JPS62172218A - Method for detecting position by resolver/digital converter - Google Patents
Method for detecting position by resolver/digital converterInfo
- Publication number
- JPS62172218A JPS62172218A JP1541186A JP1541186A JPS62172218A JP S62172218 A JPS62172218 A JP S62172218A JP 1541186 A JP1541186 A JP 1541186A JP 1541186 A JP1541186 A JP 1541186A JP S62172218 A JPS62172218 A JP S62172218A
- Authority
- JP
- Japan
- Prior art keywords
- resolver
- signal
- converter
- address
- conversion
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000005284 excitation Effects 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 10
- 238000004364 calculation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 241000600169 Maro Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、レゾルバのアナログ出力信号からトラッキン
グ方式のレゾルバ/デジタル・コンバータ(以下、rR
/Dコンバータ」という)によって並列デジタル位置信
号を得る方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is directed to converting an analog output signal of a resolver into a tracking type resolver/digital converter (hereinafter referred to as rR).
/D converter) to obtain parallel digital position signals.
従来のアナログ処理回路によるトラッキング方式のR/
Dコンバータは、高精度三角関数乗口器。Tracking method R/ using conventional analog processing circuit
The D converter is a high-precision trigonometric function multiplier.
誤差増幅器1位相検出器、波形整形回路、広帯域電圧制
御発振器、加減算カウンタ等から構成されている。It consists of an error amplifier, a phase detector, a waveform shaping circuit, a wideband voltage controlled oscillator, an addition/subtraction counter, etc.
高精度で応答の早い位置検出器を作るには、各回路の高
精度な信号処理は当然としても、特にコンバータのルー
プゲインを高くし、高い周波数まで位相特性を延ばすこ
とが重要である。In order to create a position detector with high precision and quick response, it is important not only to perform high-precision signal processing in each circuit, but also to increase the loop gain of the converter and extend the phase characteristics to high frequencies.
しかしながら、前]!の従来例におけるアナログ回路の
構成では、積分を含むフィルタ特性は避けられず、ゲイ
ンを上げて応答を早くするこはむつかしい。また、精度
の向トも、いたる所に精度を低下させる要素がある。However, before]! In the conventional analog circuit configuration, filter characteristics including integration are unavoidable, and it is difficult to increase the gain and speed up the response. Furthermore, in terms of accuracy, there are factors that reduce accuracy everywhere.
す<≧わち、従来例の欠点は、速い(党首の変1ヒ1こ
対して追従速度が遅いことである。<≧That is, the disadvantage of the conventional example is that the following speed is slow (compared to the change of the party leader).
また、従来の回路は、大部分がアナ[」グ信g回路で構
成され、A/D変換はV/fコンバータとカウンタで構
成されているので高粘位の位置信号を1(Iるには、乗
算器、V/fコンバータ、アンプ等すべてに精密ζfも
のが必要である。In addition, the conventional circuit is mostly composed of an analog signal circuit, and the A/D conversion is composed of a V/f converter and a counter. requires precision ζf for all multipliers, V/f converters, amplifiers, etc.
しかも、従来の構成をそのままデジタル回路に置き換え
たものでは、位置変化の追従速度はかえって遅くなり、
精度もよくない。Moreover, if the conventional configuration is replaced with a digital circuit, the tracking speed of position changes will be slower.
Accuracy is also not good.
しかして、従来のトラッキング方式のR/’ Dコンバ
ータの周波数特性は、制御ループに位相進み・遅れ補償
を行なっているが、300〜4001−1 z Pil
麿が限界である。However, the frequency characteristics of the conventional tracking type R/'D converter, which performs phase lead/delay compensation in the control loop, are 300 to 4001-1 z Pil.
Maro is the limit.
また、アナログ河口処理が行なわれているため、高精度
の要素部品が必要とされ、回路構成が複雑である。Furthermore, since analog estuary processing is performed, highly accurate component parts are required, and the circuit configuration is complicated.
ここに43いて本発明は、従来手段の難点を克服し、ピ
ッ1−数の多い高精Iαのデジタル位置信号で6、位置
の変化に高速で追従づるごとがi4能となるR /’
Dコンバータによる位置検出方法をjjZ供することを
、その目的とづる。Here, the present invention overcomes the drawbacks of the conventional means and uses a high-precision Iα digital position signal with a large number of pins.
