two-phase output signal, obtain and be built in the correction data of proofreading and correct ROM 222 and carry out the R/D conversion, digital position signal is outputed to controller 230, this power amplifier circuit 223 is used for supplying with exciting current via 242 pairs of motor terminal of motor cable 232, so that control exactly the rotary angle position of direct drive motor 210 by the FEEDBACK CONTROL of coming self-controller 230.

Figure 11 is the sectional view of direct drive motor 210.As shown in the drawing, in direct drive motor 210, the casing 12 interior rotating shafts 211 that are housed in the hollow cartridge type are rotated freely supporting via tilting roller bearing 219.Tilting roller bearing 219 by the inner ring 218 that is positioned at casing 212, be positioned at the outer ring 216 of rotating shaft 211 bottom inner peripheral surfaces and the rolling element 217 that is configured between the two consists of.Forming the cross section that is made of the first mutually orthogonal inclined plane face and the second inclined plane face at the outer peripheral face of inner ring 218 is the outer side track groove of isosceles right triangle, and to form the cross section that is made of the 3rd mutually orthogonal inclined plane face and the 4th orbital plane be the inner track groove of isosceles right triangle to 216 inner peripheral surface in the outer ring.Rolling element 217 by be rotated a plurality of the first rolling elements 217 of being connected with the first inclined plane face and the 4th inclined plane face respectively and between the first adjacent rolling element 217 and with the second inclined plane face and the 3rd inclined plane face be rotated be connected the second rolling element 217 consist of.

Outer peripheral face is laminated with silicon steel sheet in the bottom of rotating shaft 211, and setting-in has been fixed the motor rotor 215 that has to the ring-type of the outstanding a plurality of utmost point teeth in the radial direction outside, be laminated with silicon steel sheet in opposite directions casing 212 inner peripheral surfaces therewith, and configured the motor stator 213 with a plurality of magnetic poles side-prominent in the radial direction.This magnetic pole roughly forms the T font, be wound stator coil 214 and formed a plurality of magnetic pole tooths in the position of the slit that separates regulation and motor rotor 215 face-offs, this stator coil 214 is used for utilizing the exciting current of supplying with from power amplifier circuit 223 via motor cable 242 to produce rotating magnetic field.

Be provided with for detection of the resolver 250 of the absolute angular position of rotating shaft 211 with for detection of the resolver 260 of relative angular position in rotating shaft 211.Resolver 250 is the monopole rotary transformers that are made of resolver rotor 255, resolver stator 251 and stator coil 254, wherein, this resolver rotor 255 is made of the cores pile in layers of the ring-type of the inner peripheral surface that is fixedly connected at interior rotating shaft 211, this resolver stator 251 is made of the cores pile in layers with the ring-type of resolver rotor 255 face-off that is fixedly connected on casing 212, and this stator coil 254 is wound onto on the magnetic pole of resolver stator 251.Resolver 260 is the multipolar resolvers that are made of resolver rotor 265, resolver stator 261 and stator coil 264, wherein, this resolver rotor 265 is made of the cores pile in layers of the ring-type of the inner peripheral surface that is fixedly connected at rotating shaft 211, this resolver stator 261 is made of the cores pile in layers with the ring-type of resolver rotor 265 face-off that is fixedly connected on casing 212, and this stator coil 264 is wound onto on the magnetic pole of resolver stator 261.

Figure 12 is the sectional view that absolute position detection is used resolver 250.As shown in the drawing, resolver 250 is three-phase variable reluctance type resolvers, possess following structure: the magnetic resistance in the space between resolver stator 251 and the resolver rotor 255 changes according to the variation of the rotary angle position of resolver rotor 255, and resolver rotor 255 revolves and turns around then that the fundametal compoment of magnetic resistance change rate is one-period.That is to say the external diameter center of the external diameter center of resolver stator 251, internal diameter center and resolver rotor 255 and the pivot O of direct drive motor ₁Unanimously, but in order to make the internal diameter center O of resolver rotor 255 ₂With respect to pivot O ₁Depart from Δ x, the heavy wall of resolver rotor 255 is changed continuously.

Dispose respectively with 120 ° interval at resolver stator 251 and to consist of six magnetic poles 252 of A phase, B phase and C phase, namely to amount to 18 magnetic poles 252.At the bonding stator coil 254 that is wound onto on the bobbin 253 that is formed by resin on the magnetic pole 252.According to said structure, when the common terminal to stator coil 254 applies excitation signal, resolver rotor 255 revolve turn around during, from each stator coil 254 of A phase, B phase and C phase respectively output phase respectively departed from the monopole rotary transformer signal of 120 ° one-period.

As shown in figure 14, bobbin 253 extends and two flange part 253b forming consist of the stator coil 254 of reeling equably on the 253a of bobbin section laterally by the 253a of bobbin section that is used for stator coils wound 254 with from the up and down periphery of the 253a of bobbin section.Magnetic pole 252 is the columns that vertically are convexly equipped with at the outer peripheral face of resolver stator 251, forms along its length upright, the crooked flat shape of nothing.With in advance by mould around the bobbin 253 of stator coil 254 be inserted to magnetic pole 252, under the state of the AC signal that stator coil 254 has been applied regulation, observe the signals of rotating transformer of each phase with oscilloscope, the installation site of adjusting bobbin 253 averages out the signals of rotating transformer of each phase, can eliminate thus the balance mismatch that is caused by the alignment error of stator coil 254 etc.If can guarantee a certain balanced adjustment that carries out mutually in mutually to A phase, B phase and C, then can confirm by the inventor's experiment whether balance improves on the whole.

