JP2010043981A - Angle position detector and rotational speed detector of rotor - Google Patents

Angle position detector and rotational speed detector of rotor Download PDF

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JP2010043981A
JP2010043981A JP2008208805A JP2008208805A JP2010043981A JP 2010043981 A JP2010043981 A JP 2010043981A JP 2008208805 A JP2008208805 A JP 2008208805A JP 2008208805 A JP2008208805 A JP 2008208805A JP 2010043981 A JP2010043981 A JP 2010043981A
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speed
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rotation
converter
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JP5217766B2 (en
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Toshimitsu Maruki
利光 丸木
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Electric Manufacturing Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage

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  • General Physics & Mathematics (AREA)
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Abstract

<P>PROBLEM TO BE SOLVED: To precisely detect the angle position of a rotor from low speed to high speed. <P>SOLUTION: The output of a resolver in low-speed rotation is detected by a high-resolution R/D converter 34 for low-speed rotation; the output of the resolver in high-speed rotation is detected by a low-resolution R/D converter 35 for high-speed rotation; the rotational speed of the rotor is computed from the output of the R/D converter 35 for high-speed rotation by a rotational speed arithmetic circuit 37; and the rotational speed is input to a switching computing function section 37. The switching computing function section 37 outputs 0 when the rotational speed is not more than n1, outputs 1 when the rotational speed is not less than n2, and outputs a value that is between 0 and 1 and increases in proportion to an input rotational speed when the rotational speed is between n1 and n2. A subtraction section 39 subtracts the output of a switching computing function section 38 from 1; a multiplier 40 multiplies the output of the R/D converter 35 for high-speed rotation by the output of the switching computing function section 38; and a multiplier 41 multiplies the output of the R/D converter 34 for low-speed rotation by the output of the subtraction section 39. The output of the multipliers 40, 41 is added by an adder 42. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

この発明は、モータ等の回転体の角度位置検出装置及び回転数検出装置に関するものである。   The present invention relates to an angular position detection device and a rotation number detection device for a rotating body such as a motor.

図４は特許文献１に示されたレゾルバ（電磁誘導形角度検出器）の出力をデジタル化するコンバータ（以下、Ｒ／Ｄコンバータ又はＲ／Ｄ変換器という。）及びＲ／Ｄコンバータからのエンコード出力を分周するエンコーダ出力分周装置に関するものであり、Ｒ／Ｄコンバータ１では、レゾルバの正弦波出力及び余弦波出力が取り込まれ、ＡＤ変換が行われた後、１２ビットのエンコード信号Ａ１，Ｂ１及び回転方向信号ＤＩＲが生成される。なお、レゾルバは、回転トランスの一種であり、２個のステータ巻線と１個のロータ巻線が備えられ、２個のステータ巻線は機械的に９０度ずらして配置されている。そして、ステータ巻線との結合により得られる信号の振幅は、ロータ（軸）の位置とステータとの相対位置の関数になる。このため、レゾルバからは、軸角度のサイン及びコサインで変調された２種類の出力電圧が得られる。エンコード信号Ａ１，Ｂ１はマルチプレクサ２に供給される。又、エンコード信号Ａ１及び回転方向信号ＤＩＲはＤＳＰ（デジタル信号処理プロセッサ）３に供給される。ＤＳＰ３では、エンコード信号Ａ１の第１のパルス期間で、エンコード信号Ａ１に同期したタイマにより１周期（レゾルバの回転速度）を測定し、第２のパルス期間では、１パルスの１６分割値を計算し、１４ビット（１／４倍周期）のエンコード信号Ａ２，Ｂ２の立ち上がり、立ち下がりエッジのタイミングを決定することにより、１４ビットのエンコード信号Ａ２，Ｂ２を生成する。これにより、エンコード信号Ａ１の第３〜第５０のパルス期間において、１４ビットのエンコード信号Ａ２，Ｂ２が生成され、マルチプレクサ２に供給される。   FIG. 4 shows a converter (hereinafter referred to as R / D converter or R / D converter) for digitizing the output of the resolver (electromagnetic induction type angle detector) disclosed in Patent Document 1 and encoding from the R / D converter. The present invention relates to an encoder output frequency dividing device that divides an output. In an R / D converter 1, a sine wave output and a cosine wave output of a resolver are taken in, and after AD conversion, a 12-bit encoded signal A1, B1 and the rotation direction signal DIR are generated. The resolver is a kind of rotary transformer, and includes two stator windings and one rotor winding, and the two stator windings are mechanically shifted by 90 degrees. The amplitude of the signal obtained by coupling with the stator winding is a function of the position of the rotor (shaft) and the relative position of the stator. For this reason, two types of output voltages modulated with the sine and cosine of the shaft angle are obtained from the resolver. The encode signals A1 and B1 are supplied to the multiplexer 2. The encode signal A1 and the rotation direction signal DIR are supplied to a DSP (digital signal processor) 3. The DSP 3 measures one period (resolver rotational speed) with a timer synchronized with the encode signal A1 during the first pulse period of the encode signal A1, and calculates a 16-split value of one pulse during the second pulse period. The 14-bit encoded signals A2 and B2 are generated by determining the timing of the rising and falling edges of the 14-bit (1/4 time period) encoded signals A2 and B2. Thus, 14-bit encode signals A2 and B2 are generated and supplied to the multiplexer 2 in the third to 50th pulse periods of the encode signal A1.

