JP2009103502A - Zero point detection method using relative angle sensor - Google Patents

Zero point detection method using relative angle sensor Download PDF

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JP2009103502A
JP2009103502A JP2007273832A JP2007273832A JP2009103502A JP 2009103502 A JP2009103502 A JP 2009103502A JP 2007273832 A JP2007273832 A JP 2007273832A JP 2007273832 A JP2007273832 A JP 2007273832A JP 2009103502 A JP2009103502 A JP 2009103502A
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hall element
angle sensor
zero point
rotating shaft
relative angle
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Masaharu Ito
正治 伊藤
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Tamagawa Seiki Co Ltd
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Tamagawa Seiki Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To perform high-precision zero point detection without using an absolute angle sensor by using a Hall element and a semi-circumferential shield plate. <P>SOLUTION: The zero point detection method using a relative angle sensor uses a relative angle sensor (3) connected to a rotating shaft (1), the semi-circumferential shield plate (11) which is provided on a fixed part (2A) facing the rotating shaft (1) and is positioned at a 180-degree-range with respect to the whole circumference, and the Hall element (12) which is provided on the rotating shaft (1) to detect a zero point position (10). When the Hall element (12) is positioned in the + direction (20), it is moved to the - direction (30), and after the on of a detection signal (12a) of the Hall element (12) when the Hall element (12) is rotated from the - direction (30) to the + direction (20), counting is performed with the rising edge (3Aa) of an A-phase signal (3A) with a Z-phase signal (3Z) or a B-phase signal (3B) at an H level as a base point. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、相対角度センサを用いたゼロ点検出方法に関し、特に、駆動装置の絶対角度制御を行う場合、絶対角度センサを用いることなく、相対角度センサとホール素子及び半円周型遮蔽板を用いて回転軸の高精度なゼロ点検出を行うための新規な改良に関する。   The present invention relates to a zero point detection method using a relative angle sensor, and in particular, when performing absolute angle control of a drive device, the relative angle sensor, Hall element, and semicircular shielding plate are used without using the absolute angle sensor. The present invention relates to a novel improvement for performing high-precision zero-point detection of a rotating shaft.

従来、用いられていたこの種の相対角度センサを用いたゼロ点検出方法としては、特に、特許出願等を行っていないため、特許文献等を開示していないが、一般的なハードウェア構成として、例えば、図３で示される構成を挙げることができる。
すなわち、図３において符号１で示されるものは、回転駆動装置２の回転軸であり、この回転軸１には絶対角度センサ３が設けられている。 As a zero point detection method using this type of relative angle sensor that has been used in the past, in particular, since no patent application has been filed, patent documents are not disclosed, but as a general hardware configuration For example, the structure shown by FIG. 3 can be mentioned.
That is, what is indicated by reference numeral 1 in FIG. 3 is a rotating shaft of the rotary drive device 2, and an absolute angle sensor 3 is provided on the rotating shaft 1.

前記絶対角度センサ３の絶対角度信号3ａは、制御基板等を有する制御部４に入力されており、前記回転軸１のゼロ点位置は、前記絶対角度センサ３のゼロ位置によって検出されるように構成されている。
従って、前述の従来構成においては、絶対角度センサ３のゼロ点位置を検出して用いることにより、回転軸１のゼロ位置を検出していた。 The absolute angle signal 3 a of the absolute angle sensor 3 is input to the control unit 4 having a control board or the like, and the zero point position of the rotating shaft 1 is detected by the zero position of the absolute angle sensor 3. It is configured.
Therefore, in the above-described conventional configuration, the zero position of the rotating shaft 1 is detected by detecting and using the zero point position of the absolute angle sensor 3.

従来のゼロ点検出方法は、以上のように構成されていたため、次のような課題が存在していた。
すなわち、絶対角度センサであるアブソリュートエンコーダ及びレゾルバ等が用いられる場合は、これらの角度センサから容易にゼロ点位置を検出することができるが、これらの角度センサを用いることができない場合には、絶対角度制御を行うことができず、相対角度センサを用いたような場合でも、絶対角度制御を行うことができるようにすることが要望されていた。 Since the conventional zero point detection method is configured as described above, the following problems exist.
That is, when absolute encoders and resolvers that are absolute angle sensors are used, the zero point position can be easily detected from these angle sensors, but when these angle sensors cannot be used, There has been a demand for enabling absolute angle control even when a relative angle sensor cannot be used because angle control cannot be performed.

