JPS6161057A - Speed detecting device - Google Patents

Abstract

PURPOSE:To output a stable speed detection signal by stopping the differentiating operation of a differentiating circuit temporarily with an inflection point detection signal. CONSTITUTION:Normally open contacts S1 and S4 of the differentiating circuit 2 are broken unless there is a signal from an inflection point detection part 3, and normally closed contacts S2 and S3 are held closed unless there is a signal from the detection part 3. The output signal of a saw-tooth wave generating circuit 1 is converted into a rectangular wave signal Q, which is passed through a shift register 3a to input output signals Q1 and Q2 to an exclusive OR gate 3b. When the signals Q1 and Q2 are 1 and 0, or 0 and 1, an output signal Q3 is obtained. Output signals Q1 and Q2 of the register 3a, however, are 0 and 0, or 1 and 1 almost at the inflection point of the saw-tooth wave of the rectangular wave signal Q. Thus, the inflection point of the saw-tooth wave is detected and the output signal Q3 of the gate 3 is passed through a pulse width adjusting circuit 3c to control the normally open and normally closed contacts S1-S4, and consequently the operation of the circuit 2 at the inflection point is stopped temporarily to obtain the speed detection signal from a resolver stably.

Description

【発明の詳細な説明】 産業上の利用分野 この発明にレゾルバを使用した速度検出装置に関する。[Detailed description of the invention] Industrial applications The present invention relates to a speed detection device using a resolver.

従来の技術 レゾルバは普通、回転機の回転位ｆｔｔを検出するセン
サとして使用されるが、前記回転位Ｉｔを微分すれば角
速度を得ることができるため速度検出器にも使用できる
。一般にレゾルバを使用して速度を検出する手段として
前記回転位置の鋸歯状波を作り、これを微分する手段が
とられる。しかし、鋸歯状波に周知のように一定時間毎
に立下りる時点（変曲点）があるため、この変曲点で微
分させると微分出力値が極めて大きな値になってしまう
。The conventional resolver is usually used as a sensor for detecting the rotational position ftt of a rotating machine, but it can also be used as a speed detector since the angular velocity can be obtained by differentiating the rotational position It. Generally, as a means of detecting speed using a resolver, a sawtooth wave of the rotational position is created and this is differentiated. However, as is well known, the sawtooth wave has a point (point of inflection) at which it falls at regular intervals, so if it is differentiated at this point of inflection, the differential output value will become an extremely large value.

微分出力値が大きいとこの値における速度検出信号が不
安定になって検出信号として使用するには不適当となる
。If the differential output value is large, the speed detection signal at this value becomes unstable and becomes inappropriate for use as a detection signal.

発明か解決しようとする問題点 上記欠点を解決するには第６図に示すように位相の異な
る鋸歯大波ａｒ　Ｃｋ作り、両波形の変曲点ｔＩＡ２以
外のスロープ部分の微分出力を得て、図示す、ｄの工う
にイの区間ではｂ信号を、口の区間でｆｉｄ信号？、ハ
の区間でｈｂ信号全使用するという様にｂ信号とｄ信号
を順次切換で速度検出信号（図示ｅの波形）を得れは変
動がなくなる。Problems to be Solved by the Invention In order to solve the above drawbacks, as shown in FIG. 6, create a sawtooth large wave ar Ck with different phases, obtain the differential output of the slope portion of both waveforms other than the inflection point tIA2, and As shown, the b signal is used in the ``d'' section, and the fid signal is used in the ``mouth'' section. If the speed detection signal (waveform e in the figure) is obtained by sequentially switching the b signal and d signal by using all the hb signals in the sections , c, there will be no fluctuation.

ところが、上記手段では微分回路が２つ必要であり、し
かも両微分回路の％ａｔ−一致させないと、出力波形に
変！ＩＥＩＩ（リップル）が生じるため、調整精度に問
題がある。However, the above method requires two differentiating circuits, and if the %at values of both differentiating circuits are not matched, the output waveform will change! Since IEII (ripple) occurs, there is a problem in adjustment accuracy.

