JPH0254109A - Magnetic resolver - Google Patents
Magnetic resolverInfo
- Publication number
- JPH0254109A JPH0254109A JP20444388A JP20444388A JPH0254109A JP H0254109 A JPH0254109 A JP H0254109A JP 20444388 A JP20444388 A JP 20444388A JP 20444388 A JP20444388 A JP 20444388A JP H0254109 A JPH0254109 A JP H0254109A
- Authority
- JP
- Japan
- Prior art keywords
- voltage
- salient pole
- vectors
- teeth
- winding circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000013598 vector Substances 0.000 claims abstract description 24
- 238000004804 winding Methods 0.000 claims abstract description 15
- 239000002131 composite material Substances 0.000 claims description 2
- 230000002194 synthesizing effect Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000696 magnetic material Substances 0.000 description 2
- 241000931705 Cicada Species 0.000 description 1
- 238000001467 acupuncture Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野コ
本発明は位置と速度を検出する磁気レゾルバの改良に関
するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an improvement in a magnetic resolver for detecting position and velocity.
［従来の技術］
パルスモータのロー夕とステータを利用すれば、位置と
速度を検出する磁気レゾルバを構成できる。[Prior Art] By using the rotor and stator of a pulse motor, a magnetic resolver that detects position and speed can be constructed.
例えば、歯の位相が互いにｐ／２ずれた（Ｐは歯のピッ
チ）０゛突極と１８０°突極が形成されたステータを用
い、各突極に巻かれたコイルを交流電圧で駆動すると、
それぞれのコイルの両Ｉｔ圧の位相はロータの回転角に
よって変調される。For example, if we use a stator with 0° salient poles and 180° salient poles whose teeth are out of phase with each other by p/2 (P is the tooth pitch), and drive the coil wound around each salient pole with AC voltage. ,
The phase of both It pressures of each coil is modulated by the rotation angle of the rotor.
そして、０°突極と１８０°突極に巻かれたコイルの両
端電圧を減算すると、ロータの回転位置と回転速度に応
じた位相と周波数になった信号が得られる。Then, by subtracting the voltages across the coils wound around the 0° salient pole and the 180° salient pole, a signal with a phase and frequency corresponding to the rotational position and rotational speed of the rotor is obtained.
［発明が解決しようとする課題］
このような磁気レゾルバでは、０°突極と１８０°突極
を得るために、２枚のステータ部材を位相をずらして重
ね合せている。しかし、このようにすると、ステータが
厚くなる。[Problems to be Solved by the Invention] In such a magnetic resolver, two stator members are stacked with their phases shifted to obtain a 0° salient pole and a 180° salient pole. However, this makes the stator thicker.
本発明はこのような問題点を解決するためになされたも
のであり、１枚のステータ部材でもコイルの接続の工夫
により位置と速度に応じた信号を得ることができる磁気
レゾルバを実現することを目的とする。The present invention was made to solve these problems, and aims to realize a magnetic resolver that can obtain signals according to position and speed by devising the connection of coils even with a single stator member. purpose.
［課題を解決するための手段〕 本発明は、 ピッチＰで歯が形成されたロータと、 先端にピッチＰで歯が形成された２ｎＮ個（ｎ。[Means for solving problems] The present invention A rotor with teeth formed at a pitch P, 2nN teeth (n.
Ｎは整数）の突極を有し、各突極の歯は突極の配列順に
従って位相がＰ／Ｎずつずれていて、８個の突極を１つ
の突極群とするステータと、各突極に巻かれたコイルと
、
前記突極群に巻かれたコイルに交流電圧または交流電流
を与え、与える交流は突極群によってｓｉｎまたはＣＯ
８の形のものである信号源と、ｓｉｎの形の交流が与え
られた突極群のコイルにかかる電圧または流れる電流を
表わすベクトルを１８０゛方内が異なる２つのベクトル
に合成する第１の巻線回路と、
ｃｏｓの形の交流が与えられた突極群のコイルにかかる
電圧または流れる電流を表わすベクトルを１８０°方向
が異なる２つのベクトルであって前記第１の巻線回路の
合成ベクトルとは９０°方向が異なるベクトルに合成す
る第２の巻線回路と、前記第１の巻線回路の合成ベクト
ルに対応した電圧信号または電流信号と第２の巻線回路
の合成ベクトルに対応した電圧信号または電流信号を減
算し、位相と周波数が前記ロータの回転位置と回転速度
に応じた信号を算出する演算手段、を具備した磁気レゾ
ルバである。N is an integer) salient poles, the teeth of each salient pole are shifted in phase by P/N according to the order in which the salient poles are arranged, and the stator has eight salient poles as one salient pole group; An alternating voltage or alternating current is applied to the coil wound around the salient poles and the coil wound around the salient pole group, and the applied alternating current is converted into sin or CO by the salient pole group.
