WO2011108421A1 - 回転角検出装置 - Google Patents
回転角検出装置 Download PDFInfo
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- WO2011108421A1 WO2011108421A1 PCT/JP2011/054002 JP2011054002W WO2011108421A1 WO 2011108421 A1 WO2011108421 A1 WO 2011108421A1 JP 2011054002 W JP2011054002 W JP 2011054002W WO 2011108421 A1 WO2011108421 A1 WO 2011108421A1
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- magnetic pole
- rotation angle
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- pole
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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
Definitions
- the present invention relates to a rotation angle detection device that detects the rotation angle of a rotating body such as a rotor of a brushless motor.
- the detection rotor 101 (hereinafter referred to as “rotor 101”) has a cylindrical shape having a plurality of magnetic pole pairs corresponding to the magnetic pole pairs provided in the rotor of the brushless motor. A magnet 102 is provided.
- two magnetic sensors 121 and 122 are arranged at a predetermined angular interval around the rotation center axis of the rotor 101.
- Each magnetic sensor 121, 122 outputs a sine wave signal having a predetermined phase difference. Based on these two sine wave signals, the rotation angle of the rotor 101 (rotation angle of the brushless motor rotor) is detected.
- the magnet 102 has five pairs of magnetic poles. That is, the magnet 102 has ten magnetic poles arranged at equiangular intervals. The magnetic poles are arranged at an angular interval of 36 ° (180 ° in electrical angle) about the rotation center axis of the rotor 101. The two magnetic sensors 121 and 122 are arranged at an angular interval of 18 ° (90 ° in electrical angle) with the rotation center axis of the rotor 101 as the center.
- the direction indicated by the arrow in FIG. 10 is the positive rotation direction of the detection rotor 101.
- the rotation angle of the rotor 101 is increased.
- the rotation angle of the rotor 101 is decreased.
- V1 and V2 are output.
- the absolute rotation angle of the rotor 101 from a predetermined reference position is referred to as an absolute rotation angle (mechanical angle) ⁇ A of the rotor 101.
- the angle range for one rotation of the rotor 101 is divided into five sections corresponding to the five magnetic pole pairs, and the angle of the rotor 101 is represented by setting the start position of each section to 0 ° and the end position to 360 °. It will be referred to a relative rotation angle theta R. In this case, since 10 pieces of angular width of the magnetic pole are equal, the relative rotation angle theta R of the rotor 101 coincides with the electric angle of the brushless motor rotor.
- A1 and A2 are amplitudes.
- the relative rotation angle theta R of the rotor 101, using both output signals V1, V2 can be determined based on the following equation (1) .
- the absolute rotation angle ⁇ A of the rotor 101 can be obtained based on, for example, the following equation (2) using the relative angle ⁇ R.
- the amplitudes of the output signals V1 and V2 of the magnetic sensors 121 and 122 vary from one magnetic pole to another due to variations in magnetic force among the magnetic poles. An error occurs in detection. Therefore, according to the absolute rotational angle (mechanical angle) theta A rotor 101, so that the amplitude of the output signal V1, V2 of the magnetic sensors 121 and 122 are equal, the output signal V1, V2 of the magnetic sensors 121 and 122 after correction (amplitude correction), and are calculated relative angle theta R of the rotor 101.
- the gain to be corrected for each cycle or half cycle of the relative angle must be changed for the output signals V1, V2 of the magnetic sensors 121, 122.
- the magnetic pole sensed by each of the magnetic sensors 121 and 122 can be specified, so the amplitude corresponding to the magnetic pole (magnetic pole pair) sensed by each of the magnetic sensors 121 and 122. Correction can be performed.
- the magnetic poles sensed by the magnetic sensors 121 and 122 cannot be specified, so that the amplitude correction and phase correction corresponding to the magnetic poles sensed by the magnetic sensors 121 and 122 are performed. Can not do.
- An object of the present invention is to provide a rotation angle detection device that can identify a magnetic pole sensed by a magnetic sensor at an early stage immediately after a rotating body starts rotating.
- the rotation angle detection device includes a detection rotor (1, 1A, 1B) provided with a plurality of magnetic poles (M0 to M9) that rotates according to the rotation of the rotating body (10), and a detection rotor.
- a rotation angle detection device that detects a rotation angle of the rotating body based on an output signal, wherein the detection rotor has an extreme value of each of the alternating signals for at least one of the plurality of magnetic poles.