問題点を解決するための手段 この発明にレゾルバの矩形波出力と励磁矩形波とを同期
整流して得られる出力全鋸歯伏波に変換する回路と、こ
の回路の出力信号全増幅する増幅器と、この増幅器の出
力端と接地間に設けられ、鋸歯状波の変曲点近傍になっ
たとき閉成され、通常に開放となっている第１スイツチ
と、前記増幅器の出力を微分する微分回路と、この微分
回路と前記増幅器出力との電路及び微分回路の微分コン
デンサの両端間ＶＣ接続され、鋸歯状波の変曲点の近傍
になったとき閉略され通常は閉成されている第２及び第
３スイツチと、前記微分回路の出力と前記増幅器とのフ
ィードバックルーズに介挿され、鋸歯状波変曲点近傍に
なったとき閉略され通常は閉略されている第４スイツチ
と、前記鋸歯状波出力が入力され、鋸歯状波の変曲点を
検出し、その検出々力で前記第１から第４スイツチを制
御させる鋸歯状波変曲点検出部とから瘤成されている。Means for Solving the Problems The present invention includes a circuit for converting a resolver's rectangular wave output and an excitation rectangular wave into an output total sawtooth wave obtained by synchronous rectification, and an amplifier for amplifying the entire output signal of this circuit. A first switch is provided between the output end of the amplifier and ground, and is closed when the sawtooth wave approaches an inflection point and is normally open; and a differentiation circuit that differentiates the output of the amplifier. , the electrical circuit between this differentiating circuit and the amplifier output, and the terminals of the differentiating capacitor of the differentiating circuit are connected by VC, and are closed when the sawtooth wave approaches the inflection point, and are normally closed. a third switch, a fourth switch which is inserted in the feedback loop between the output of the differentiating circuit and the amplifier, and which is normally closed when the sawtooth wave approaches the inflection point; A sawtooth wave inflection point detector receives the sawtooth wave output, detects the inflection point of the sawtooth wave, and controls the first to fourth switches using the detection force.

作用 変曲点検出間で検出された信号により第１から第４スイ
ツチの開閉を行って微分回路の微分動作を一時停止トさ
せて鋸歯状波の変曲点では微分動作を行わないようにし
た。The first to fourth switches are opened and closed according to the signal detected between the detection of the action inflection point, and the differentiation operation of the differentiation circuit is temporarily stopped, so that the differentiation operation is not performed at the inflection point of the sawtooth wave. .

実施例 以下図面を参照してこの発明の一実施例全説明する。Example An embodiment of the present invention will be fully described below with reference to the drawings.

第１図において、１にレゾルバからの矩形波出力が供給
され、出力に鋸歯状波出力信号を送出する鋸歯吠波発生
回路部で、この発生回路部１で発生された鋸歯状波は詳
細＠第２図に示す微分回路部２に入力される。３は鋸歯
状波発生回路部１の出力信号を矩形波に直して入力され
る鋸歯状波の立下り時点（変曲点）を検出する検出部で
、この検出計３にシフトレジスタ３ａ、排他的論理和ゲ
−）３ｂ及びパルス幅調整絣３０から形成される。In FIG. 1, a sawtooth wave generation circuit section 1 is supplied with a rectangular wave output from a resolver and sends out a sawtooth wave output signal at its output.The sawtooth wave generated by this generation circuit section 1 is detailed The signal is input to the differentiation circuit section 2 shown in FIG. 3 is a detection unit that converts the output signal of the sawtooth wave generation circuit unit 1 into a rectangular wave and detects the falling point (inflection point) of the input sawtooth wave; this detector 3 includes a shift register 3a, an exclusive 3b and a pulse width adjustment pattern 30.

検出計３の出力信号は微分回路計２のスイッチ制御信号
として供給される。このとき制御信号の１つはインバー
タ回路４を介して供給される。The output signal of the detector 3 is supplied as a switch control signal to the differentiator circuit 2. At this time, one of the control signals is supplied via the inverter circuit 4.

第２図は微分回路８２の具体的な回路図で、この第２図
において、Ｏｐ１〜ＯＰｓに演算増幅器。FIG. 2 is a specific circuit diagram of the differentiating circuit 82, and in this FIG. 2, operational amplifiers are connected to Op1 to OPs.