Its purpose is to provide a position detection method using a D converter.
(問題点を解決するための手段〕
本発明は、レゾルバの位置検出信号であるアリログ信号
を△/D−]ンバータでデジタル(直に2換する部分と
レゾルバの励磁信号を供給するD/△コンバータ部分を
除く、残りのづべての回路動作をマイクロプロセッサで
デジタル処叩を行く≧っている。したがってR/Dコン
バータの精度はすべて前記Δ/Dコンバータの積電のみ
により、1KHz以上の周波数I、i5答をさせるR/
Dコンバータによる位置検出方法である。(Means for Solving the Problems) The present invention provides a part for directly converting an alilog signal, which is a position detection signal of a resolver, into a digital signal using a △/D-] converter and a D/△ supplying an excitation signal for the resolver. Except for the converter section, all remaining circuit operations are processed digitally by a microprocessor.Therefore, the accuracy of the R/D converter is solely due to the accumulation of electricity in the Δ/D converter, and the accuracy of the R/D converter is limited to 1KHz or more. Frequency I, i5 answer R/
This is a position detection method using a D converter.
レゾルバの励磁信号の位相に同期してレゾルバの出力信
号の振幅の大ぎいどころをザンブリングし、検出精度を
上げ、更にシグナルブロレッリを用いて三角関数どの四
則演算を行ない、ルンゲクッタ法を使って位置角を零位
法で求め、数回の平均値をデジタル位置信号とする。Synchronizing with the phase of the resolver's excitation signal, the high amplitude points of the resolver's output signal are summed to improve the detection accuracy, and furthermore, the signal Brollelli is used to perform four arithmetic operations such as trigonometric functions, and the Runge-Kutta method is used. The position angle is determined using the zero-position method, and the average value of several measurements is used as a digital position signal.
本発明の一実施例における回路+i4成を表わすブロッ
ク図を第1図に示す。A block diagram showing the circuit +i4 configuration in one embodiment of the present invention is shown in FIG.
レゾルバ(RES)1の励磁信号(REF)は、マイク
ロプロセッサ3のクロックジェネレータ(O20)31
からのクロック(CK)によってアドレスカウンタ(A
DRCNT>32を駆動し、小さな一定角度ごとの正弦
波形データを格納したROMテーブル(SiNR)33
の内容を払い出し、これをD/△コンバータ4でD/△
変換づ゛ることによって作られる。The excitation signal (REF) of the resolver (RES) 1 is supplied to the clock generator (O20) 31 of the microprocessor 3.
The address counter (A
ROM table (SiNR) 33 that drives DRCNT>32 and stores sine waveform data for each small constant angle.
Pay out the contents of and convert it to D/△ using D/△ converter 4.
It is created by converting.
アドレスカウンタ32の出力のうら、いくつかはアドレ
スデコーダ(△I)R1)EC)35に入力され、予め
決められたアドレスの値で、レゾルバ1の位置信gをA
/D変換するΔ/Dコンバータ2の変換開始信号(S
−”r )を出力する。Among the outputs of the address counter 32, some are input to the address decoder (△I)R1)EC)35, and the position signal g of the resolver 1 is converted to A with a predetermined address value.
Conversion start signal (S
-”r).
また同時に、演いプロピツリー(SIGMPU)37が
励磁信号(RE I= )の位相角を同定でさるように
、アドレスラッチ回路(八D RL CI−1)36に
より、適当なアドレス値がラッチされ演算プロピツリ3
7の入力ボートから取り込まれる。At the same time, the address latch circuit (8D RL CI-1) 36 latches an appropriate address value and calculates it, so that the operation propi tree (SIGMPU) 37 identifies the phase angle of the excitation signal (RE I= ). Propituri 3
7 input boat.
第2図に励磁電圧(RIE F ) 、レゾルバ位置信
号(SIN)(CO8)、△/Dコンバータ変換開始信
号(ST)のタイミングチト一トを表わす、1第3図に
レゾルバ信号のリーンプルタイミングを示し−Cいる。Figure 2 shows the timing variations of the excitation voltage (RIEF), resolver position signal (SIN) (CO8), and Δ/D converter conversion start signal (ST).1 Figure 3 shows the lean-pull timing of the resolver signal. Indicates -C.