また、ＤＳＰ３では、第１のパルス期間で測定したレゾルバのロータ回転速度が４００ｒｐｍ以下もしくは１２００ｒｐｍ以上では、Ｒ／Ｄコンバータ１のエンコード信号Ａ１，Ｂ１を選択するための選択信号ＳＥＬがマルチプレクサ２に供給される。一方、ロータ回転速度が４００ｒｐｍ以上１２００ｒｐｍ以下の場合には、ＤＳＰ３からのエンコード信号Ａ２，Ｂ２を選択するための選択信号ＳＥＬがマルチプレクサ２に供給される。マルチプレクサ２では、選択信号ＳＥＬに従って、ロータの回転速度が４００ｒｐｍ以下もしくは１２００ｒｐｍ以上の場合には、１２ビットのエンコード信号Ａ１，Ｂ１が出力され、４００ｒｐｍ以上１２００ｒｐｍ以下の場合には、１４ビットのエンコード信号Ａ２，Ｂ２が出力される。この結果、速度リップルが悪化する回転数、すなわち、レゾルバのロータ回転速度が４００ｒｐｍ以上１２００ｒｐｍ以下の範囲で、Ｒ／Ｄコンバータ１のエンコード信号Ａ１，Ｂ１をＤＳＰ３により２ビット拡張（周波数を４倍）したエンコード信号Ａ２，Ｂ２が出力される。   In the DSP 3, when the resolver rotor rotational speed measured in the first pulse period is 400 rpm or less or 1200 rpm or more, the selection signal SEL for selecting the encode signals A 1 and B 1 of the R / D converter 1 is supplied to the multiplexer 2. Is done. On the other hand, when the rotor rotational speed is 400 rpm or more and 1200 rpm or less, the selection signal SEL for selecting the encode signals A2 and B2 from the DSP 3 is supplied to the multiplexer 2. The multiplexer 2 outputs 12-bit encode signals A1 and B1 when the rotational speed of the rotor is 400 rpm or less or 1200 rpm or more according to the selection signal SEL, and 14-bit encode signal when it is 400 rpm or more and 1200 rpm or less. A2 and B2 are output. As a result, the encoder signals A1 and B1 of the R / D converter 1 are expanded by 2 bits by DSP3 (4 times the frequency) when the rotational speed at which the speed ripple deteriorates, that is, the resolver rotor rotational speed is in the range of 400 rpm to 1200 rpm. The encoded signals A2 and B2 are output.

又、図５は特許文献２に示されたモータの角度位置検出装置であり、マイクロプロセッサ４内のＤＡ変換器５の出力６はドライバ７によって電力増幅され、モータ８の回転トルクを制御する。又、モータ８のトルクの方向は回転方向制御信号９により制御される。モータ８の回転角度情報は、ＦＧＡ，ＦＧＢとして出力され、ＦＧＡ，ＦＧＢは増幅部１０，１１でそれぞれ増幅されて信号１２，１３となり、ＡＤ変換器１４，１５に入力されてＡＤ変換され、デジタルデータ１６，１７となる。デジタルデータ１６，１７は回転角度計算部１８で回転角度情報１９に変換され、スイッチ２０へ送られる。一方、波形整形部２１，２２へ供給された信号１２，１３は波形整形されて矩形波２３，２４となり、マイクロプロセッサ４内への入力となる。矩形波２３，２４は計数及び正逆回転検出部２５に入力され、正逆回転及びパルスのエッジ部の立ち上がり、立ち下がりが検出されて計数が行なわれ、計数データ２６は回転角度計算部２７に送られ、回転角度計算部２７ではパルス毎に規定の値が加算されて回転角度情報２８に変換され、スイッチ２０に送られる。スイッチ２０の制御信号を出力するスイッチ制御部２１ａは、前回のエラー値が所定値以上の場合又はＦＧ周期が所定値より短い場合、即ちモータ８の回転速度が所定回転速度より大きい場合には、信号２８を選択し、前回のエラー値が所定値未満でかつＦＧ周期が所定値より長い場合、即ちモータ６の回転速度が所定回転速度より小さい場合、信号１９を選択するようスイッチ制御信号を出力する。スイッチ２０によって切り替えられた回転角度情報２９はエラー計算部３０によって回転角度目標値との差分を計算するために用いられる。エラー計算部３０はこの差分信号にゲイン、フィルタを施し、フィードバックデータ３１をＤＡ変換器５に送ると同時に、フィードバックデータ３１が負の場合はハイレベル、正の場合はローレベルの回転方向制御信号９を出力する。   FIG. 5 shows a motor angular position detection device disclosed in Patent Document 2. The output 6 of the DA converter 5 in the microprocessor 4 is amplified by a driver 7 to control the rotational torque of the motor 8. The direction of torque of the motor 8 is controlled by a rotation direction control signal 9. The rotation angle information of the motor 8 is output as FGA and FGB, and the FGA and FGB are amplified by the amplification units 10 and 11 to become signals 12 and 13, respectively, are input to the AD converters 14 and 15, and are AD-converted to digital. Data 16 and 17 are obtained. The digital data 16 and 17 are converted into rotation angle information 19 by the rotation angle calculator 18 and sent to the switch 20. On the other hand, the signals 12 and 13 supplied to the waveform shaping units 21 and 22 are waveform-shaped to become rectangular waves 23 and 24 and are input to the microprocessor 4. The rectangular waves 23 and 24 are input to the counting and forward / reverse rotation detecting unit 25, and the counting is performed by detecting the forward / reverse rotation and the rising and falling edges of the pulse, and the count data 26 is sent to the rotation angle calculating unit 27. The rotation angle calculation unit 27 adds a prescribed value for each pulse, converts it into rotation angle information 28, and sends it to the switch 20. The switch control unit 21a that outputs the control signal of the switch 20 has a case where the previous error value is greater than or equal to a predetermined value, or when the FG cycle is shorter than the predetermined value, that is, when the rotational speed of the motor 8 is greater than the predetermined rotational speed. When the signal 28 is selected and the previous error value is less than the predetermined value and the FG cycle is longer than the predetermined value, that is, when the rotational speed of the motor 6 is smaller than the predetermined rotational speed, a switch control signal is output so as to select the signal 19 To do. The rotation angle information 29 switched by the switch 20 is used by the error calculation unit 30 to calculate a difference from the rotation angle target value. The error calculation unit 30 applies a gain and a filter to the difference signal, and sends the feedback data 31 to the DA converter 5. At the same time, when the feedback data 31 is negative, the rotation direction control signal is high. 9 is output.