ｒ１＋ｒｘｔ！抵抗、０１．Ｃ２Ｈコンデンサ＋’ｌ＋
’４は常開接点＋　’２＋　’３は常閉接点であり、両
災点８１〜Ｓ４は検出部３の出力信号で制御される。r1+rxt! Resistance, 01. C2H capacitor +'l+
'4 is a normally open contact + '2+'3 is a normally closed contact, and both disaster points 81 to S4 are controlled by the output signal of the detection section 3.

次に上記実施例の動作を述べる。レゾルバ（回転機）か
らの矩形波出力信号が鋸＆Ｉｉ吠波発生回路８’Ｉ！１
に入力されるとその出力にけ鋸歯大波出力信号が得られ
る。この出力信号は微分回路Ｅｅ２の演算増幅器Ｏｐｔ
＋Ｏｐ＊で増幅される。この増幅信号はコンデンサＣ１
＋常閉接点’！＋抵抗ｒ１を介して微分回路ｔＳ成する
演算増幅器Ｏｐ３に入力される。なお、常開接点ｓ１　
は変曲点検出部３からの信号がないときは開放されてい
る。また、常閉接点８１．８３も同様に検出部３からの
信号がないときけ閉成されｆｃままである。演算増幅器
Ｏｐ３の出力信号はフィードバックループに設けられ常
開接点８４．抵抗ｒ２を介して演算増幅器Ｏｐｔ　に戻
される。Next, the operation of the above embodiment will be described. The rectangular wave output signal from the resolver (rotating machine) is the saw & Ii barking wave generation circuit 8'I! 1
When the signal is input to the output, a sawtooth large wave output signal is obtained. This output signal is sent to the operational amplifier Opt of the differentiating circuit Ee2.
It is amplified by +Op*. This amplified signal is connected to capacitor C1
+Normally closed contact'! It is inputted to an operational amplifier Op3 forming a differentiating circuit tS via a resistor r1. In addition, normally open contact s1
is open when there is no signal from the inflection point detection section 3. In addition, the normally closed contacts 81 and 83 are similarly closed when there is no signal from the detection section 3 and remain at fc. The output signal of operational amplifier Op3 is provided in a feedback loop and connected to normally open contacts 84. It is returned to the operational amplifier Opt via resistor r2.

次に検出部３の動作について述べる。鋸歯状波発生回路
部１の出力信号は矩形波信号Ｑに変換されてシフトレジ
スタ３ａに入力されると、その出力端Ｑ１．Ｑｔには第
３図に示す出力信号が得られる。両川力信号Ｑｌ　、Ｑ
ｚは排他的論理和ゲート３ｂに入力されると、そのゲー
）３ｂの出力端Ｑ３には図示のように前記出力端（ｈ　
、Ｑ２がｒｌＪ、ｒＯＪる。しかし、矩形波信号Ｑの図
示ｐｔ＋　ｐｚ＋　ｐ３・・・・・・（この点は鋸歯状
波の変曲点）の近傍では、シフトレジスタ３ａの出力１
１Ｑｘ　、　Ｑ＊ｉ　ｒ　ＯＪ　。Next, the operation of the detection section 3 will be described. The output signal of the sawtooth wave generation circuit section 1 is converted into a rectangular wave signal Q and inputted to the shift register 3a, and the output terminal Q1. An output signal shown in FIG. 3 is obtained at Qt. Ryokawa power signal Ql, Q
When z is input to the exclusive OR gate 3b, the output terminal Q3 of the exclusive OR gate 3b is connected to the output terminal (h) as shown in the figure.
, Q2 is rlJ, rOJ. However, near the illustrated pt+pz+p3 of the square wave signal Q (this point is the inflection point of the sawtooth wave), the output 1 of the shift register 3a
1Qx, Q*i r OJ.