Magnetic pole 252 forms along the height direction and the fixing shape of width, though therefore at plug-in mounting also can finely tune at above-below direction after the bobbin 253.Under the conforming state of the balance that obtains each phase, if utilize bonding agent that bobbin 253 is bonded on the magnetic pole 252, then can obtain not exist between product deviation, namely have a compatible absolute position detection resolver.If as in the past will by mould around the direct plug-in mounting of hollow coil and be fixed on the magnetic pole 252, then produce small space between coil and the magnetic pole 252, be difficult to improve the installation accuracy of coil, if but use the bobbin 253 that is formed by resin, then utilize have flexible resin with coil winding on magnetic pole 252, therefore can suppress by the crimp force of appropriateness the generation in above-mentioned space, thereby realize high-precision location.

Figure 13 is that relative position detects the sectional view with resolver 260.As shown in the drawing, possess following structure: the internal diameter center O of resolver stator 261 is consistent with the internal diameter center O of resolver rotor 265, the magnetic resistance in the space between resolver stator 261 and the resolver rotor 265 changes according to the variation of the rotary angle position of resolver rotor 265, and resolver rotor 265 revolves and turns around then that the fundametal compoment of magnetic resistance change rate is a plurality of cycles.On the outer peripheral face of resolver stator 261 so that the mode of the electrical degree of 120 ° of A phase, B phase and C phase deviations alternately equally spaced configures magnetic pole 262, configure altogether in this embodiment 18, on each magnetic pole 262 via bobbin 263 stator coil 264 of reeling.

In addition, the quantity of magnetic pole 262 can be the multiple of the number of phases (being three in this example), is not defined as 18.In addition, in this embodiment, form the utmost point teeth of 24 salient pole shapes that form with the spacing of regulation at the inner peripheral surface of resolver rotor 265, but the quantity of this utmost point tooth can be set to the integer of the number of teeth of motor rotor 215/one, is not defined as 24.In addition, cut by above-mentioned utmost point tooth is further segmented electrically, can also further improve relative position and detect the resolution of using resolver 260.When the common terminal to stator coil 264 provides excitation signal, resolver rotor 265 revolve turn around during, the AC signal in 24 cycles is output to each phase as the multipolar resolver signal.

At this, magnetic pole 262 forms without crooked flat shape for vertically being convexly equipped with the column on the outer peripheral face of resolver stator 261, and the structure with above-mentioned magnetic pole 252 is identical in this.Therefore, with in situation illustrated in fig. 14 similarly, stator coil 264 is wound onto on the magnetic pole 262 via the bobbin 263 that resin forms, and therefore can carry out high-precision location, can obtain zero deflection between product, namely have compatible relative position and detect with resolver 260.

Figure 15 is the cross section structure figure of resolver cable 241.In the figure, the 271,272, the 273rd, relative position detects the holding wire of the resolver 260 of usefulness, the holding wire of the 271st, A phase, the holding wire of the 272nd, B phase, the holding wire of the 273rd, C phase.In addition, the 274,275, the 276th, the holding wire of the resolver 250 that absolute position detection is used, the holding wire of the 274th, A phase, the holding wire of the 275th, B phase, the holding wire of the 276th, C phase.Like this, detect with the holding wire of resolver 260 and the absolute position detection holding wire with resolver 250 by alternately configuring relative position, can be respectively with holding wire 271,272,273 center C C ₁, CC ₂, CC ₃With holding wire 274,275,276 center C C ₄, CC ₅, CC ₆Roughly be adjusted into uniformly-spaced.That is to say, connect CC ₁-CC ₂-CC ₃And the triangle that obtains is the shape near equilateral triangle.Similarly, connect CC ₄-CC ₅-CC ₆And the triangle that obtains is the shape near equilateral triangle.In addition, bridging line 277 is configured in the center, therefore also can be with CC ₁~ CC ₆Central point CC with bridging line 277 ₇Between distance all roughly be adjusted into uniformly-spaced.According to said structure, can suppress the electrical interference of the signals of rotating transformer of each phase.

Figure 16 is the cross section structure figure of other structure example of expression resolver cable 241.In the figure, 281, the 282, the 283rd, relative position is detected the holding wire of resolver 260 of usefulness and the twisted-pair cable cable that bridging line becomes twisted-pair cable, 281a is the holding wire of A phase, 282a is the holding wire of B phase, 283a is the holding wire of C phase, and 281b ~ 283b is bridging line.In addition, 284, the 285, the 286th, the holding wire of the resolver 250 that absolute position detection is used and the twisted-pair cable cable that bridging line becomes twisted-pair cable, 284a is the holding wire of A phase, 285a is the holding wire of B phase, 286a is the holding wire of C phase, and 284b ~ 286b is bridging line.Like this, detect with the holding wire of resolver 260 and the holding wire of absolute position detection usefulness resolver 250 by alternately configuring relative position, can be respectively with holding wire 281,282,283 center C C ₁, CC ₂, CC ₃With holding wire 284,285,286 center C C ₄, CC ₅, CC ₆Roughly be adjusted into uniformly-spaced.That is to say, connect CC ₁-CC ₂-CC ₃And the triangle that obtains is the shape near equilateral triangle.Similarly, connect CC ₄-CC ₅-CC ₆And the triangle that obtains is the shape of equilateral triangle.In addition, owing to being the twisted-pair cable cable respectively, each holding wire is equated with distance between the bridging line.According to said structure, can suppress the electrical interference of the signals of rotating transformer of each phase.

In addition, except the position of bobbin is adjusted, for example, also can connect variable resistor etc. to each coil, and finely tune based on this.In addition, the material of bobbin is not limited to resin, if nonmagnetic material and high resilience, have the material of suitable crimp force, then also can be other material.