本発明による相対角度センサを用いたゼロ点検出方法は、回転駆動装置により両方向に３６０度以下の有限角のみ回転する回転軸に接続された相対角度センサと、前記回転軸に対向して設けられた固定部に設けられ前記回転軸の全周に対して１８０度範囲に位置する半円周型遮蔽板と、前記回転軸に設けられ前記半円周型遮蔽板と対向するホール素子と、前記相対角度センサからの角度信号及び前記ホール素子からの検出信号を処理するための制御部と、を用い、前記半円周型遮蔽板の一端部を、前記ホール素子が検出するゼロ点位置とし、前記ゼロ点位置から時計回りの１８０度範囲を前記回転軸が回転する＋（プラス）方向とすると共に、反時計回りの１８０度範囲を前記回転軸が回転する−（マイナス）方向とし、前記回転駆動装置に電源投入時、前記ホール素子からの検出信号に基づき前記ホール素子が前記＋方向側に位置する場合は前記−方向側へ移動させ、さらに前記−方向側から＋方向側へ回転させて前記ホール素子の検出信号がオンとなった後、前記相対角度センサからの角度信号の最初のＺ相信号又はＢ相信号のＨレベルでのＡ相信号の立ち上りエッジを基点としてアップ／ダウンのカウントを開始し、このカウントによるカウント値を前記回転軸の角度情報として用いる方法である。   A zero point detection method using a relative angle sensor according to the present invention is provided so as to be opposed to a rotation angle and a relative angle sensor connected to a rotation shaft that rotates only a finite angle of 360 degrees or less in both directions. A semicircular shielding plate provided in the fixed portion and located in a range of 180 degrees with respect to the entire circumference of the rotating shaft, a hall element provided on the rotating shaft and facing the semicircular shielding plate, A control unit for processing an angle signal from a relative angle sensor and a detection signal from the Hall element, and one end of the semicircular shielding plate as a zero point position detected by the Hall element, The range of 180 degrees clockwise from the zero point position is defined as a + (plus) direction in which the rotating shaft rotates, and the range of 180 degrees counterclockwise is defined as a-(minus) direction in which the rotating shaft rotates. To the drive When the source is turned on, if the Hall element is located on the + direction side based on a detection signal from the Hall element, the Hall element is moved to the − direction side, and further rotated from the − direction side to the + direction side. After the detection signal is turned on, up / down counting is started from the rising edge of the first A phase signal at the H level of the first Z phase signal or B phase signal of the angle signal from the relative angle sensor. In this method, the count value obtained by this count is used as angle information of the rotating shaft.

本発明による相対角度センサを用いたゼロ点検出方法は、以上のように構成されているため、次のような効果を得ることができる。
すなわち、電源投入時、ホール素子が＋方向側に位置する場合は−方向側へ移動させ、回転軸のホール素子を−方向側から＋方向側へ回転させてホール素子の検出信号がオンとなった後、角度信号の最初のＺ相信号又はＢ相信号のＨレベルでのＡ相信号の立ち上りエッジを基点としてアップ／ダウンのカウントを開始し、このカウントによるカウント値を角度情報として用いるため、絶対角度センサを用いることなく、相対角度センサを用いた場合でも容易に高精度のゼロ点位置検出を行うことができる。 Since the zero point detection method using the relative angle sensor according to the present invention is configured as described above, the following effects can be obtained.
In other words, when the Hall element is located on the + direction side when the power is turned on, the Hall element is moved to the − direction side, and the Hall element of the rotating shaft is rotated from the − direction side to the + direction side to turn on the detection signal of the Hall element After that, the up / down counting is started from the rising edge of the A phase signal at the H level of the first Z phase signal or B phase signal of the angle signal, and the count value by this count is used as angle information. Even if a relative angle sensor is used without using an absolute angle sensor, it is possible to easily detect the zero point position with high accuracy.