このような構成により、モータ８の回転速度が速いときは、正弦波信号若しくは余弦波信号又は両方の信号を波形整形したパルスのエッジ部を検出して、パルスの数をカウントすることでモータの回転角度を検出することにより、高速に対応することができ、またモータ８の回転速度が遅いときは、正弦波信号及び余弦波信号の電圧値を基にモータの回転角度を検出して、回転角度を精度良く検出する。
特開２００４−３０４７４０号公報 特開２００６−２３４６８８号公報 With such a configuration, when the rotation speed of the motor 8 is high, the edge portion of the pulse obtained by shaping the waveform of the sine wave signal or the cosine wave signal or both signals is detected, and the number of pulses is counted. By detecting the rotation angle, it is possible to cope with high speed, and when the rotation speed of the motor 8 is slow, the rotation angle of the motor is detected based on the voltage values of the sine wave signal and the cosine wave signal to rotate The angle is detected with high accuracy.
JP 2004-304740 A JP 2006-234688 A

前記したように、従来、モータ等の回転体の角度位置を検出する回路や回転数を検出する回路が種々提案されているが、以下のような課題を持っている。即ち、例えば、高精度、高分解能の位置検出ができるアブソリュートエンコーダを用いた場合には、一般に、約３０００ｒｐｍ以上の回転では正常に動作しなくなり、約５０００ｒｐｍ以上の回転では機械的に破損してしまうので、高速での角度位置検出や回転数検出には用いることができなかった。又、同様の角度位置検出ができるレゾルバは、そのＲ／Ｄ変換器の分解能と回転速度との関係で次の課題がある。即ち、１６ｂｉｔ以上の高分解能のＲ／Ｄ変換器は、内部のカウンタ用クロック周波数の制限により一般に約１５００ｒｐｍ以上の回転では正常に動作しなくなるので、高速での角度位置検出や回転数検出には用いることができなかった。逆に、１００００ｒｐｍを超える高速での角度位置検出や回転数検出に用いることができるＲ／Ｄ変換器には、高分解能のものが存在しないので、１２ｂｉｔ以下のＲ／Ｄ変換器しか使用できなかった。従って、現状では、１６ｂｉｔ以上の高分解能の精度を持ち、かつ１００００ｒｐｍを超える高速での角度位置検出や回転数検出を行うことができるＲ／Ｄ変換器は存在しなかった。このため、分解能で妥協するか上限回転数で妥協するしかなかった。   As described above, conventionally, various circuits for detecting the angular position of a rotating body such as a motor and circuits for detecting the number of rotations have been proposed, but have the following problems. That is, for example, when an absolute encoder capable of detecting a position with high accuracy and high resolution is used, in general, it does not operate normally at a rotation of about 3000 rpm or more, and mechanically breaks at a rotation of about 5000 rpm or more. Therefore, it could not be used for high-speed angular position detection and rotational speed detection. Further, a resolver capable of detecting the same angular position has the following problems due to the relationship between the resolution of the R / D converter and the rotational speed. That is, a high resolution R / D converter of 16 bits or more generally does not operate normally at a rotation speed of about 1500 rpm or more due to the limitation of the internal counter clock frequency. It could not be used. Conversely, since there is no high resolution R / D converter that can be used for angular position detection and rotational speed detection at a high speed exceeding 10,000 rpm, only an R / D converter of 12 bits or less can be used. It was. Therefore, at present, there is no R / D converter that has high resolution accuracy of 16 bits or more and can detect angular position and rotational speed at a high speed exceeding 10,000 rpm. For this reason, there was no choice but to compromise on resolution or compromise on the upper limit number of revolutions.