(effect of execution mode 2)

According to execution mode 2, the ring-type stator can constitute, has in the circumferential direction of the circle the magnetic pole around the column that arranges, by being inserted in the magnetic pole around the stator coil on the bobbin by mould, can position coil position freely, therefore can finely tune the coil position of resolver, have compatible direct drive motor system by suppressing the deviation between direct drive motor, can providing.In addition, roughly fixing by the distance of the distance between the holding wire that makes the resolver cable and holding wire and bridging line, can suppress the electrical interference of signals of rotating transformer, have compatible direct drive motor system thereby can provide.

(execution mode 3)

Figure 19 is the sectional view of the direct drive motor of execution mode 3.As shown in the drawing, direct drive motor 310 rotates freely supporting shaft 312 via the bearing 313 of the circumferential lateral surface of the inside casing 311 that is fixedly installed on the hollow cartridge type.Rotating shaft 312 constitutes hollow cylindrical body in the reset mode of inner casing 311 of section within it.

The heavy wall of the barrel of rotating shaft 312 changes concavo-convexly, and inner casing 311 between the space in be formed be used to the interior space 31 of accommodating monopole rotary transformer 320 and multipolar resolver 330 and be used for accommodating the interior space 32 of motor part 316.These

interior spaces

31 and 32 form by bearing 313 separatedly, separate distance to a certain degree so that can not arrive the interior space 31 from the leakage flux of motor part 316.In the situation that plug-in mounting bearing 313 etc. and make both close not between the

interior space

31 and 32 wishes shading member is set, so that can not arrive the interior space 31 from the leakage flux of motor part 316.

Motor part 316 is PM motors of the outer-rotor type that is made of rotor 314 and stator 315.Rotor 314 is by alternately the bonding N utmost point and the S utmost point and the permanent magnet that obtains consist of along circumferencial direction at the inwall of rotating shaft 312.Stator 315 is stacked a plurality of sheet iron and the motor core that forms, to be fixed on the outer wall of inner casing 311 across small air gap and rotor 314 mode in opposite directions.At this, as motor part 316, illustration the PM motor of outer-rotor type, but also can adopt the PM motor of inner rotator type.In addition, as motor part 316, can adopt the various motors except the PM motor.For example, as rotor 314, also can laminated thin iron plate replace permanent magnet, and possess the interior dentation of specified quantity or the utmost point tooth of outer dentation.

On the other hand, monopole rotary transformer 320 constitute the inner peripheral surface that possesses rotating shaft of being fixed on 312 ring-type resolver rotor 321 and to be fixed on the resolver stator 322 of the periphery wall of inner casing 311 with this resolver rotor 321 mode in opposite directions.Similarly, multipolar resolver 330 constitute the inner peripheral surface that possesses rotating shaft of being fixed on 312 ring-type resolver rotor 331 and to be fixed on the resolver stator 332 of the outer wall of inner casing 311 with this resolver rotor 331 mode in opposite directions.

Monopole rotary transformer 320 and multipolar resolver 330 with via between rotor the seat 318 and stator between the seat 319 modes that become the stepped construction of two sections be fixed in the interior space 31 with being spaced small space.Namely, at seat 318 between the plug-in mounting rotor between the

resolver rotor

321 and 31 of the internal perisporium that is fixed on rotating shaft 312 by a plurality of bolt 318a, between the

resolver stator

322 and 32 of the periphery wall that is fixed on inner casing 311 by bolt 319a between the plug-in mounting stator 319.

Form inside casing 311 and the rotating shaft 312 of the interior space 31 and be installed between rotor in the interior space 31 that seat 319 preferably consists of with nonmagnetic material respectively between seat 318 and stator.Can constitute by consist of these members that form the interior space 31 with nonmagnetic material and avoid arriving the interior space 31 from the leakage flux of motor part 316.

Figure 24 is the vertical view of monopole rotary transformer 320.As shown in the drawing, monopole rotary transformer 320 is three-phase VR type resolvers of following structure: the magnetic resistance in the space between resolver rotor 321 and the resolver stator 322 changes according to the variation of the rotary angle position of resolver rotor 321, and resolver rotor 321 revolves and turns around then that the fundametal compoment of magnetic resistance change rate is one-period.That is, the pivot O of the external diameter center of the external diameter center of resolver stator 322, internal diameter center and resolver rotor 321 and direct drive motor ₁Unanimously, in order to make the internal diameter center O of resolver rotor 321 ₂With respect to pivot O ₁Depart from Δ x, the heavy wall radially of resolver rotor 321 is changed continuously.

18 stator poles 323 of total that consist of A phase, B phase and C phases with 120 ° of intervals are convexly equipped with the periphery at resolver stator 322 uniformly-spaced, outer dentation.Installed in each stator poles 323 and to be wound with stator coil C S ₁~ CS ₁₈Bobbin 324.Material as bobbin 324, so long as have suitable flexible nonmagnetic material, then do not limit especially, for example, if the thermoplastic resins such as phenylethylene resin series, polycarbonate-based resin, Polyphony Ether resin, nylon, polybutylene terephthalate resin then are easy to injection mo(u)lding.

When to stator coil C S ₁~ CS ₁₈Common terminal when applying excitation signal, resolver rotor 321 revolve turn around during, from each stator coil C S of A phase, B phase and C phase ₁~ CS ₁₈Output phase has departed from the current signal of 120 ° one-period respectively.Can detect absolute rotary angle position according to the monopole rotary transformer signal from monopole rotary transformer 320 outputs.

Figure 21 is each stator coil C that is wound onto on the stator poles 323 of monopole rotary transformer 320 ₁~ C ₁₈Winding diagram.When common terminal COM1 is applied excitation signal, utilize by detecting resistance R ₁, R ₂, R ₃The current-to-voltage convertor 341a that consists of will flow through and consist of the stator coil C S of A phase, B phase and C phase ₁~ CS ₆, CS ₇~ CS ₁₂And CS ₁ ₃~ CS ₁₈Current signal be converted to voltage signal.This voltage signal is provided to three/two phase converter 342a described later as monopole rotary transformer signal (ABS signal).