ｒＯＪか［ｔＪ　、ｒｌＪとなって出力信号が生じない
。即ち、鋸歯状波の変曲点が検出される。前記ゲート３
ｂの出力信号にパルス幅調節１１３ｃにより所定の６節
されて前記常開及び常閉接点８１〜Ｂ４の制御信号とさ
れる。このように検出間３の変曲点検出制御信号で微分
回路ｉ１１’１１２ｔ？制御すると微分回路を１個でも
レゾルバから速度検出信号が安定に得られる。ここで変
曲点を検出したときに接点８１〜ｓ４を開閉させるとき
に過渡現象の問題が発生するおそれ戸ゝ°°わるけれど
も、以下に述べるようにこの発明では上記間＠１１発生
しない。rOJ or [tJ, rlJ, and no output signal is generated. That is, the inflection point of the sawtooth wave is detected. Said gate 3
A predetermined six nodes are added to the output signal b by the pulse width adjustment 113c, and the output signal is used as a control signal for the normally open and normally closed contacts 81 to B4. In this way, the differential circuit i11'112t? with the inflection point detection control signal during detection interval 3? When controlled, a speed detection signal can be stably obtained from the resolver even with one differentiating circuit. Although there is a possibility that a transient phenomenon problem may occur when the contacts 81 to s4 are opened and closed when an inflection point is detected, the above-mentioned period @11 does not occur in the present invention as described below.

第４１入は一般的な演算増幅器を用いた微分回路であり
、伝達関数Ｇ　（ｓ）　ｈ次式となる。The 41st input is a differential circuit using a general operational amplifier, and has a transfer function G (s) h-th order equation.

Ｑ（１）＝　　　　（！ｒＢ　　　　　　・・・・・・
（１）（ｒ　１ｃ　ｔａ＋１　）　（ｒ　２０２１１＋
１　）第４１入の微分回路は第４図Ｂ、Ｃの合成である
。Q(1)=(!rB...
(1) (r 1c ta+1) (r 20211+
1) The 41st differential circuit is a combination of B and C in FIG.

第４図Ｂ　ハ／　ｒ１ｃｓ＋　１　＋第４図ｃ　ｎ　１
　／ｒ２（！１８ ｒ　２　ｅ　２　ａ−１−１である。第４図Ｃは単なる
一次遅れ回路であるから微分回路は第４図Ｂで考えれば
良いことになる。Figure 4B c/r1cs+ 1 +Figure 4c n 1
/r2(!18 r 2 e 2 a-1-1. Since FIG. 4C is just a first-order delay circuit, the differentiation circuit can be considered as FIG. 4B.

ここで第４図Ｂの式を解くと（２）、　（３）式になる
。Solving the equations in Figure 4B now yields equations (2) and (3).

Ｖ　２　＝＋　ｒ　２１２　　　　　　　　・・・・・
・（３）（２）、（３）式をラプラス変換すると（４）
〜（６）式になる。V 2 = + r 212 ...
・(3) When formulas (2) and (3) are Laplace transformed, (4)
〜(6) Formula is obtained.

入力電圧が第５図に示すものでおると Ｖ　１”’：　１８０＋αト・・・−（７）（但し、１
サイクル期間のみを表わす） 正転のとき　　　　逆転のとき （７）式をラプラス変換して （９）式’ｅ　Ｃ６）式に代入する。If the input voltage is as shown in Figure 5, V 1'': 180+αt...-(7)
(represents only the cycle period) For normal rotation For reverse rotation Laplace transform the equation (7) and substitute it into the equation (9) 'e C6).

（１０）式を逆変換して ６−Ｒ時ｔ・・・・・・（１１） （１１）式から明らかなようにコンデンサ電圧の初期値
Ｖ　ｏ　、　（ｏ）ｔ−操作して ｅ１６　　ｒ１ｅｌα−ｖｃ、（。）二〇・・・　（１
２）の関係が成立すれば、切り換え時の過渡現象は発生
しない。なお、Ｙｘ（ｔ）の最終値ｕ　Ｖ　２　（６）
＝ｒ　２０１（１であるから Ｖ　　　＝＋９６　ｒ　１（！　ｌα＝＝　ｅ　ｏ＋＋
Ｖ　２（。）　・・・・−・（１３１１（ｏ） また、電流ｌについて解くと ・・・・・・（ｌ菊 （１４）式からも１５６−ｖｃｔ（ｏ）　−ｒＩＣ１α
＝０とすれば’　（ｊ）＝ｒ　１　　となるから接点の
切換時にも過渡現象は発生しない。(10) is inversely transformed and 6-R time t...(11) As is clear from equation (11), the initial value of the capacitor voltage V o , (o) t-operation is e16 r1elα -vc, (.)20... (1
If the relationship 2) is established, no transient phenomenon occurs during switching. Note that the final value of Yx(t) u V 2 (6)
= r 201 (1, so V = +96 r 1 (! lα == e o++
V 2(.) ・・・・・・(1311(o) Also, solving for the current l...(l) Also from equation (14), 156-vct(o) -rIC1α
If = 0, ' (j) = r 1 , so no transient phenomenon occurs when the contacts are switched.