ωは励磁信号の角周波数でtは時間である。この第3図
のサンプルインデックスに=1.2.・・・・・・、6
0時点でアドレスデコーダ35からST低信号出力され
、△/ L)−1ンバータ2の変換がスタートし、アト
1ノスラッチ回路3GがEIJ作づる。ω is the angular frequency of the excitation signal and t is the time. The sample index in FIG. 3 is =1.2.・・・・・・、6
At time 0, the address decoder 35 outputs an ST low signal, the conversion of the Δ/L)-1 inverter 2 starts, and the AT1 no latch circuit 3G creates EIJ.
レゾルバ10位冒信号は、第2図に示すように、1ノゾ
ルバ1の位置によってiE弦状及び余弦状に励磁信号が
変調されたしのであり、この伝8の振幅の大きな所で検
出して、検出粘度と検出感度を1−ばている。As shown in Fig. 2, the resolver 10 position signal is the result of the excitation signal being modulated in the iE sinusoidal and cosine shapes depending on the position of the resolver 1, and is detected at the location where the amplitude of this transmission 8 is large. , the detected viscosity and detection sensitivity are set to 1.
このJ、うにしてセIられたレゾルバ位置信号のへ/D
変換1直と励磁信¥3の位相を同定するアドレス1直か
ら、デジタルの位置を0出づる演p ’:lフルゴリズ
ムのフローヂャートを第4図に表わす。This J/D of the resolved resolver position signal
FIG. 4 shows a flowchart of the calculation p':l algorithm that outputs the digital position from address 1, which identifies the phase of conversion 1 and excitation signal ¥3, to 0.
位置角を求める基本的な演算は、
して検出の位相角としている。、(ここで、ΔPはデジ
タル演算ににる誤差およびA/D変換における誤差より
決まる微小な値である。)
401〜412のこれらのステップはすべて演算ブロセ
ツ會す37内で実行され、出力ボートからレゾルバ1の
位置信号−D、として出力される。なお、θはレゾルバ
位置角、Eoは励磁電圧の振幅、Kは検出電圧定数、Δ
Pは演算精瓜の判定限界、5GN(sin(ωt)
・P)kt符号関数で5in(ωt) −P>Oのと
き1.sin(ωし) ・[〕<○のとき−1である。The basic calculation for determining the position angle is to obtain the phase angle of detection. , (here, ΔP is a small value determined by the error in digital calculation and the error in A/D conversion.) All of these steps 401 to 412 are executed in the calculation block 37, and the output port is is output as the position signal -D of the resolver 1. In addition, θ is the resolver position angle, Eo is the amplitude of the excitation voltage, K is the detection voltage constant, and Δ
P is the judgment limit of the calculation method, 5GN(sin(ωt)
・P) kt sign function when 5in(ωt) -P>O 1. sin (ωshi) ・When []<○, it is -1.
(発明の効果〕
かくして本発明によれば、レゾルバの位置信号のみを△
/Dコンバータでデジタル変換し、残りの全ての演算を
マイクロプロセッサで処理しているから、この手段の精
度はすべてA/Dコンバータのみに依存し、周波数応答
でb I K +−(Z以上が可能となり、簡単な回路
構成で、かつ高精度の位置検出がなされ、しかも構成コ
ストが寞くできる。(Effect of the invention) Thus, according to the present invention, only the resolver position signal is
Since the digital conversion is performed by the A/D converter and all remaining calculations are processed by the microprocessor, the accuracy of this method depends only on the A/D converter, and the frequency response is b I K +- (Z or more This makes it possible to perform highly accurate position detection with a simple circuit configuration, and to reduce construction costs.