この発明は上記のような課題を解決するために成されたものであり、回転体の角度位置検出や回転数検出を低速から高速まで精度良く行うことができる回転体の角度位置検出装置及び回転数検出装置を得ることを目的とする。   SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. An angular position detection device and a rotation of a rotating body that can accurately detect the angular position and the number of rotations of the rotating body from low speed to high speed. The object is to obtain a number detector.

この発明の請求項１に係る回転体の角度位置検出装置は、回転体に連結されたレゾルバと、レゾルバの低速回転時の出力をデジタル化するとともに、回転体の角度位置を検出する高分解能の低速回転用Ｒ／Ｄ変換器と、レゾルバの高速回転時の出力をデジタル化するとともに、回転体の角度位置を検出する低分解能の高速回転用Ｒ／Ｄ変換器と、高速回転用Ｒ／Ｄ変換器の出力から回転体の回転数を演算する第１の回転数演算回路と、第１の回転数演算回路から回転数を入力され、この回転数が第１の所定値以下で０を出力するとともに、第２の所定値以上で１を出力し、かつ第１の所定値以上で第２の所定値以下では０と１の間で入力回転数に比例して増大する値を出力する切換演算関数部と、１から切換演算関数部の出力を減算する減算部と、高速回転用Ｒ／Ｄ変換器の出力に切換演算関数部の出力を掛算する第１の掛算器と、低速回転用Ｒ／Ｄ変換器の出力に減算部の出力を掛算する第２の掛算器と、第１及び第２の掛算器の出力を加算する加算部とを備えたものである。   According to a first aspect of the present invention, there is provided a rotary body angular position detection device that digitizes the resolver coupled to the rotary body and the output of the resolver during low-speed rotation and that detects the angular position of the rotary body. Low-speed rotation R / D converter, low-resolution high-speed rotation R / D converter that digitizes the output of the resolver during high-speed rotation and detects the angular position of the rotating body, and high-speed rotation R / D The first rotation number calculation circuit for calculating the rotation number of the rotating body from the output of the converter and the rotation number from the first rotation number calculation circuit are input, and 0 is output when the rotation number is equal to or less than the first predetermined value. In addition, switching is performed to output 1 above the second predetermined value and output a value that increases in proportion to the input rotational speed between 0 and 1 above the first predetermined value and below the second predetermined value. Subtraction that subtracts the output of the arithmetic function part and the switching arithmetic function part from 1 A first multiplier that multiplies the output of the switching operation function part by the output of the high-speed rotation R / D converter, and a second multiplier that multiplies the output of the subtraction part by the output of the low-speed rotation R / D converter. A multiplier and an adder for adding the outputs of the first and second multipliers are provided.

請求項２に係る回転体の回転数検出装置は、前記加算部の出力から回転体の回転数を演算する第２の回転数演算回路を備えたものである。   According to a second aspect of the present invention, there is provided a rotational speed detection device for a rotating body including a second rotational speed calculation circuit for calculating the rotational speed of the rotating body from the output of the adding section.

以上のようにこの発明の請求項１によれば、回転体の低速回転時には高分解能で高精度の低速回転用Ｒ／Ｄ変換器の検出信号により角度位置を検出するとともに、回転体の高速回転時には低分解能の高速回転用Ｒ／Ｄ変換器により角度位置を検出し、高速と低速の間では両Ｒ／Ｄ変換器の検出信号を比率演算して角度位置の検出信号としており、低速から高速まで連続的な切換を行うことができ、切換ショックは発生せず、高速回転時には変換器が低分解能でも高精度が得られるので、高分解能の変換器を用いる低速回転時から低分解能の変換器を用いる高速回転時まで高精度の角度位置検出を行うことができる。   As described above, according to the first aspect of the present invention, when the rotating body rotates at a low speed, the angular position is detected by the detection signal of the R / D converter for low-speed rotation with high resolution and high accuracy, and the rotating body rotates at a high speed. Sometimes the angular position is detected by a low resolution R / D converter with high resolution, and the detection signal of both R / D converters is ratio-calculated between the high speed and low speed to obtain the angular position detection signal. Can be switched continuously, no switching shock occurs, and high accuracy is obtained even at low resolution during high-speed rotation, so low-resolution converter from low-speed rotation using a high-resolution converter It is possible to detect the angular position with high accuracy until high-speed rotation using.

又、請求項２によれば、角度位置検出信号を発生する加算部の出力から第２の回転数演算回路により回転数を演算しており、回転体の回転数を角度位置の検出と同様に低速から高速まで精度良く検出することができる。   According to the second aspect of the present invention, the rotational speed is calculated by the second rotational speed calculation circuit from the output of the adding section that generates the angular position detection signal, and the rotational speed of the rotating body is determined in the same manner as the angular position detection. It can accurately detect from low speed to high speed.