Figure 25 is the vertical view of multipolar resolver 330.As shown in the drawing, possess following structure: the internal diameter center O of resolver rotor 331 is consistent with the internal diameter center O of resolver stator 332, the magnetic resistance in the space between resolver rotor 331 and the resolver stator 332 changes according to the variation of the rotary angle position of resolver rotor 331, and the revolving of resolver rotor 331 turns around then that the fundametal compoment of magnetic resistance change rate is a plurality of cycles.Inner peripheral surface at resolver rotor 331 forms 24 utmost point teeth 335 altogether, and this utmost point tooth 35 uniformly-spaced to be convexly equipped with in radially dentation.At the outer peripheral face of resolver stator 332, so that the mode of the electrical degree of 120 ° of A phase, B phase and C phase deviations uniformly-spaced to be convexly equipped with altogether 18 stator poles 333 dentation outside radially.

The bobbin 334 of the stator coil C Sa ~ CSc that reeled in advance is installed in each stator poles 333.When the bridging line to stator coil C Sa ~ CSc applies excitation signal, resolver rotor 331 revolve turn around during, each is exported the AC signal in 24 cycles mutually.Can detect the relative rotation angle position according to the multipolar resolver signal from multipolar resolver 330 outputs.

Figure 22 is the winding diagram that is wound onto each the stator coil C Sa ~ CSc on the stator poles 333 of multipolar resolver 330.When common terminal COM2 is applied excitation signal, utilize by detecting will flow through stator coil C Sa, the CSb that consists of A phase, B phase and C phase, the signals of rotating transformer of CSc of current-to-voltage convertor 341b that resistance R a, Rb, Rc consist of and be converted to respectively voltage signal.This voltage signal is provided to three/two phase converter 342b described later as multipolar resolver signal (INC signal).

In addition, the quantity of stator poles 332 is that the multiple of the number of phases (being three in this embodiment) gets final product, and is not defined as 18.In addition, in this embodiment, formed 24 utmost point teeth 335, but the quantity of this utmost point tooth 335 is not defined as 24.In addition, cut by further utmost point tooth 335 being segmented electrically, can further improve the resolution of multipolar resolver 330.In addition, in the above description, illustration with the stator poles of monopole rotary transformer 320 and multipolar resolver 330 as external tooth, structure at the outside of resolver stator configuration resolver rotor, but be not limited to this, also can be made as following structure: stator poles as internal tooth, is configured the resolver rotor in the inboard of resolver stator.In addition, about the number of phases of signals of rotating transformer, also be not limited to three-phase rotary transformer, can also use two-phase resolver, four phase resolvers, six phase resolvers etc.

Figure 17 is the modular structure figure that comprises the ration angle-position detection device of execution mode 3.Ration angle-position detection device is made of the monopole rotary transformer 320 that is installed in direct drive motor 310 and multipolar resolver 330 and a part of controlling their driver element 360.Driver element 360 constitutes possesses servo-driver 350 and CPU 361, wherein, some resolvers in 350 pairs of monopole rotary transformers 320 of this servo-driver and the multipolar resolver 330 obtain signals of rotating transformer after the excitation letter is provided, and output digital angle signal

This CPU 361 is according to the digital angle signal

Generate the rotary angle position signal, via 362 pairs of direct drive motor 310 supply capabilities of power amplifier.With resolver cable 371 driver element 360, monopole rotary transformer 320 and multipolar resolver 330 are connected, with motor cable 372 this unit 60 is connected with motor part 316.

Servo-driver 350 utilizes amplifier 352 to be enlarged into appropriate signal level from the excitation signal of transmitter 351 output, and certain common terminal that switches in the common terminal COM2 of the common terminal COM1 of monopole rotary transformer 320 and multipolar resolver 330 via diverter switch 353 provides the path of excitation signal and excitation signal is provided.Diverter switch 353 is switch units, be configured in from transmitter 351 to monopole rotary transformer 320 and multipolar resolver 330 provide on the path of excitation signal, these resolvers of subtend provide the path of excitation signal to switch.According to switching and control utilizing diverter switch 353 to be connected connection with COM2 to common terminal COM1 from the switching over signal of CPU361 output.

Soon, CPU 361 switches diverter switch 353 and is connected with shared terminal COM1, provide excitation signal to monopole rotary transformer 320 thus after plugged and start-up system.Utilizing after current-to-voltage convertor 341a is converted into the ABS signal from the current signal of monopole rotary transformer 320 output, utilizing three/two phase converter 342a to be converted into two phase signals (sin signal, cos signal) and provide to analog switch 343.

At this, when the transmission angular frequency with transmitter 351 was made as ω and ignores the high order composition, the signals of rotating transformer of each phase that is obtained by current-to-voltage convertor 341a became shown in following (4) formula ~ (6) formula like that.At this, for convenience of explanation, illustration take A mutually as benchmark and make B phase and C phase place mutually postpone respectively 120 the degree situations.Two phase signals that will be obtained by three/two phase converter 342a in addition, are shown in (7) formula ~ (8) formula.In (8) formula, sqr (x) is made as the subduplicate function of returning independent variable x.

On the other hand, obtain the digital angle signal at CPU 361 from the ABS signal

Value (abs described later) afterwards, CPU 361 switches diverter switch 353 and is connected with shared terminal COM2, provide excitation signal to multipolar resolver 330 thus.Utilize after current-to-voltage convertor 341b is converted into the INC signal at the current signal from multipolar resolver 330 output, utilize three/two phase converter 342b to be converted into two phase signals (sin signal, cos signal) and be provided to analog switch 343.

