JP4956217B2 - 回転角度検出装置 - Google Patents
回転角度検出装置 Download PDFInfo
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- JP4956217B2 JP4956217B2 JP2007034442A JP2007034442A JP4956217B2 JP 4956217 B2 JP4956217 B2 JP 4956217B2 JP 2007034442 A JP2007034442 A JP 2007034442A JP 2007034442 A JP2007034442 A JP 2007034442A JP 4956217 B2 JP4956217 B2 JP 4956217B2
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- 230000000737 periodic effect Effects 0.000 claims description 69
- 238000012545 processing Methods 0.000 claims description 52
- 238000001514 detection method Methods 0.000 claims description 34
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 description 11
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000007796 conventional method Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000003786 synthesis reaction Methods 0.000 description 5
- 238000012935 Averaging Methods 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
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- 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
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/486—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by photo-electric detectors
-
- 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
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
-
- 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
- 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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary 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
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Optical Transform (AREA)
Description
S=Sa*Cb+Ca*Sb
C=Ca*Cb−Sa*Sa ・・・(i)
前記回転ディスクの回転軸に関して対向する2個所にそれぞれ配置され、前記スケールからの光束をそれぞれ検出し、位相が互いに90度異なる2つの周期信号をそれぞれ出力する2つの検出手段と、
前記2つの検出手段それぞれが出力する2つの周期信号をデジタル値に変換して4つのデジタル値を出力するアナログデジタル変換手段と、
前記2つの検出手段それぞれが出力する2つの周期信号を2値化する2値化手段と、
該2値化手段により2値化されたそれぞれの信号の立上りと立下りとを計数する計数手段と、
前記それぞれの信号に対する前記計数手段による計数結果を加算する加算手段と、
前記4つのデジタル値から、それぞれ位相が平均化され且つそれらの位相が互いに90度異なる2つの周期信号それぞれの値に基づく該2つの周期信号に関する1周期内の角度を求め、且つ、前記加算手段により加算された計数結果に基づいて、前記1周期の数を求めることにより、前記回転角度を得る処理手段と、
を有することを特徴とする回転角度検出装置である。
図1は実施例のブロック回路構成図である。円盤状の回転ディスク1は回転軸2に取り付けられ、回転情報を得るための測定対象物と共に回転する。回転ディスク1の面上には回転軸2を中心に放射状にスケールが等ピッチで設けられ、回転ディスク1の対向する2個所には、回転軸2に対して点対称となるように検出手段3a、3bが配置されている。
(最終分解能での角度)=(基準からの周期数)*4096+分割結果 …(ii)
Z1はC、S共に正又は零
Z2はCは負、Sは正又は零
Z3はC、S共に負
Z4はCは正又は零、Sは負
Z1で剰余Rが2ならば、1増加し3にする。
Z1で剰余Rが1ならば、2増加し3にする。
Z4で剰余Rが3ならば、1減少し2にする。
Z4で剰余Rが1ならば、1増加し2にする。
2 回転軸
3a、3b 検出手段
4 回転角度検出装置
5a、5b アナログデジタル変換手段
6a、6b 2値化手段
7 デジタル信号処理手段
8a、8b 計数手段
9 加算手段
Claims (2)
- 放射状のスケールを有する回転ディスクの回転角度を検出する回転角度検出装置であって、
前記回転ディスクの回転軸に関して対向する2個所にそれぞれ配置され、前記スケールからの光束をそれぞれ検出し、位相が互いに90度異なる2つの周期信号をそれぞれ出力する2つの検出手段と、
前記2つの検出手段それぞれが出力する2つの周期信号をデジタル値に変換して4つのデジタル値を出力するアナログデジタル変換手段と、
前記2つの検出手段それぞれが出力する2つの周期信号を2値化する2値化手段と、
該2値化手段により2値化されたそれぞれの信号の立上りと立下りとを計数する計数手段と、
前記それぞれの信号に対する前記計数手段による計数結果を加算する加算手段と、
前記4つのデジタル値から、それぞれ位相が平均化され且つそれらの位相が互いに90度異なる2つの周期信号それぞれの値に基づく該2つの周期信号に関する1周期内の角度を求め、且つ、前記加算手段により加算された計数結果に基づいて、前記1周期の数を求めることにより、前記回転角度を得る処理手段と、
を有することを特徴とする回転角度検出装置。 - 前記処理手段は、前記平均化された2つの周期信号に基づいて前記加算された計数結果を補正し、前記補正された計数結果に基づいて前記1周期の数を求める、ことを特徴とする請求項1に記載の回転角度検出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007034442A JP4956217B2 (ja) | 2007-02-15 | 2007-02-15 | 回転角度検出装置 |