The first method combines a signal source in the form of 8 and a vector representing the voltage or current flowing through the coil of the salient pole group to which a sinusoidal alternating current is applied into two vectors that differ within 180°. A winding circuit and a vector representing a voltage applied or a current flowing through a coil of a salient pole group to which a cos-type alternating current is applied is a composite vector of the first winding circuit, which is two vectors whose directions differ by 180°. and a second winding circuit which is combined into a vector whose direction is 90 degrees different from that of the voltage signal or current signal corresponding to the combined vector of the first winding circuit and a combined vector of the second winding circuit. The present invention is a magnetic resolver equipped with arithmetic means for subtracting a voltage signal or a current signal to calculate a signal whose phase and frequency correspond to the rotational position and rotational speed of the rotor.
［実施例］ 以下、図面を用いて本発明を説明する。[Example] The present invention will be explained below using the drawings.
第１図は本発明にかかる磁気レゾルバの一実施例の構成
図であり、（ａ）は正面図、（ｂ）は（ａ）図のＸ−Ｘ
部分の断面図である。FIG. 1 is a configuration diagram of an embodiment of a magnetic resolver according to the present invention, in which (a) is a front view, and (b) is a line XX in FIG.
FIG.
図は、４相レゾルバで、総突極数が１６、突極群の数が
４５，１つの突極群を構成する突極数Ｎが４の場合を例
示している。The figure illustrates a four-phase resolver in which the total number of salient poles is 16, the number of salient pole groups is 45, and the number N of salient poles constituting one salient pole group is 4.
１０は磁性体材料で円筒状に形成され、内周面には一定
ビッチＰで歯１１が形成されたロータである。A rotor 10 is made of a magnetic material and has a cylindrical shape, and has teeth 11 formed with a constant pitch P on its inner peripheral surface.
２０は磁性体材料で構成されたステータ部材である。ス
テータ部材２０には２２．５°の機械角を隔てた位置毎
に突極が形成されている。20 is a stator member made of a magnetic material. Salient poles are formed in the stator member 20 at positions separated by a mechanical angle of 22.5 degrees.
これらの突極は突極群２１〜２４に分けられる。These salient poles are divided into salient pole groups 21-24.
各突極群は、４個の突極２１１〜２１４．２２＋〜２２
４．２３１〜２３ｍ 、２４＋〜２４４からな４る。そ
れぞれの突極の先端にはピッチがＰで歯１１と対向する
歯２５が形成されている。Each salient pole group consists of four salient poles 211 to 214.22+ to 22
4.231~23m, 24+~244. Teeth 25 facing the teeth 11 with a pitch of P are formed at the tip of each salient pole.
突極群２１では、突極２１２．２１３．２１ａの歯は突
極２１．の歯に対して位相がそれぞれＰ／４．Ｐ／２，
３Ｐ／４ずつずれている。以下、突極２１＋ 、２１２
．２１３．２１４を０°突極。In the salient pole group 21, the teeth of the salient poles 212.213.21a are the salient poles 21. The phase for each tooth is P/4. P/2,
It's off by 3P/4. Below, salient poles 21+, 212
．． 213.214 is a 0° salient pole.
９０°突極、１８０°突極、２７０”突極とする。90° salient pole, 180° salient pole, and 270” salient pole.
他の突極群に設けられた突極も同様に位相間係になって
いる。The salient poles provided in the other salient pole groups are also in phase relation.
２６、〜２６４．２７１〜２７ａ 、２８１〜２８ａ、
２９＋〜２９４は突極２１．〜２１４゜２２、 Ｎ２２
４．２３１〜２３４．２４＋〜２４４にそれぞれ巻かれ
たコイルである。26, ~264.271~27a, 281~28a,
29+ to 294 are salient poles 21. ~214°22, N22
4.231~234.24+~244 are the coils wound respectively.
３０は各コイルを交流電圧または交流電流で駆動する駆
動源である。駆動源３０は、突極群２１と２２のコイル
にはＡｃｏｓωｔの交流を与え、突極群２３と２４のコ
イルにはＡｓ１ｎωｔの交流を与える（Ａは電圧または
電流の振幅、ωは角速度、ｔは時間）。30 is a drive source that drives each coil with an alternating current voltage or alternating current. The drive source 30 applies an alternating current of A cosωt to the coils of the salient pole groups 21 and 22, and an alternating current of As1nωt to the coils of the salient pole groups 23 and 24 (A is the voltage or current amplitude, ω is the angular velocity, t is the time).