本発明は、駆動装置の絶対角度制御を行う場合、絶対角度センサを用いることなく、相対角度センサと半円周型遮蔽板及びホール素子を用いて高精度なゼロ点検出を行うことができる相対角度センサを用いたゼロ点検出方法を提供することを目的とする。   In the present invention, when absolute angle control of a driving device is performed, a relative zero sensor can be detected with high accuracy using a relative angle sensor, a semicircular shielding plate, and a Hall element without using an absolute angle sensor. An object of the present invention is to provide a zero point detection method using an angle sensor.

以下、図面と共に本発明による相対角度センサを用いたゼロ点検出方法の好適な実施の形態について説明する。
尚、従来例と同一又は同等部分には、同一符号を用いて説明する。
図１において符号１で示されるものは、回転駆動装置２は両方向に３６０度以下の有限角のみ回転する回転軸であり、この回転軸１には、インクリメンタルエンコーダからなる相対角度センサ３が設けられている。
尚、この相対角度センサ３の固定側は、図２に示されるように、前記回転駆動装置２に対して対向配置された固定部２Ａに固定されている。 Hereinafter, preferred embodiments of a zero point detection method using a relative angle sensor according to the present invention will be described with reference to the drawings.
In addition, the same code | symbol is demonstrated to the part which is the same as that of a prior art example, or an equivalent part.
In FIG. 1, the reference numeral 1 indicates that the rotary drive device 2 is a rotary shaft that rotates only in a finite angle of 360 degrees or less in both directions, and the rotary shaft 1 is provided with a relative angle sensor 3 formed of an incremental encoder. ing.
Note that the fixed side of the relative angle sensor 3 is fixed to a fixed portion 2 </ b> A disposed to face the rotary drive device 2 as shown in FIG. 2.

前記回転軸１には、回転軸１のゼロ点位置１０（後述の半円周型遮蔽板１１の一端１１ａと一致）から＋（プラス）方向２０に１８０度の区間に半円型、円弧状等の半円周型からなる半円周型遮蔽板１１が取付けられている。
前記固定部２Ａの端面には、磁性材料からなる前記半円周型遮蔽板１１が設けられ、前記回転軸１の前記半円周型遮蔽板１１に対向する端面１ａにはホール素子１２が設けられ、前記ホール素子１２が半円周型遮蔽板１１の一端１１ａを検出することにより前記ゼロ位置１０を検出することができるように構成されている。
尚、ゼロ点位置１０は、前記相対角度センサ３のインクリメンタルエンコーダでＺ相信号がある場合はこれを使用することができる。 The rotary shaft 1 is semicircular and arcuate in a section of 180 degrees in the + (plus) direction 20 from the zero point position 10 of the rotary shaft 1 (matching one end 11a of a semicircular shielding plate 11 described later). A semicircular shielding plate 11 having a semicircular type such as the like is attached.
The semicircular shielding plate 11 made of a magnetic material is provided on the end surface of the fixed portion 2A, and the Hall element 12 is provided on the end surface 1a of the rotating shaft 1 facing the semicircular shielding plate 11. The Hall element 12 is configured to detect the zero position 10 by detecting one end 11 a of the semicircular shielding plate 11.
The zero point position 10 can be used when there is a Z-phase signal in the incremental encoder of the relative angle sensor 3.

次に、前述の構成において、電源を投入した場合、インクリメンタルエンコーダからなる相対角度センサ３では、回転軸１がどの方向を向いているか判別できないが、前記ホール素子１２の情報から前記方向の判別が可能となる。
すなわち、前記ホール素子１２によって前記半円周型遮蔽板１１の端部のゼロ点位置１０を検出する場合、図１において、前記ゼロ点位置１０から時計回りの１８０度範囲を前記回転軸１が回転する＋（プラス）方向（すなわち、ＣＷ方向）２０とすると共に、反時計回りの１８０度範囲を前記回転軸１が回転する−（マイナス）方向（すなわち、ＣＣＷ方向）３０とする。 Next, in the above-described configuration, when the power is turned on, the relative angle sensor 3 composed of an incremental encoder cannot determine which direction the rotating shaft 1 faces, but the direction can be determined from the information of the Hall element 12. It becomes possible.
That is, when the zero point position 10 at the end of the semicircular shielding plate 11 is detected by the Hall element 12, the rotation shaft 1 moves in a clockwise 180 degree range from the zero point position 10 in FIG. The + (plus) direction (that is, the CW direction) 20 that rotates is set to 20 and the 180 ° range counterclockwise is set to the − (minus) direction (that is, the CCW direction) 30 that the rotating shaft 1 rotates.