US12/030,764 US7508323B2 (en) | 2007-02-15 | 2008-02-13 | Rotation-angle detecting apparatus |
KR1020080013356A KR100954083B1 (ko) | 2007-02-15 | 2008-02-14 | 회전 각도 검출장치 |
EP08151488.7A EP1959241B1 (en) | 2007-02-15 | 2008-02-15 | Rotation-angle detecting apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007034442A JP4956217B2 (ja) | 2007-02-15 | 2007-02-15 | 回転角度検出装置 |
Publications (3)
Publication Number | Publication Date |
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JP2008197035A JP2008197035A (ja) | 2008-08-28 |
JP2008197035A5 JP2008197035A5 (ja) | 2010-02-25 |
JP4956217B2 true JP4956217B2 (ja) | 2012-06-20 |
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JP2007034442A Active JP4956217B2 (ja) | 2007-02-15 | 2007-02-15 | 回転角度検出装置 |
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US (1) | US7508323B2 (ja) |
EP (1) | EP1959241B1 (ja) |
JP (1) | JP4956217B2 (ja) |
KR (1) | KR100954083B1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2950057B1 (de) * | 2014-11-18 | 2016-10-26 | Espros Photonics AG | Drehwinkelsensorsystem |
CN106482669B (zh) * | 2016-11-29 | 2018-10-26 | 中国科学院长春光学精密机械与物理研究所 | 一种采用双线阵图像探测器的角位移测量*** |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3850435A (en) * | 1970-05-13 | 1974-11-26 | R Birch | Gramophone pickup guidance mechanisms |
DE2938318C2 (de) * | 1979-09-21 | 1988-05-26 | Dr. Johannes Heidenhain Gmbh, 8225 Traunreut | Meßeinrichtung |
JPS62237316A (ja) * | 1986-04-09 | 1987-10-17 | Hitachi Ltd | 位置検出器の検出誤差補正装置 |
US5019981A (en) * | 1989-03-09 | 1991-05-28 | Fuji Jukogyo Kabushiki Kaisha | Device and method for decreasing power consumption of a steering angle detecting system for vehicle |
DE3914557A1 (de) * | 1989-05-03 | 1990-11-08 | Heidenhain Gmbh Dr Johannes | Positionsmesseinrichtung mit mehreren abtaststellen |
JP3080375B2 (ja) * | 1989-08-31 | 2000-08-28 | 株式会社トプコン | インクリメンタル式エンコーダ |
JP3118816B2 (ja) * | 1990-07-26 | 2000-12-18 | トヨタ自動車株式会社 | 多回転検出ロータリーエンコーダ |
JP3232795B2 (ja) * | 1992-08-06 | 2001-11-26 | キヤノン株式会社 | 検出装置 |
JP3195117B2 (ja) * | 1993-04-19 | 2001-08-06 | 株式会社トプコン | ロータリエンコーダ |
JP2000205894A (ja) * | 1999-01-12 | 2000-07-28 | Teac Corp | エンコ―ダ装置 |
TWI224840B (en) * | 2003-07-22 | 2004-12-01 | Advanced Semiconductor Eng | Method for fabricating flip chip ball grid array package |
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2007
- 2007-02-15 JP JP2007034442A patent/JP4956217B2/ja active Active
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2008
- 2008-02-13 US US12/030,764 patent/US7508323B2/en active Active
- 2008-02-14 KR KR1020080013356A patent/KR100954083B1/ko active IP Right Grant
- 2008-02-15 EP EP08151488.7A patent/EP1959241B1/en active Active
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Publication number | Publication date |
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US20080211694A1 (en) | 2008-09-04 |
US7508323B2 (en) | 2009-03-24 |
EP1959241A3 (en) | 2014-01-22 |
EP1959241A2 (en) | 2008-08-20 |
EP1959241B1 (en) | 2018-11-07 |
JP2008197035A (ja) | 2008-08-28 |
KR20080076790A (ko) | 2008-08-20 |
KR100954083B1 (ko) | 2010-04-23 |
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