実施最良形態１
以下、この発明を実施するための最良の形態を図面とともに説明する。モータ等の回転体の角度位置を制御する装置や停止制御する装置においては、制御精度を良くするために、検出器の分解能を高くすることが必要であるが、回転速度が高くなると、角度位置検出の情報量が多くなり、検出遅れが少なくなるので、検出器が比較的低い分解能でも十分高精度の角度位置制御や回転速度制御が可能となる。この特性を利用して、停止制御や低速制御においては、１６ｂｉｔ以上の高分解能のＲ／Ｄ変換器の角度位置検出信号を用いて制御し、回転速度が高くなると、１２ｂｉｔの低分解能のＲ／Ｄ変換器の角度位置検出信号に切り換えて制御することにより、停止状態から高速回転までの範囲で高精度の角度位置制御や回転速度制御が可能となる。 Best Embodiment 1
The best mode for carrying out the present invention will be described below with reference to the drawings. In a device that controls the angular position of a rotating body such as a motor or a device that performs stop control, it is necessary to increase the resolution of the detector in order to improve the control accuracy, but if the rotational speed increases, the angular position Since the amount of detection information is increased and the detection delay is reduced, sufficiently accurate angular position control and rotational speed control are possible even with a relatively low resolution of the detector. Using this characteristic, in stop control and low speed control, control is performed using an angular position detection signal of a high resolution R / D converter of 16 bits or more, and when the rotational speed increases, 12 bits of low resolution R / D. By controlling by switching to the angular position detection signal of the D converter, highly accurate angular position control and rotational speed control can be performed in the range from the stop state to the high speed rotation.

ここまでのことは、位置制御を行ったことがある技術者であれば、誰でも考えることであるが、この回路を実際に使用する上で大きな課題が存在するため、製品等に実際に使用されたことがない。その課題とは、低速回転用Ｒ／Ｄ変換器の検出信号から高速回転用Ｒ／Ｄ変換器の検出信号に切り換える時、逆に高速回転用Ｒ／Ｄ変換器の検出信号から低速回転用Ｒ／Ｄ変換器の検出信号に切り換える時に切換ショックが発生し、角度位置制御や速度制御が大きく変動してしまい、実用に耐えられないため、実際に使用されたことがなかった。切換ショックが発生する主な原因は、角度位置制御のマイナーループに速度制御が用いられるのが一般的な位置制御系であり、低速回転用Ｒ／Ｄ変換器の検出信号と高速回転用Ｒ／Ｄ変換器の検出信号とが切り換わる時に二つの検出信号が一致していないことに起因し、検出信号の切換時に非常に短い時間内で位置情報が変化するため、大きな速度変化があったと誤検出し、マイナーループの速度制御が大きく変動してしまうためであり、二つのＲ／Ｄ変換器の精度と動作タイミング上、二つの検出信号を一致させることは不可能に近い。従って、二つのＲ／Ｄ変換器の検出信号を切換ショックなしに切り換えることができれば、前記課題は解決する。   Up to this point, any engineer who has performed position control should consider it, but there are major problems in actually using this circuit, so it is actually used in products, etc. Never been. The problem is that when switching from the detection signal of the R / D converter for low-speed rotation to the detection signal of the R / D converter for high-speed rotation, conversely, the detection signal for the low-speed rotation is converted from the detection signal of the high-speed rotation R / D converter. When switching to the detection signal of the / D converter, a switching shock occurs, the angular position control and the speed control fluctuate greatly, and cannot be practically used. The main cause of the switching shock is a position control system in which speed control is generally used in a minor loop of angular position control. The detection signal of the low-speed rotation R / D converter and the high-speed rotation R / D Because the two detection signals do not match when the detection signal of the D converter switches, the position information changes within a very short time when switching the detection signal. This is because the speed control of the minor loop greatly varies, and it is almost impossible to match the two detection signals because of the accuracy and operation timing of the two R / D converters. Therefore, the problem can be solved if the detection signals of the two R / D converters can be switched without switching shock.