Analog switch 343 is according to carrying out the switch element of switching controls from the ABS/INC switching signal of CPU 361, make in the INC signal of the ABS signal of two-phase and two-phase some signal-selectivities ground by and provide to RDC (digital converter of rotary transformer) 344.For make signal by analog switch 343 switch to from the ABS signal of two-phase two-phase the INC signal the moment and diverter switch 353 to be connected the destination roughly synchronous from the moment that COM1 switches to COM2, the 343 output ABS/INC switching signals from CPU 361 to analog switch.

Phase shifter 345 makes from the phase delay of the excitation signal of transmitter 351 outputs, will provide to RDC 344 with the sin signal of the ABS signal that is converted into two-phase or INC signal and the phase locked Ref signal of the carrier signal in the cos signal.RDC 344 will carry out digitlization from two phase signals that analog switch 343 provides, to CPU 361 output digital angle signals

Utilize analogue speed signal after the hunting angle frequency of transmitter 351 is carried out synchronous rectification from RDC 344 output.

In addition, in the above description, illustration use three-phase rotary transformer as the structure of monopole rotary transformer 320, but present embodiment is not limited to this, also can use six phase resolvers as monopole rotary transformer 320.In the situation that use six phase resolvers, as signals of rotating transformer, use following (9) formula ~ (15) formula to replace above-mentioned (4) formula ~ (6) formula, therefore as shown in figure 23, subtracter 346a is got final product between current-to-voltage convertor 341a and three/two phase converter 342a.Subtracter 346a calculates and six phase signals of rotating transformer is converted to the three-phase rotary transformer signal of (15) formula ~ (17) formula to poor dA, dB, the dC of the signals of rotating transformer of each phase.Utilize three/two phase converter 342a that the three-phase rotary transformer signal of this formula is converted to two phase signals.

20

dA=2·A ₂sinθ·sinωt…(15)

dB=2·B ₂sin(θ-2π/3)·sinωt…(16)

dC=2·C ₂sin(θ-4π/3)·sinωt…(17)

And, such as in the situation of the resolver that uses other kinds such as two-phase resolver, four phase resolvers, need only the structure that correspondingly suitably changes testing circuit section 340 with situation separately.

Figure 20 is the curve chart that carries out the signals of rotating transformer that obtains after the digital translation.When the transducer that uses 12 bit specifications was used as RDC 344, shown in this figure (B), whenever resolver rotor one circle, the ABS signal of two-phase was converted into the digital angle signal of 4096 (=212) pulse

That is to say, monopole rotary transformer 320 revolve turn around during, the ABS signal count down to 4095 digital value for increasing progressively from 0.On the other hand, shown in this figure (A), whenever resolver rotor one circle, the INC signal of two-phase is converted into the digital angle signal of 4096 * 24 (sum of utmost point tooth 335)=98304 pulses

That is to say, multipolar resolver 330 revolve turn around during, the digital value of INC signal for repeatedly carrying out obtaining behind 24 times from 0 to 4095 the counting.

In the figure, in the situation of the anglec of rotation 0 degree as benchmark of the initial point of the fundametal component ripple that will be equivalent to the ABS signal, offset value is a value that fundametal compoment departs from mutually in the fundametal compoment with 24 cycles of INC signal.

CPU 361 obtains these digital angle signals Calculate the rotary angle position of direct drive motor 310.If will utilize RDC 344 that the ABS signal of two-phase is converted to the digital angle signal that obtains after the digital signal

Value be made as abs, will utilize RDC344 that the INC signal of two-phase is converted to the digital angle signal that obtains after the digital signal

Value be made as inc, then can obtain rotary angle position by the computing that utilizes abs * 24+ (2048-inc)+offset value.CPU 361 from rotary angle position via 362 pairs of direct drive motor 310 supply capabilities of power amplifier.

In addition, in order to obtain the digital angle signal from signals of rotating transformer

May not utilize hardware (three/two phase converter, RDC etc.) to process, also can be that signals of rotating transformer is carried out the A/D conversion, obtains the digital angle signal by utilizing software to carry out information processing

Structure.

Figure 18 is the flow chart that the position probing of narration CPU 361 is processed routine.On one side with reference to this figure, with the control of CPU 361 be treated to center and again narrate above-mentioned explanation on one side.When system stops, being switched on (step S1: be) if detect power supply, then CPU 361 outputs make diverter switch 353 be connected to the switching over signal (step S2) of common terminal COM1.So, being provided to monopole rotary transformer 320 from the excitation signal of transmitter 351 outputs from common terminal COM1, the magnetic resistance change rate corresponding with rotary angle position is provided to testing circuit section 340 as current signal.

In testing circuit section 340, utilizing after current-to-voltage convertor 341a is converted to voltage signal with this current signal, utilize three/two phase converter 342a that this voltage signal is converted to two phase signals, and provide to analog switch 343.Be used as passing through the signal of analog switch 343 for the ABS signal of selecting two-phase, CPU 361 output ABS/INC switching signals (step S3).

The ABS signal of two-phase is converted into digital signal by analog switch 343 and in RDC 344, as the digital angle signal

Be provided to CPU 361.CPU 361 obtains this digital angle signal

Value be used as abs (step S4).

Then, for diverter switch 353 is connected CPU361 output switch switching signal (step S5) with shared terminal COM2.So, being provided to multipolar resolver 330 from the excitation signal of transmitter 351 outputs from common terminal COM2, the magnetic resistance change rate corresponding with rotary angle position is provided to testing circuit section 340 as current signal.

In testing circuit section 340, utilizing after current-to-voltage convertor 341b is converted to voltage signal with this current signal, utilize three/two phase converter 342b that this voltage signal is converted to two phase signals, and provide to analog switch 343.Be used as passing through the signal of analog switch 343 for the INC signal of selecting two-phase, CPU 361 output ABS/INC switching signals (step S6).

The INC signal of two-phase is converted into digital signal by analog switch 343 and in RDC 344, as the digital angle signal

Be provided to CPU 361.CPU 361 obtains this digital angle signal

Value be used as inc (step S7).