第1図は本発明の一実施例におりる回路構成を表わすブ
ロック図、第2図は各信号電圧波形を示すタイミング説
明図ト、第3図はレゾルバ信号のサンプリングのタイミ
ング説明図、第4図は演算プロセッサにおける演算処理
のフローチレ−1〜である。
1・・・レゾルバ
2・・・A/Dコンバータ
3・・・マイクIコプロセッサ
4・・・D/Δコンバータ
31・・・クロックジェネレータ
32・・・アドレスカウンタ
33・・・正弦波形データ格納ROM
35・・・アドレスデコーダ
36・・・アドレスラッチ回路
37・・・演算プロセッサ。
出願人代理人 佐 藤 −雄
鴨1図
ST」叫 具t
(同門)
竿2図FIG. 1 is a block diagram showing a circuit configuration according to an embodiment of the present invention, FIG. 2 is a timing explanatory diagram showing each signal voltage waveform, FIG. 3 is a timing explanatory diagram of resolver signal sampling, and FIG. The figure shows flowcharts 1 to 1 of arithmetic processing in an arithmetic processor. 1... Resolver 2... A/D converter 3... Microphone I coprocessor 4... D/Δ converter 31... Clock generator 32... Address counter 33... Sine waveform data storage ROM 35...Address decoder 36...Address latch circuit 37...Arithmetic processor. Applicant's agent Sato - male duck 1 figure ST' yell tool t (same gate) rod 2 figure
Claims (1)
ルバ/デジタル・コンバータにおいて、レゾルバの励磁
信号の位相に同期して、レゾルバの角度信号のS/N比
が高くなる位相角でA/D変換器によりサンプリングを
行ない、 レゾルバの励磁電圧の位相に対応したアドレス値と、さ
きの手段でデジタル的にサンプリングされたレゾルバの
角度信号を用いて、ルンゲクツタ法により、レゾルバの
位置角を零位法で求めることを特徴とするレゾルバ/デ
ジタル・コンバータによる位置検出方法。[Claims] In a resolver/digital converter that converts an angle signal from a resolver into a digital value, a phase angle that increases the S/N ratio of the resolver's angle signal in synchronization with the phase of the resolver's excitation signal. Sampling is performed by an A/D converter, and the position angle of the resolver is determined by the Rungekutta method using the address value corresponding to the phase of the excitation voltage of the resolver and the angle signal of the resolver digitally sampled by the previous method. A position detection method using a resolver/digital converter, which is characterized by finding using the zero position method.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1541186A JPH0743267B2 (en) | 1986-01-27 | 1986-01-27 | Position detection method by resolver / digital converter |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1541186A JPH0743267B2 (en) | 1986-01-27 | 1986-01-27 | Position detection method by resolver / digital converter |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62172218A true JPS62172218A (en) | 1987-07-29 |
JPH0743267B2 JPH0743267B2 (en) | 1995-05-15 |
Family
ID=11887998
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1541186A Expired - Fee Related JPH0743267B2 (en) | 1986-01-27 | 1986-01-27 | Position detection method by resolver / digital converter |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0743267B2 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0354415A (en) * | 1989-07-24 | 1991-03-08 | Shinko Electric Co Ltd | Angle of rotation detecting apparatus |
JP2009145273A (en) * | 2007-12-17 | 2009-07-02 | Tamagawa Seiki Co Ltd | Synchronous detection method of amplitude modulation signal, and rotation signal processor |
JP2013205100A (en) * | 2012-03-27 | 2013-10-07 | Denso Corp | Position detector |
JP2013205099A (en) * | 2012-03-27 | 2013-10-07 | Denso Corp | Position detector |
WO2015029427A1 (en) * | 2013-08-30 | 2015-03-05 | パナソニックIpマネジメント株式会社 | Angular position detection device |
-
1986
- 1986-01-27 JP JP1541186A patent/JPH0743267B2/en not_active Expired - Fee Related
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0354415A (en) * | 1989-07-24 | 1991-03-08 | Shinko Electric Co Ltd | Angle of rotation detecting apparatus |
JP2009145273A (en) * | 2007-12-17 | 2009-07-02 | Tamagawa Seiki Co Ltd | Synchronous detection method of amplitude modulation signal, and rotation signal processor |
JP2013205100A (en) * | 2012-03-27 | 2013-10-07 | Denso Corp | Position detector |
JP2013205099A (en) * | 2012-03-27 | 2013-10-07 | Denso Corp | Position detector |
US9429413B2 (en) | 2012-03-27 | 2016-08-30 | Denso Corporation | Position detection device |
US9574866B2 (en) | 2012-03-27 | 2017-02-21 | Denso Corporation | Position detection device |
WO2015029427A1 (en) * | 2013-08-30 | 2015-03-05 | パナソニックIpマネジメント株式会社 | Angular position detection device |
CN105492870A (en) * | 2013-08-30 | 2016-04-13 | 松下知识产权经营株式会社 | Angular position detection device |
Also Published As
Publication number | Publication date |
---|---|
JPH0743267B2 (en) | 1995-05-15 |
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Legal Events
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