前記回転駆動装置２に電源を投入する時、図２のタイミングチャートのように、前記ホール素子１２からの検出信号１２ａにより、前記ホール素子１２が前記＋方向２０側に位置する場合は、前記−方向３０側へ移動させ、前記ホール素子１２を前記−方向３０側から＋方向２０側へ回転させて前記ホール素子１２の検出信号１２ａがオンとなった後、前記相対角度センサ３からの角度信号３ａの最初のＺ相信号３Ｚ又はＢ相信号３ＢのＨレベルでのＡ相信号３Ａの立ち上りエッジ３Ａａを基点として前記制御部４のカウンタ（図示せず）がアップ／ダウンのカウントを開始し、このカウントによるカウント値を前記回転軸１の角度情報として用いることができる。
すなわち、前記Ａ相信号３Ａの立ち上りエッジ３Ａａを回転軸１のゼロ点設定位置とすることができる。
従って、前記カウント値を角度情報として使用することで、前記回転軸１のゼロ位置基準（すなわち、前記立ち上りエッジ３Ａａ）の角度制御が可能となる。 When the rotary drive device 2 is powered on, as shown in the timing chart of FIG. 2, when the Hall element 12 is positioned on the + direction 20 side by the detection signal 12 a from the Hall element 12, the − After moving to the direction 30 side and rotating the hall element 12 from the minus direction 30 side to the plus direction 20 side to turn on the detection signal 12a of the hall element 12, the angle signal from the relative angle sensor 3 is turned on. The counter (not shown) of the control unit 4 starts counting up / down from the rising edge 3Aa of the first A phase signal 3Z of 3a or the A phase signal 3A at the H level of the B phase signal 3B. A count value obtained by this counting can be used as angle information of the rotating shaft 1.
That is, the rising edge 3Aa of the A phase signal 3A can be set as the zero point setting position of the rotary shaft 1.
Therefore, by using the count value as angle information, the angle control of the zero position reference (that is, the rising edge 3Aa) of the rotating shaft 1 can be performed.

本発明による相対角度センサを用いたゼロ点検出方法を示す構成図である。It is a block diagram which shows the zero point detection method using the relative angle sensor by this invention. 図１の要部の構成図である。It is a block diagram of the principal part of FIG. 図２の要部の平面図である。It is a top view of the principal part of FIG. 図１のゼロ点検出方法の動作を示すタイミングチャート図である。It is a timing chart figure which shows operation | movement of the zero point detection method of FIG. 従来のゼロ点検出方法を示す構成図である。It is a block diagram which shows the conventional zero point detection method.

符号の説明Explanation of symbols

１ 回転軸
２ 回転駆動装置
３ 相対角度センサ（インクリメンタルエンコーダ）
３ａ 角度信号
４ 制御部
１０ ゼロ点位置
１１ 半円周型遮蔽板
１２ ホール素子
２０ ＋方向（プラス方向）
３０ −方向（マイナス方向）
１２ａ 検出信号
３Ｚ Ｚ相信号
３Ａ Ａ相信号
３Ｂ Ｂ相信号
３Ａａ 立ち上りエッジ DESCRIPTION OF SYMBOLS 1 Rotating shaft 2 Rotation drive device 3 Relative angle sensor (incremental encoder)
3a Angle signal 4 Control unit 10 Zero point position 11 Semicircular shielding plate 12 Hall element 20 + direction (plus direction)
30-direction (minus direction)
12a Detection signal 3Z Z-phase signal 3A A-phase signal 3B B-phase signal 3Aa Rising edge

Claims (1)