３１は演算回路であり、Ａｃｏｓωｔの交流で駆動する
突極群に対しては次の演算を行う。31 is an arithmetic circuit which performs the following arithmetic operation on the salient pole group driven by the alternating current of A cos ωt.
ｖｏ＋ｖｇ。＝ｖ ｓ ｏ ■Ｖ
、 ８０＋ｖ２．０＝Ｖ９’、 ■Ｖ、
＝ｖｓ ０−Ｖ６ 、 ■
ｖｏ 、ｖ９０ 、ｖ、 ８０ 、ｖ２ 、 Ｑ：
０°突ｔｉ！ＩＡ、９０°突極、１８０°突極。vo+vg. =v s o ■V
, 80+v2.0=V9', ■V,
= vs 0-V6, ■
vo, v90, v, 80, v2, Q:
0°butti! IA, 90° salient pole, 180° salient pole.
２７０°突極に巻かれたコイルの電圧または電流
また、Ａｓ１ｎωｔの交流で駆動する突極群に対しては
次の演算を行う。The following calculation is performed for the voltage or current of a coil wound around a 270° salient pole, and for a group of salient poles driven by an alternating current of As1nωt.
ｖ、 ０＋Ｖ、 ＢＯ＝ｖ（、０■
■。十ｖ２．。＝ＶＣ，■
ｖｃ＝■ｃ０−ｖｃ、 ■そして、
次の演算により検出信号ｖＴを算出する。v, 0+V, BO=v(,0■■.tenv2..=VC,■ vc=■c0-vc, ■and,
The detection signal vT is calculated by the following calculation.
ｖＴ＝ｖｓ −ｖｃ
■このような演算で用いた交流信号をベクトル図で表
わすと第２図のようになる。vT=vs −vc
②The alternating current signal used in such calculations can be expressed as a vector diagram as shown in Fig. 2.
演算回路３１の具体的な構成としては、例えば第３図〜
第５図に示すものがある。For example, the specific configuration of the arithmetic circuit 31 is as shown in FIGS.
There is one shown in Figure 5.
第３図はコイルの両端電圧を検出するもの、第４図はコ
イルに流れる電流を検出するもの、第５図はトランスを
用いて検出するものである。FIG. 3 shows a method for detecting the voltage across the coil, FIG. 4 shows a method for detecting the current flowing through the coil, and FIG. 5 shows a method for detecting the voltage using a transformer.
請求範囲でいう第１の巻線回路と、第２の巻線回路と、
演算手段は、演算回路３１に含まれる。A first winding circuit and a second winding circuit in the claims,
The calculation means is included in the calculation circuit 31.
次に、このような磁気レゾルバの動作を説明する。Next, the operation of such a magnetic resolver will be explained.
駆動源３０が電圧を供給する場合を例にとって説明する
。An example in which the drive source 30 supplies voltage will be described.
駆動：ａ３０が突極群２１に巻かれたコイルに交流電圧
Ｖ、ｃｏｓωｔを供給すると（Ｖ ＋は電圧の振幅）、
各突極に巻かれたコイルの両＠電圧は次のようになる。Drive: When a30 supplies an alternating current voltage V, cosωt to the coil wound around the salient pole group 21 (V + is the amplitude of the voltage),
Both voltages of the coil wound around each salient pole are as follows.
Ｖｏ 二Ｖ＋ （１＋ Ｍ□−ｇ Ｍ ｏ ） （１
）４１．）−６Ｖｙｏ ；Ｖ＋ ｆ Ｉ ＋ 終ム（
Ｍθ十蚤）ｊどｍ＃ｔθ：ロータの回転角、ｍ：定数
Ｍ：ロータの歯数
演算回路３１は■式〜■式を用いて次の演算により電圧
ｖ９を算出する。Vo 2V+ (1+ M□-g M o ) (1
)41. )-6Vyo;V+fI+endum(
m#tθ: rotor rotation angle, m: constant M: number of rotor teeth The calculation circuit 31 calculates the voltage v9 by the following calculation using equations (1) to (2).
Ｖｓｏ ＝ Ｖ、 −ｒ Ｖｙ。Vso = V, -r Vy.