Before power supply disconnected, CPU 361 controlled, so that the state that diverter switch 353 maintenances are connected with shared terminal COM2 makes the INC signal (step S8: no) that remains two-phase by the signal of analog switch 343 in addition.When detecting the power supply disconnection (step S8:YES), CPU 361 finishes these control routines.

As described above, according to present embodiment, in order to make monopole rotary transformer 320 and multipolar resolver 330 not by the while excitation, only provide excitation signal to some resolvers, so the leakage flux of one of them resolver can not cause magnetic disturbance to another resolver.Therefore, not only can carry out accurately position probing, the relative distance of monopole rotary transformer 320 and multipolar resolver 330 can also be foreshortened to the limit, namely, foreshorten to the stator coil C that makes monopole rotary transformer 320 ₁~ C ₁₈With the degree that stator coil C a ~ Cc roughly contacts of multipolar resolver 330, thereby can realize miniaturization, the slimming of direct drive motor 310.It is small-sized and can carry out the direct drive motor of hi-Fix that the structure of present embodiment is applicable to use in turntable, the conveying device at NC lathe etc., the mechanical arm of apparatus for assembling etc.In addition, can omit above-mentioned shading member, therefore except the relative distance that can shorten monopole rotary transformer 320 and multipolar resolver 330, can also reduce the component number of packages, realize reducing cost.

In addition, present embodiment constitutes provides excitation signal to the some resolvers in monopole rotary transformer 320 and the multipolar resolver 330, therefore with provide the in the past structure of excitation signal to compare to two resolvers, power consumption approximately can be reduced half.And, can not crosstalk in resolver cable 371 from the current signal of monopole rotary transformer 320 and multipolar resolver 330 outputs respectively, therefore can improve position detection accuracy.

In addition, in the above description, as the resolver that is installed in the direct drive motor 310, illustration possess the structure of monopole rotary transformer 320 and multipolar resolver 330, but the utility model is not limited in this situation, also can be applicable to xenogenesis resolver arbitrarily is installed on the situation of direct drive motor 310.Below illustrate the structure example with two kinds of multipolar resolver combinations.

(the combination example 1 of execution mode 3)

This combination example is to realize the type of the rotor-position measuring ability of PM motor, the resolver that will have the number of poles identical with the number of poles of PM motor (for example 20 teeth) is made as the first resolver, high-resolution position is detected be made as the second resolver with resolver (for example 120 teeth).For example, when plugged, at first utilize the first resolver to read the digital angle signal, then switch to and utilize the second resolver to carry out reading of this digital angle signal, thus can according to the position of rotation of the phase difference detection rotor of PM motor, therefore can be according to from the excitation of the signal identification rotary angle position of the second resolver and PM motor constantly.That is to say, the first resolver replaces UVW transducer (for example Hall element) performance function, therefore can omit the UVW transducer.

(the combination example 2 of execution mode 3)

This combination example is to detect the type of the absolute angular position of rotating shaft 312, and (N+1) utmost point resolver is made as the first resolver, and N utmost point resolver is made as the second resolver.Wherein, N is the integer more than 2.The difference of the number of poles of the first resolver and the second resolver is 1, therefore can be according to both digital angle signals

Difference detect the absolute angular position of rotating shaft 312.As the excitation switching instant of these resolvers, for example in the moment of the power supply of connecting system, wish the first resolver is carried out excitation and reads the digital angle signal Then the second resolver is carried out excitation.Make the second resolver keep excited state until dump, when start-up system, can be according to the digital angle signal that reads

The digital angle signal that is detected by the second resolver afterwards

Detect the absolute angular position of rotating shaft 312.

(the combination example 3 of execution mode 3)

This combination example is to detect the type of the absolute angular position of rotating shaft 312 in the angular range of regulation, in order in the angular range of 360 degree/M, to detect absolute angular position, M utmost point resolver is made as the first resolver, high-resolution resolver (for example number of poles 120) is made as the second resolver.Wherein, M is the integer more than 2.By making up like this multipolar resolver, such as the purposes that is applicable to mechanical arm is rotated in the angular range of the predetermined regulation such as 180 degree, 120 degree, 90 degree.If the structure that the space between resolver rotor and the resolver stator periodically changes does not then limit especially to the rotor shapes of the first resolver, can adopt various shapes.For example, if the making number of poles is the first resolver of 2, then the shape of resolver rotor can adopt the various shapes such as elliptical shape, cucurbit shape, odontoid.

(the first variation of execution mode 3)

Figure 26 is the modular structure figure of the related ration angle-position detection device of the first variation of execution mode 3.Basic structure is identical with execution mode three, and the module that therefore has with Fig. 1 same reference numerals is made as equal modules, and omits its detailed explanation.In the levels of current of the monopole rotary transformer 320 outputs situation significantly different from the levels of current of exporting from multipolar resolver 330, in order to detect rightly ABS signal and INC signal, as implement to prepare to be converted to the mode 3 the required structure of signal of each resolver special use, for example prepare current-to-

voltage convertor

341a, 341b and three/two

phase converter

342a, 342b, and analog switch 343 need to be set.Therewith relatively, if be roughly the same degree from the levels of current of monopole rotary transformer 320 output and levels of current from multipolar resolver 330 outputs, then can make current-to-voltage convertor 341a, 41b and three/two

phase converter

342a, 342b realize sharing, and omit analog switch 343.