発明の効果 以上述べたように、この発明によれば微分回路部を１つ
にしても鋸歯状波の変曲点での微分を避けることができ
るので速度検出信号が常に安定して得ることができると
ともに過渡現象の問題も発生しない利点がある。Effects of the Invention As described above, according to the present invention, even if the number of differentiating circuit sections is reduced to one, differentiation at the inflection point of the sawtooth wave can be avoided, so that a speed detection signal can always be obtained stably. This has the advantage of not causing any problems with transient phenomena.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの発明の一実施例を示すブロック図、第２図
はこの発明の１！部の回路図、第３図は鋸歯状波の変曲
点検出部の動作を述べる波形図、第４図へ、Ｂ、Ｃは微
分回路を説明するための回路図、！５図は電圧波形図、
第６図は従来例を述べるための波形図である。 １・・・鋸歯状波発生回路部、２・・・微分回路部、３
・・・鋸歯状波の変曲点検出部。 手続補正書輸発） 昭和　　で１　　月　　［１ 昭和５９年特許願第１８８５６４号 ２、発明の名称 速度検出装置 ３、　補正をする者 事件との関係　　出願人 （６１０）株式会社　明　電　舎 ４、代理人〒１０４ 東京都中央区明イ」町１番２９号　捲済会ビル明細書の
発明の詳細な説明の欄 ａ補正の内容 （１）明細書第９頁第１０行目及び第１１行目に記載の
（２）式及び（３）式を次のように補正する。 ａ己 −７・＝　ｒ４１　　　　　　　°−−−−−（３）　
。 （２）　　同書第１０頁第１行目に記載の（６）式を次
のように補正する。 記 以上FIG. 1 is a block diagram showing one embodiment of this invention, and FIG. 2 is a block diagram showing one embodiment of this invention! FIG. 3 is a waveform diagram explaining the operation of the sawtooth wave inflection point detection section, and FIG. 4 is a circuit diagram for explaining the differential circuit. Figure 5 is a voltage waveform diagram,
FIG. 6 is a waveform diagram for describing a conventional example. 1... Sawtooth wave generation circuit section, 2... Differential circuit section, 3
... Sawtooth wave inflection point detection section. Procedural Amendment (Import) January 1980 [1 1988 Patent Application No. 188564 2, Title of invention Speed Detection Device 3, Relationship with the person making the amendment case Applicant (610) Meidensha Co., Ltd. 4, Agent address: 1-29 Mei'i'-cho, Chuo-ku, Tokyo 104 Kawasikai Building Detailed explanation of the invention in the specification Column a Contents of amendment (1) Page 9, lines 10 and 11 of the specification Equations (2) and (3) described above are corrected as follows. a self-7・= r41 °---(3)
. (2) Formula (6) described in the first line of page 10 of the same book is amended as follows. Above

Claims (1)

【特許請求の範囲】[Claims] （１）レゾルバの矩形波出力信号と、レゾルバ励磁矩形
波信号とを同期整流して、この同期整流した信号を鋸歯
状波信号に変換し、この変換された信号を微分回路部で
微分して出力に速度信号を得る際に、前記鋸歯状波信号
の変曲点を検出して、この検出信号により微分回路部の
微分動作を一時停止させるようにしたことを特徴とする
速度検出装置。(1) The rectangular wave output signal of the resolver and the resolver excitation rectangular wave signal are synchronously rectified, the synchronously rectified signal is converted into a sawtooth wave signal, and this converted signal is differentiated by a differentiating circuit section. A speed detection device characterized in that, when obtaining a speed signal as an output, an inflection point of the sawtooth wave signal is detected, and the differentiating operation of the differentiating circuit section is temporarily stopped based on this detection signal.