回転駆動装置(2)により両方向に３６０度以下の有限角のみ回転する回転軸(1)に接続された相対角度センサ(3)と、前記回転軸(1)に対向して設けられた固定部(2A)に設けられ前記回転軸(1)の全周に対して１８０度範囲に位置する半円周型遮蔽板(11)と、前記回転軸(1)に設けられ前記半円周型遮蔽板(11)と対向するホール素子(12)と、前記相対角度センサ(3)からの角度信号(3a)及び前記ホール素子(12)からの検出信号(12a)を処理するための制御部(4)と、を用い、
前記半円周型遮蔽板(11)の一端(11a)を、前記ホール素子(12)が検出するゼロ点位置(10)とし、前記ゼロ点位置(10)から時計回りの１８０度範囲を前記回転軸(1)が回転する＋（プラス）方向とすると共に、反時計回りの１８０度範囲を前記回転軸(1)が回転する−（マイナス）方向とし、
前記回転駆動装置(2)に電源投入時、前記ホール素子(12)からの検出信号(12a)に基づき前記ホール素子(12)が前記＋方向(20)側に位置する場合は前記−方向(30)側へ移動させ、さらに前記−方向(30)側から＋方向(20)側へ回転させて前記ホール素子(12)の検出信号(12a)がオンとなった後、前記相対角度センサ(3)からの角度信号(3a)の最初のＺ相信号(3Z)又はＢ相信号(3B)のＨレベルでのＡ相信号(3A)の立ち上りエッジ(3Aa)を基点としてアップ／ダウンのカウントを開始し、このカウントによるカウント値を前記回転軸(1)の角度情報として用いることを特徴とする相対角度センサを用いたゼロ点検出方法。 A relative angle sensor (3) connected to a rotating shaft (1) that rotates only a finite angle of 360 degrees or less in both directions by a rotation driving device (2), and a fixed portion provided facing the rotating shaft (1) A semicircular shielding plate (11) provided in (2A) and located in a range of 180 degrees with respect to the entire circumference of the rotating shaft (1); and the semicircular shielding provided in the rotating shaft (1). Hall element (12) facing the plate (11), and a control unit for processing the angle signal (3a) from the relative angle sensor (3) and the detection signal (12a) from the Hall element (12) ( 4) and
One end (11a) of the semicircular shielding plate (11) is a zero point position (10) detected by the Hall element (12), and a clockwise 180 degree range from the zero point position (10) is The rotation axis (1) rotates in the + (plus) direction, and the counterclockwise 180 degree range is defined as the-(minus) direction in which the rotation shaft (1) rotates.
When turning on the rotary drive device (2), when the Hall element (12) is positioned on the + direction (20) side based on the detection signal (12a) from the Hall element (12), the-direction ( 30) side, and further rotated from the − direction (30) side to the + direction (20) side to turn on the detection signal (12a) of the Hall element (12), and then the relative angle sensor ( Counting up / down from the rising edge (3Aa) of the A phase signal (3A) at the H level of the first Z phase signal (3Z) or B phase signal (3B) of the angle signal (3a) from 3) A zero point detection method using a relative angle sensor, wherein the count value based on this count is used as angle information of the rotating shaft (1).
JP2007273832A 2007-10-22 2007-10-22 Zero point detection method using relative angle sensor Pending JP2009103502A (en)

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Cited By (2)

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CN107272573A (en) * 2016-04-06 2017-10-20 上海气焊机厂有限公司 Automatically controlled stopping means and automatically controlled limit method and automatically controlled back to zero method
CN115493396A (en) * 2022-10-08 2022-12-20 广东光信机械有限公司 Winding type baking equipment

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JPH08261795A (en) * 1995-03-17 1996-10-11 Yaskawa Electric Corp Method for detecting reference position of encoder

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07324945A (en) * 1994-05-30 1995-12-12 Nakata Sekkei Kogyo:Kk Position detection apparatus
JPH08261795A (en) * 1995-03-17 1996-10-11 Yaskawa Electric Corp Method for detecting reference position of encoder

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107272573A (en) * 2016-04-06 2017-10-20 上海气焊机厂有限公司 Automatically controlled stopping means and automatically controlled limit method and automatically controlled back to zero method
CN107272573B (en) * 2016-04-06 2024-01-05 上海气焊机厂有限公司 Electric control limiting device, electric control limiting method and electric control zeroing method
CN115493396A (en) * 2022-10-08 2022-12-20 广东光信机械有限公司 Winding type baking equipment
CN115493396B (en) * 2022-10-08 2024-01-09 广东光信机械有限公司 Winding type baking equipment

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