As shown in the drawing, testing circuit section 340 becomes following structure: possess the current-to-voltage convertor 341 that can share and the structure of three/two phase converter 342, in addition, similarly possess RDC 344 and phase shifter 345 with above-mentioned execution mode 3, compare with above-mentioned execution mode three, can significantly simplify hardware configuration.Utilize current-to-voltage convertor 341 to be converted into ABS signal or INC signal from the current signal of monopole rotary transformer 320 and multipolar resolver 330 outputs, and utilize three/two phase converter 342 to be converted into two phase signals.Can select one to provide excitation signal to monopole rotary transformer 320 and multipolar resolver 330 via diverter switch 353, thereby can not carry out excitation to both simultaneously at least.Can provide current signal from some resolvers to current-to-voltage convertor 341 according to said structure, can realize sharing of current-to-voltage convertor 341.

In addition, in this variation, can use the various combinations (comprising combinations thereof example 1 ~ 3) of two kinds of multipolar resolvers.In addition, also be not limited to three-phase rotary transformer about resolver, such as using the various resolvers such as two-phase resolver, four phase resolvers, six phase resolvers.

(the second variation of execution mode 3)

Figure 27 is the modular structure figure of the related ration angle-position detection device of the second variation of execution mode 3.Basic structure is identical with execution mode three, and therefore the module that Reference numeral is identical with Fig. 1 is made as equal modules, and omits its detailed explanation.In this variation, replace monopole rotary transformer 320 and multipolar resolver 330 and a plurality of resolvers are installed in the direct drive motor 310.At this, in the rotating shaft of this motor 310 three kinds of resolvers 381 ~ 383 are installed, the switching controls by diverter switch 353 provides excitation signal, so that do not provide excitation signal to plural resolver simultaneously at least.

As shown in the drawing, testing circuit section 340 constitute possess current-to-voltage convertor 341a ~ 341c, three/two phase converter 342a ~ 342c, analog switch 343, RDC 344 and phase shifter 345.353 pairs of switching controls by CPU 361 of diverter switch are selected the common terminal COM1 of the first resolver 381 of selecting on a ground, the second resolver 382, the 3rd resolver 383 ~ COM3 and are distributed excitation signal.Utilize current-to-voltage convertor 341a ~ 341c to be converted into signals of rotating transformer from the current signal of the first resolver 381, the second resolver 382,383 outputs of the 3rd resolver, and utilize three/two phase converter 342a ~ 342c that signals of rotating transformer is converted to two phase signals.Analog switch 343 passes through these three kinds of two-phase signal-selectivity ground, and provides to RDC 344.As the combination example of the first resolver 381, the second resolver 382, the 3rd resolver 383, for example example shown below is more appropriate.

(the combination example 1 of the second variation)

This combination example is to realize the rotor-position measuring ability of PM motor and the type of absolute position detection function, the resolver that will possess the number of poles identical with the number of poles of PM motor (for example 20 teeth) is made as the first resolver 381, the high-resolution position detection is made as the second resolver 382 with resolver (for example 120 teeth), monopole rotary transformer is made as the 3rd resolver 383.According to this combination, except the effect of the combination example 1 that can realize the first execution mode, can also detect the absolute angular position of direct drive motor 310.

(the combination example 2 of the second variation)

This combination example is the type that can proofread and correct the absolute position detection error, and monopole rotary transformer is made as the

first resolver

381, and 18 utmost point resolvers are made as the second resolver 382, and 132 utmost point resolvers are made as the 3rd resolver 383.By utilizing 382 pairs of errors from the absolute angular position of the first resolver 381 acquisitions of the second resolver to proofread and correct, can improve the accuracy of detection of rotary angle position.

(the 3rd variation of execution mode 3)

Figure 28 is the modular structure figure of the related ration angle-position detection device of the 3rd variation of execution mode 3.Basic structure is identical with the second variation, and therefore the module that Reference numeral is identical with Figure 27 is made as equal modules and omits its detailed explanation.As shown in the drawing, testing circuit section 340 is following structure: except possessing sharable current-to-voltage convertor 341 and three/two phase converter 342, also similarly possess RDC 344 and phase shifter 345 with above-mentioned the second variation, compare with above-mentioned the second variation, can significantly simplify hardware configuration.

353 couples of common terminal COM1 ~ COM3 provide excitation signal via diverter switch, so that at least not simultaneously to the first resolver 381, the second resolver 382, plural resolver in the 3rd resolver 383 carries out excitation, therefore from the first resolver 381, the second resolver 382, the levels of current of the 3rd resolver 383 output is in the situation of same degree, can utilize the current-to-voltage convertor 341 will be from the first resolver 381, the second resolver 382, the current signal of the 3rd resolver 383 outputs is converted to signals of rotating transformer.The concrete combination of the first resolver 381, the second resolver 382, the 3rd resolver 383 can be adopted the combination example of above-mentioned the second variation.

(effect of execution mode 3)

According to execution mode 3, simultaneously a plurality of VR type resolvers are not carried out excitation, therefore can shorten the relative distance between the VR resolver, can realize miniaturization, the slimming of ration angle-position detection device.In addition, the leakage flux of one of them resolver can not cause magnetic disturbance to another resolver, therefore can obtain high-precision position detection accuracy.

Above, execution mode 1 ~ 3 is illustrated, but execution mode 1 ~ 3 is not limited to foregoing.In addition, the content that comprises the content that those skilled in the art easily expect, essentially identical content, so-called impartial scope in the inscape of above-mentioned execution mode 1 ~ 3.And, the inscape of above-mentioned execution mode 1 ~ 3 suitably can be made up.In addition, in the scope of the main idea that does not break away from execution mode 1 ~ 3, can carry out various omissions, displacement and the change of structural element.