ＶＳＩ ” Ｖｌｒｏ ｔい７゜
ｖｓ＝ ｙ。−ＶＳＩ
・２万−Ｖｌ ４を二（ＶＩｏ、７ｚ ） ｃｍ ｖｖ
τ一方、駆動源３０が突極群２１に巻かれたコイルに交
流電圧Ｖ、ｓｉｎωｔを供給すると、各突極に巻かれた
コイルの両端電圧は次のようになる。VSI ”Vlrot7゜vs=y.-VSI ・20,000-Vl 4 to 2 (VIo, 7z) cm vv
τ On the other hand, when the drive source 30 supplies the AC voltage V, sin ωt to the coils wound around the salient pole group 21, the voltage across the coils wound around each salient pole becomes as follows.
Ｖｏ−Ｖ＋ （１＋ ｗｔ ｙｕ’ｘ−ＭＯル蝉ＩＮｆ
；Ｖ？。二Ｖ Ｉ Ｉ＋ｉ’Ｋ 、４．、（１”１７
＋ Ｓ）Ｊ、ｇｕ（ｓ）Ｌ籟・ＶＯ〒町ニ（ＭＯ？π）
ｆ４４−廓Ｖ）７′ＪＶ、 （＋＋夙、ム（中腎呵−町
演算・回路３１は■式〜■式を用いて次の演算により電
圧Ｖｃを算出する。Vo-V+ (1+ wt yu'x-MOru cicada INf
;V? . 2VI I+i'K, 4. , (1”17
＋ S) J, gu(s) L籟・VO〒町に(MO?π)
f44-廓V)7'JV, (++夙、MU(中间呵-町calculation/circuit 31 calculates the voltage Vc by the following calculation using formulas ① to ②).
’ｃａ □ Ｖｙｏ ？ Ｖｌｒｖ
ＶＣ，、Ｖ、寸Ｖλ７０
区” Ｖｃｏ −ｖ、１
＝ ２（ｉ ｗ−Ｖ＋ 鍼（Ｍ ｏ ＋ Ｔ ） ７４
Ａ・−２ｍ ｔ−ここで、演算回路３１は０式の演算に
より、電圧７丁を算出する。'ca □ Vyo? Vlrv VC,, V, dimension Vλ70 ward" Vco -v, 1 = 2 (i w - V + acupuncture (Mo + T) 74
A.-2m t-Here, the arithmetic circuit 31 calculates the voltage 7 by the calculation of equation 0.
■・Ｖｓ−Ｖ−
・２５−Ｖ−ム（Ｈθｆ不一んエラ
電圧ｖＴは位相が回転角θで変調されるため、回転角θ
からロータの回転位置が、回転角の変動すなわち周波数
から回転速度が求められる。■・Vs-V- ・25-V-mu (HθfThe phase of the error voltage vT is modulated by the rotation angle θ, so the rotation angle θ
From this, the rotational position of the rotor can be determined, and the rotational speed can be determined from the fluctuation of the rotational angle, that is, the frequency.
突極群２３と２４においても同様な演算が行なわれる。Similar calculations are performed for the salient pole groups 23 and 24 as well.
突極群２１と２２．２３と２４は、それぞれ回転中心を
介して向い合って配置されていて、それぞれの信号を加
算することによってロータ１０の偏心誤差が除去される
。The salient pole groups 21 and 22, and 23 and 24 are arranged facing each other across the center of rotation, and the eccentricity error of the rotor 10 is removed by adding their respective signals.
なお、磁気レゾルバの相数と総突極数は実施例に示す数
似外であってもよい。Note that the number of phases and the total number of salient poles of the magnetic resolver may be different from those shown in the embodiments.
［効果］
本発明によれば、１枚のステータ部材に巻かれたコイル
の接続のしかたを工夫するだけで、位置と速度に応じた
信号を得ることができる。これによって、ステータを軽
薄化できる。[Effects] According to the present invention, a signal corresponding to the position and speed can be obtained simply by devising a method of connecting the coils wound around one stator member. This allows the stator to be made lighter and thinner.
第１図は本発明にかかる磁気レゾルバの一実施例の構成
図、第２図は第１図の磁気レゾルバのコイルにかかる電
圧または流れる電流を表わしたベクトル図、第３図〜第
５図は第１図の磁気レゾルバの演算回路の構成例を示し
た図である。
１０・・・ロータ、１１．２５・・・歯、２０・・・ス
テータ、２１〜２４・・・突極群、２１１〜２１４゜２
２、〜２２４，２３＋〜２３ａ 、２４＋〜２４４・・
・突極、２６１〜２６４．２７＋〜２７４゜２８１〜２
８．ｔ、２９＋〜２９４・・・コイル、３０・・駆動源
、３１・・・演算回路。FIG. 1 is a configuration diagram of an embodiment of the magnetic resolver according to the present invention, FIG. 2 is a vector diagram showing the voltage applied or current flowing through the coil of the magnetic resolver of FIG. 1, and FIGS. 3 to 5 are 2 is a diagram showing an example of the configuration of an arithmetic circuit of the magnetic resolver shown in FIG. 1. FIG. 10... Rotor, 11.25... Teeth, 20... Stator, 21-24... Salient pole group, 211-214°2
2, ~224, 23+~23a, 24+~244...