図１はこの発明の実施最良形態１による回転体の角度位置検出装置の構成を示し、３２は回転体に連結されたレゾルバ、３３はレゾルバ３２の出力をデジタル化するとともに、回転体の角度位置を検出するＲ／Ｄ変換ユニットであり、Ｒ／Ｄ変換ユニット３３は低速回転用Ｒ／Ｄ変換器３４、高速回転用Ｒ／Ｄ変換器３５及び信号切換回路３６により構成される。低速回転用Ｒ／Ｄ変換器３４はレゾルバ３２の低速回転時（例えば１０００ｒｐｍ以下）の出力をデジタル化するとともに、角度位置を検出するものであり、２０ビット又は１６ビットの高分解能のＲ／Ｄ変換器により構成される。高速回転用Ｒ／Ｄ変換器３５はレゾルバ３２の高速回転時（例えば１０００ｒｐｍ以上）の出力をデジタル化するとともに、角度位置を検出するものであり、１２ビットの低分解能のＲ／Ｄ変換器により構成される。   FIG. 1 shows the configuration of an angular position detection device for a rotating body according to Embodiment 1 of the present invention, 32 is a resolver connected to the rotating body, 33 is an output of the resolver 32 and the angular position of the rotating body. The R / D conversion unit 33 includes a low-speed rotation R / D converter 34, a high-speed rotation R / D converter 35, and a signal switching circuit 36. The low-speed rotation R / D converter 34 digitizes the output of the resolver 32 during low-speed rotation (for example, 1000 rpm or less) and detects the angular position, and has a high resolution R / D of 20 bits or 16 bits. Consists of a converter. The high-speed rotation R / D converter 35 digitizes the output of the resolver 32 during high-speed rotation (for example, 1000 rpm or more) and detects an angular position. The R / D converter 35 is a 12-bit low-resolution R / D converter. Composed.

図２は実施最良形態１による信号切換回路３６の詳細な構成を示し、３７は高速回転用Ｒ／Ｄ変換器３５の出力θ２〔ｄｅｇ〕からｎａ〔ｒｐｍ〕＝（１／６０）*ｄθ〔ｄｅｇ〕／ｄｔの式により回転数を演算する第１の回転数演算回路、３８は回転数ｎａを入力されて０〜１の間の出力ｙを出力する切換演算関数部であり、切換演算関数部３８は図示したように回転数ｎａ〔ｒｐｍ〕が入力され、ｎａがｎ１（第１の所定値）以下では出力ｙは０となり、ｎａがｎ１とｎ２（第２の所定値）の間では出力ｙは０と１の間でｎａに比例して増大し、ｎａがｎ２以上では出力ｙは１となる。３９は１から切換演算関数部３８の出力ｙを減算する減算部であり、その出力（１−ｙ）は図示したように回転数ｎａがｎ１以下では１となり、ｎａがｎ１とｎ２の間では１と０の間でｎａに比例して１から減少し、ｎａがｎ２以上では出力（１−ｙ）は０となる。４０は高速回転用Ｒ／Ｄ変換器３５の出力θ２に切換演算関数部３８の出力ｙを掛算する第１の掛算器であり、掛算器４０の出力θ２*ｙ〔ｄｅｇ〕は０を付け足すことにより２０又は１６ｂｉｔとする。   FIG. 2 shows a detailed configuration of the signal switching circuit 36 according to the first embodiment. Reference numeral 37 denotes an output θ2 [deg] of the high-speed rotation R / D converter 35 to na [rpm] = (1/60) * dθ [ deg] / dt, a first rotation speed calculation circuit for calculating the rotation speed, and 38 is a switching calculation function section that receives the rotation speed na and outputs an output y between 0 and 1, As shown in the figure, the rotation speed na [rpm] is input to the unit 38. When na is n1 (first predetermined value) or less, the output y is 0, and when na is between n1 and n2 (second predetermined value), The output y increases in proportion to na between 0 and 1, and the output y becomes 1 when na is n2 or more. 39 is a subtracting unit for subtracting the output y of the switching operation function unit 38 from 1. The output (1-y) is 1 when the rotational speed na is n1 or less as shown in the figure, and when na is between n1 and n2, It decreases from 1 in proportion to na between 1 and 0, and the output (1-y) becomes 0 when na is n2 or more. Reference numeral 40 denotes a first multiplier that multiplies the output θ2 of the R / D converter 35 for high-speed rotation by the output y of the switching operation function unit 38, and 0 is added to the output θ2 * y [deg] of the multiplier 40. By 20 or 16 bits.

４１は低速回転用Ｒ／Ｄ変換器３４の出力θ１〔ｄｅｇ〕に減算器３９の出力（１−ｙ）を掛算する第２の掛算器であり、その出力θ１*（１−ｙ）〔ｄｅｇ〕も２０又は１６ｂｉｔとなる。掛算器４０，４１の出力は加算部４２で加算され、切換出力θ１*（１−ｙ）+θ２*ｙ〔ｄｅｇ〕は２０又は１６ｂｉｔとなる。   A second multiplier 41 multiplies the output θ1 [deg] of the R / D converter 34 for low speed rotation by the output (1-y) of the subtractor 39, and its output θ1 * (1-y) [deg]. ] Is also 20 or 16 bits. The outputs of the multipliers 40 and 41 are added by the adder 42, and the switching output θ1 * (1-y) + θ2 * y [deg] is 20 or 16 bits.