Claims

1. resolver arrangement, possesses the resolver that comprises rotor and stator, magnetic resistance in the space between this resolver rotor iron core and the stator core changes according to the variation of rotor core position, detect rotary angle position or rotating speed by the variation that detects above-mentioned magnetic resistance, this resolver arrangement is characterised in that

Above-mentioned resolver possesses monopole rotary transformer, and the structure of this monopole rotary transformer is that rotor core revolves and turns around then that the fundametal compoment of magnetic resistance is one-period,

Said stator has with the magnetic pole of at least three-phase of 120 ° arranged spaced and is wound on a kind of winding on each magnetic pole, and,

Above-mentioned resolver arrangement constitutes, be provided with by each above-mentioned winding is switched on to above-mentioned each magnetic pole is carried out the excitation unit of excitation and the current detecting unit of the current value that detects each above-mentioned winding of flowing through, utilize detected this current value to detect rotary angle position or rotating speed.

2. resolver arrangement according to claim 1 is characterized in that,

Above-mentioned resolver is except possessing above-mentioned monopole rotary transformer, also possesses multipolar resolver, the structure of this multipolar resolver is to possess to have at least magnetic pole and the stator that is wound on a kind of winding on each magnetic pole of three-phase, rotor core revolves and turns around then that the fundametal compoment of magnetic resistance is a plurality of cycles, and

This resolver arrangement also is provided with digital converter of rotary transformer, and this digital converter of rotary transformer utilizes the current value of each winding of detected above-mentioned monopole rotary transformer and above-mentioned multipolar resolver to detect rotary angle position or rotating speed.

3. direct drive motor system comprises:

Direct drive motor, it possesses monopole rotary transformer and multipolar resolver, output is from the heterogeneous signals of rotating transformer of each resolver, wherein, in this monopole rotary transformer, by the rotation of the first rotor, the fundametal compoment of the magnetic resistance in the space between the first rotor and the first ring-type stator becomes one-period, in this multipolar resolver, by bitrochanteric rotation, the fundametal compoment of the magnetic resistance in the space between the second rotor and the second ring-type stator becomes a plurality of cycles;

Driver element, it is according to exporting be used to the exciting current that drives above-mentioned direct drive motor from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output; And

The resolver cable, it will be transported to above-mentioned driver element from the heterogeneous signals of rotating transformer of above-mentioned direct drive motor output, and this direct drive motor system is characterised in that,

Above-mentioned the first ring-type stator and above-mentioned the second ring-type stator have in the circumferential direction of the circle the magnetic pole around the column that arranges, to be plugged in magnetic pole around the stator coil on the bobbin in the mode that can locate freely by mould, and adjust coil position and engage so that the signals of rotating transformer of each phase of above-mentioned heterogeneous signals of rotating transformer can average out.

4. direct drive motor according to claim 3 system is characterized in that,

In above-mentioned resolver cable, between the holding wire of each phase of heterogeneous signals of rotating transformer and the distance between each holding wire and the bridging line roughly fixing.

5. direct drive motor according to claim 3 system is characterized in that,

Above-mentioned monopole rotary transformer and above-mentioned multipolar resolver have respectively the signals of rotating transformer of three-phase,

Above-mentioned resolver cable has:

The first monopole rotary transformer holding wire, the second monopole rotary transformer holding wire and the 3rd monopole rotary transformer holding wire as the holding wire of above-mentioned monopole rotary transformer; And

As the first multipolar resolver holding wire, the second multipolar resolver holding wire and the 3rd multipolar resolver holding wire of the holding wire of above-mentioned multipolar resolver,

Wherein, the holding wire of above-mentioned monopole rotary transformer and the holding wire of above-mentioned multipolar resolver are alternately configured, and the center of these holding wires roughly equally spaced is configured.

6. direct drive motor according to claim 3 system is characterized in that,

Above-mentioned resolver cable has:

The first monopole rotary transformer holding wire, the second monopole rotary transformer holding wire and the 3rd monopole rotary transformer holding wire as the holding wire of above-mentioned monopole rotary transformer;

The first multipolar resolver holding wire, the second multipolar resolver holding wire and the 3rd multipolar resolver holding wire as the holding wire of above-mentioned multipolar resolver; And

Six shared lines,

Wherein, the holding wire of above-mentioned monopole rotary transformer and the holding wire of above-mentioned multipolar resolver are alternately configured, and these holding wires consist of the twisted-pair cable cable with above-mentioned bridging line respectively.

7. ration angle-position detection device possesses:

A plurality of VR type resolvers, it is installed to be the rotary synchronous ground that makes magnetic resistance and rotating shaft and changes;

Transmitter, it exports excitation signal;

Switch unit, switch in its path that provides to excitation signal from above-mentioned transmitter to above-mentioned a plurality of VR type resolvers that provide from, so that provide above-mentioned excitation signal to a VR type resolver of selecting from above-mentioned a plurality of VR type resolvers; And

Detecting unit, its output signal according to above-mentioned VR type resolver detects the angle position of above-mentioned rotating shaft,

8. ration angle-position detection device according to claim 7 is characterized in that,

Above-mentioned detecting unit comprises single current-to-voltage convertor, and this current-to-voltage convertor will be converted to signals of rotating transformer from the current signal that above-mentioned a plurality of VR type resolvers are exported respectively.

9. ration angle-position detection device according to claim 7 is characterized in that,

Above-mentioned detecting unit comprises a plurality of current-to-voltage convertors, and these a plurality of current-to-voltage convertors will be converted to signals of rotating transformer from the current signal that above-mentioned a plurality of VR type resolvers are exported respectively.

10. ration angle-position detection device according to claim 9 is characterized in that,

Above-mentioned detecting unit also possesses analog switch, the transmission path of a plurality of signals of rotating transformer that this analog switch obtains utilizing above-mentioned a plurality of current-to-voltage convertor to change respectively switches, so that the signals of rotating transformer that output is selected from above-mentioned a plurality of signals of rotating transformer.

11. each the described ration angle-position detection device in 10 is characterized in that according to claim 7,

Above-mentioned a plurality of VR type resolver also comprises the resolver with number of poles identical with the number of poles of PM motor.