・Salient pole, 261~264.27+~274°281~2
8. t, 29+ to 294... Coil, 30... Drive source, 31... Arithmetic circuit.
Claims (1)
数）の突極を有し、各突極の歯は突極の配列順に従って
位相がＰ／Ｎずつずれていて、Ｎ個の突極を１つの突極
群とするステータと、 各突極に巻かれたコイルと、 前記突極群に巻かれたコイルに交流電圧または交流電流
を与え、与える交流は突極群によってｓｉｎまたはｃｏ
ｓの形のものである信号源と、ｓｉｎの形の交流が与え
られた突極群のコイルにかかる電圧または流れる電流を
表わすベクトルを１８０°方向が異なる２つのベクトル
に合成する第１の巻線回路と、 ｃｏｓの形の交流が与えられた突極群のコイルにかかる
電圧または流れる電流を表わすベクトルを１８０°方向
が異なる２つのベクトルであつて前記第１の巻線回路の
合成ベクトルとは９０°方向が異なるベクトルに合成す
る第２の巻線回路と、前記第１の巻線回路の合成ベクト
ルに対応した電圧信号または電流信号と第２の巻線回路
の合成ベクトルに対応した電圧信号または電流信号を減
算し、位相と周波数が前記ロータの回転位置と回転速度
に応じた信号を算出する演算手段、 を具備した磁気レゾルバ。[Claims] It has a rotor with teeth formed at a pitch P, and 2nN salient poles (n and N are integers) each having teeth formed at a pitch P at the tip, and the teeth of each salient pole are formed with teeth at a pitch P. A stator in which the phases are shifted by P/N according to the order of arrangement of the poles and N salient poles form one salient pole group; a coil wound around each salient pole; and a coil wound around the salient pole group. An alternating voltage or an alternating current is applied to the
A first winding that combines a signal source in the form of s and a vector representing the voltage or current flowing through the coil of the salient pole group to which alternating current in the form of sine is applied, into two vectors that differ in direction by 180°. The line circuit and the vector representing the voltage or current flowing through the coil of the salient pole group to which a cos-type alternating current is applied are two vectors that differ in direction by 180° and are the composite vector of the first winding circuit. is a voltage signal corresponding to the combined vector of the first winding circuit, or a voltage signal corresponding to the combined vector of the second winding circuit and a current signal, which are combined into vectors having directions different by 90 degrees. A magnetic resolver comprising: arithmetic means for subtracting a signal or a current signal to calculate a signal whose phase and frequency correspond to the rotational position and rotational speed of the rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20444388A JPH0254109A (en) | 1988-08-17 | 1988-08-17 | Magnetic resolver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20444388A JPH0254109A (en) | 1988-08-17 | 1988-08-17 | Magnetic resolver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0254109A true JPH0254109A (en) | 1990-02-23 |
Family
ID=16490612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20444388A Pending JPH0254109A (en) | 1988-08-17 | 1988-08-17 | Magnetic resolver |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0254109A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04127891A (en) * | 1990-09-18 | 1992-04-28 | Yokogawa Electric Corp | Motor drive system |
| JPH069686U (en) * | 1992-07-16 | 1994-02-08 | 奥村遊機株式會社 | Pachinko machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5788317A (en) * | 1980-11-25 | 1982-06-02 | S G:Kk | Rotation angle detecting device |
| JPS62144017A (en) * | 1985-12-18 | 1987-06-27 | Shinko Electric Co Ltd | Magnetic pole position detector |
-
1988
- 1988-08-17 JP JP20444388A patent/JPH0254109A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5788317A (en) * | 1980-11-25 | 1982-06-02 | S G:Kk | Rotation angle detecting device |
| JPS62144017A (en) * | 1985-12-18 | 1987-06-27 | Shinko Electric Co Ltd | Magnetic pole position detector |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04127891A (en) * | 1990-09-18 | 1992-04-28 | Yokogawa Electric Corp | Motor drive system |
| JPH069686U (en) * | 1992-07-16 | 1994-02-08 | 奥村遊機株式會社 | Pachinko machine |
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