前記構成において、回転体の回転が上昇して行くと、回転数演算回路３７から出力される回転数ｎａが上昇し、切換演算関数部３８の出力ｙは０と１の間で変化する。ｎａがｎ１〔ｒｐｍ〕以下の時は切換演算関数部３８の出力ｙは０となるので、低速回転用Ｒ／Ｄ変換器３４の出力θ１〔ｄｅｇ〕のみが加算部４２から出力され、ｎａがｎ２〔ｒｐｍ〕以上では切換演算関数部３８の出力ｙが１となるので、高速回転用Ｒ／Ｄ変換器３５の出力θ２〔ｄｅｇ〕のみが加算部４２から出力される。ｎａがｎ１とｎ２の間では出力θ１〔ｄｅｇ〕を出力ｙの値で比率演算した出力と出力θ２〔ｄｅｇ〕を出力（１−ｙ）の値で比率演算した出力の合計が加算部４２から切換出力として得られる。このため、ｎ１とｎ２の間では出力θ１が徐々に減少し、出力θ２が徐々に増加するので、θ１とθ２の切換が連続的に行われ、検出信号の切換時に角度位置情報の変化が少ないため、速度制御系で大きな速度変化があったと誤検出することがなく、検出信号の切換をショックなしに行うことができる。   In the above configuration, when the rotation of the rotating body increases, the rotation number na output from the rotation number calculation circuit 37 increases, and the output y of the switching calculation function unit 38 changes between 0 and 1. When na is equal to or less than n1 [rpm], the output y of the switching operation function unit 38 is 0. Therefore, only the output θ1 [deg] of the low-speed rotation R / D converter 34 is output from the adding unit 42, and na Since the output y of the switching calculation function unit 38 is 1 at n2 [rpm] or higher, only the output θ2 [deg] of the high-speed rotation R / D converter 35 is output from the adding unit 42. When na is between n1 and n2, the sum of the output obtained by calculating the ratio of the output θ1 [deg] with the value of the output y and the output of calculating the ratio of the output θ2 [deg] with the value of the output (1-y) is Obtained as a switching output. For this reason, the output θ1 gradually decreases and the output θ2 gradually increases between n1 and n2, so that the switching between θ1 and θ2 is continuously performed, and the change in the angular position information is small when the detection signal is switched. Therefore, it is not erroneously detected that a large speed change has occurred in the speed control system, and the detection signal can be switched without a shock.

実施最良形態１においては、回転体の低速回転時には高分解能で高精度の低速回転用Ｒ／Ｄ変換器３４の検出信号により角度位置を検出し、回転体の高速回転時には低分解能でも高精度が得られるので、低分解能の高速回転用Ｒ／Ｄ変換器３５により角度位置を検出し、低速と高速の中間速度では変換器３４，３５の検出信号を比率演算した検出信号により角度位置を検出しており、検出信号の切換をショックなしに行うことができるとともに、回転体の低速回転時から高速回転時まで精度良く角度位置を検出することができる。従って、このような角度位置検出装置を角度位置制御や停止制御に用いれば、これらの制御を精度良く行うことができる。   In the first embodiment, the angular position is detected by the detection signal of the low-speed rotation R / D converter 34 with high resolution and high accuracy when the rotating body rotates at low speed, and high accuracy is achieved even at low resolution when the rotating body rotates at high speed. As a result, the angular position is detected by the R / D converter 35 for high-speed rotation with low resolution, and the angular position is detected by the detection signal obtained by calculating the ratio of the detection signals of the converters 34 and 35 at the low and high speed intermediate speeds. Therefore, the detection signal can be switched without shock, and the angular position can be detected with high accuracy from the low speed rotation of the rotating body to the high speed rotation. Therefore, if such an angular position detection device is used for angular position control and stop control, these controls can be performed with high accuracy.

実施最良形態２
図３は実施最良形態２による信号切換回路の詳細な構成を示し、図２との相違点は、加算部４２の出力から回転体の回転数を演算する第２の回転数演算回路４３を設けたことであり、これによって回転数検出装置が構成される。第２の回転数演算回路４３においても加算部４２の出力である角度を時間で微分して回転数に変換する。 Embodiment 2
FIG. 3 shows a detailed configuration of the signal switching circuit according to the second embodiment. The difference from FIG. 2 is that a second rotation speed calculation circuit 43 for calculating the rotation speed of the rotating body from the output of the adder 42 is provided. This constitutes the rotation speed detection device. Also in the second rotational speed calculation circuit 43, the angle, which is the output of the adder 42, is differentiated with respect to time and converted into a rotational speed.

実施最良形態２においても、回転体の低速回転時には高分解能で高精度の低速回転用Ｒ／Ｄ変換器３４の検出信号により角度位置及び回転数を検出し、回転体の高速回転時には低分解能でも高精度が得られるので、低分解能の高速回転用Ｒ／Ｄ変換器３５により角度位置及び回転数を検出し、低速と高速の中間速度では変換器３４，３５の検出信号を比率演算した検出信号により角度位置及び回転数を検出しており、検出信号の切換をショックなしに行うことができるとともに、回転体の低速回転時から高速回転時まで精度良く角度位置及び回転数を検出することができる。従って、このような回転数検出装置を低速高速の回転数制御に用いれば、これらの制御を精度良く行うことができる。   In the second embodiment as well, the angular position and the number of rotations are detected by the detection signal of the low-speed rotation R / D converter 34 with high resolution and high accuracy when the rotating body rotates at low speed, and even when the rotating body rotates at high speed, the resolution is low. Since high accuracy is obtained, the angular position and the number of rotations are detected by the low-resolution high-speed rotation R / D converter 35, and the detection signals obtained by ratio-calculating the detection signals of the converters 34 and 35 at the low-speed and high-speed intermediate speeds. The angle position and the number of rotations are detected by this, the detection signal can be switched without shock, and the angle position and the number of rotations can be detected with high accuracy from the low speed rotation to the high speed rotation of the rotating body. . Therefore, if such a rotational speed detection device is used for low-speed and high-speed rotational speed control, these controls can be performed with high accuracy.

この発明の実施最良形態１による回転体の角度位置検出装置の構成図である。It is a block diagram of the angular position detection apparatus of the rotary body by Embodiment 1 of this invention. 実施最良形態１による信号切換回路の詳細な構成図である。1 is a detailed configuration diagram of a signal switching circuit according to a first embodiment. 実施最良形態２による信号切換回路の詳細な構成図である。FIG. 5 is a detailed configuration diagram of a signal switching circuit according to a second embodiment. 特許文献１に示されたエンコーダ出力分周装置のブロック図である。It is a block diagram of the encoder output frequency dividing apparatus shown by patent document 1. FIG. 特許文献２に示されたモータの角度位置検出装置のブロック図である。It is a block diagram of the angular position detection apparatus of the motor shown by patent document 2. FIG.

符号の説明Explanation of symbols

３２…レゾルバ
３３…Ｒ／Ｄ変換ユニット
３４…低速回転用Ｒ／Ｄ変換器
３５…高速回転用Ｒ／Ｄ変換器
３６…信号切換回路
３７，４３…回転数演算回路
３８…切換演算関数部
３９…減算部
４０，４１…掛算器
４２…加算部 32 ... Resolver 33 ... R / D conversion unit 34 ... R / D converter for low speed rotation 35 ... R / D converter for high speed rotation 36 ... Signal switching circuit 37, 43 ... Speed calculation circuit 38 ... Switching calculation function section 39 ... Subtracting unit 40, 41 ... Multiplier 42 ... Adding unit

Claims (2)

回転体に連結されたレゾルバと、レゾルバの低速回転時の出力をデジタル化するとともに、回転体の角度位置を検出する高分解能の低速回転用Ｒ／Ｄ変換器と、レゾルバの高速回転時の出力をデジタル化するとともに、回転体の角度位置を検出する低分解能の高速回転用Ｒ／Ｄ変換器と、高速回転用Ｒ／Ｄ変換器の出力から回転体の回転数を演算する第１の回転数演算回路と、第１の回転数演算回路から回転数を入力され、この回転数が第１の所定値以下で０を出力するとともに、第２の所定値以上で１を出力し、かつ第１の所定値以上で第２の所定値以下では０と１の間で入力回転数に比例して増大する値を出力する切換演算関数部と、１から切換演算関数部の出力を減算する減算部と、高速回転用Ｒ／Ｄ変換器の出力に切換演算関数部の出力を掛算する第１の掛算器と、低速回転用Ｒ／Ｄ変換器の出力に減算部の出力を掛算する第２の掛算器と、第１及び第２の掛算器の出力を加算する加算部とを備えたことを特徴とする回転体の角度位置検出装置。   The resolver connected to the rotator, the output during low-speed rotation of the resolver, and the R / D converter for high-speed low-speed rotation that detects the angular position of the rotator, and the output during high-speed rotation of the resolver The first rotation for calculating the rotational speed of the rotating body from the output of the R / D converter for high-speed rotation with a low resolution and the R / D converter for high-speed rotation The rotation speed is input from the number calculation circuit and the first rotation speed calculation circuit, and 0 is output when the rotation speed is equal to or lower than the first predetermined value, and 1 is output when the rotation speed is equal to or higher than the second predetermined value. A switching operation function unit that outputs a value that increases in proportion to the input rotation speed between 0 and 1 if it is greater than or equal to a predetermined value of 1 and less than or equal to 2 and a subtraction that subtracts the output of the switching operation function unit from 1 And the output of the R / D converter for high-speed rotation A first multiplier that multiplies the force, a second multiplier that multiplies the output of the R / D converter for low-speed rotation by the output of the subtractor, and an addition that adds the outputs of the first and second multipliers And an angular position detection device for a rotating body. 前記加算部の出力から回転体の回転数を演算する第２の回転数演算回路を備えたことを特徴とする請求項１記載の回転体の回転数検出装置。   The rotation number detection device for a rotating body according to claim 1, further comprising a second rotation number calculation circuit for calculating the rotation number of the rotating body from the output of the adding unit.
JP2008208805A 2008-08-14 2008-08-14 Angular position detection device and rotation number detection device of rotating body Expired - Fee Related JP5217766B2 (en)

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JP2008208805A JP5217766B2 (en) 2008-08-14 2008-08-14 Angular position detection device and rotation number detection device of rotating body
PCT/JP2009/063775 WO2010018765A1 (en) 2008-08-14 2009-08-04 Angular position detection device for rotating body and rotational speed detection device

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