- the magnetic pole sensed by each magnetic sensor is specified based on the extreme value detected by the detection means and preset extreme value data, and each alternating signal is determined according to the specified magnetic pole.
- the amplitude is corrected.
- the rotation angle of the rotating body is calculated based on each alternating signal after amplitude correction.
- the detection rotor has a magnetic pole characteristic in which the extreme value of each alternating signal with respect to at least one magnetic pole of the plurality of magnetic poles provided therein is distinguishable from any of the extreme values of the alternating signal with respect to other magnetic poles. have.
- the rotating body rotates.
- the extreme value corresponding to the reference magnetic pole is detected by the detecting means after the start, it is possible to identify the magnetic pole sensed by the magnetic sensor that outputs the extreme value.
- the magnetic pole sensed by the other magnetic sensor can be specified by the arrangement and angular interval of both magnetic sensors, the configuration of the detection rotor, and the like. Accordingly, there is a high possibility that the magnetic pole sensed by each magnetic sensor can be specified after the rotating body starts rotating and before the detection rotor makes one rotation. That is, the magnetic pole sensed by each magnetic sensor can be identified at an early stage immediately after the rotating body starts rotating.
- the detection rotor may have a magnetic pole characteristic such that an extreme value of each alternating signal for each magnetic pole provided on the detection rotor is distinguishable from any of the extreme values of the alternating signal for other magnetic poles.
- the detection rotor may have a plurality of magnetic poles provided in the circumferential direction, and may have the magnetic pole characteristics by providing a magnetic pole area difference between the magnetic poles.
- the detection rotor has a plurality of magnetic poles provided at equal angular intervals in the circumferential direction, and the magnetic pole is provided with a difference in the length in the rotation axis direction of the detection rotor between the magnetic poles. It may have characteristics.
- the detection rotor has a plurality of magnetic poles provided at equal angular intervals in the circumferential direction and having the same length in the rotation axis direction of the detection rotor, and there is a difference in magnitude of magnetic force between the magnetic poles. By providing, it may have the magnetic pole characteristics.
- the detection rotor has a plurality of magnetic poles provided in the circumferential direction, and has the magnetic pole characteristics by providing an angular width difference between the magnetic poles.
- the rotation angle calculation means includes a phase correction means, and the phase correction means calculates a relative angle of the detection rotor from each alternating signal after amplitude correction, and the calculated relative angle is set to one predetermined magnetic field. Means for correcting the relative angle according to the angular width of the magnetic pole sensed by the sensor is included.
- the relative angle of the detection rotor is calculated from each alternating signal after amplitude correction.
- the calculated relative angle is corrected to a relative angle corresponding to the angle width of the magnetic pole sensed by one of the predetermined magnetic sensors.
- FIG. 1 is a schematic diagram showing a configuration when the rotation angle detection device according to the first embodiment of the present invention is applied to a rotation angle detection device for detecting the rotation angle of a rotor of a brushless motor.
- FIG. 2 is a schematic diagram illustrating the configuration of the detection rotor.
- FIG. 3 is a schematic diagram showing an output signal waveform of the first magnetic sensor and an output signal waveform of the second magnetic sensor.
- FIG. 4A is a schematic diagram showing the contents of the amplitude correction table corresponding to the first magnetic sensor
- FIG. 4B is a schematic diagram showing the contents of the amplitude correction table corresponding to the second magnetic sensor.
- FIG. 5 is a flowchart showing a procedure of rotation angle calculation processing by the rotation angle calculation device.
- FIG. 5 is a flowchart showing a procedure of rotation angle calculation processing by the rotation angle calculation device.
- FIG. 6 is a flowchart illustrating an example of the control end process.
- FIG. 7 is a perspective view showing a detection rotor used in the rotation angle detection device according to the second embodiment of the present invention.
- FIG. 8 is a plan view showing a detection rotor used in the rotation angle detection device according to the second embodiment of the present invention.
- FIG. 9 is a view of the detection rotor used in the rotation angle detection device according to the third embodiment of the present invention as viewed from the end face side.
- FIG. 10 is a schematic diagram for explaining a rotation angle detection method by a conventional rotation angle detection device.
- FIG. 11 is a schematic diagram showing an output signal waveform of the first magnetic sensor and an output signal waveform of the second magnetic sensor.
- FIG. 1 is a schematic diagram showing a configuration when the rotation angle detection device according to the first embodiment of the present invention is applied to a rotation angle detection device for detecting the rotation angle of a rotor of a brushless motor.
- This rotation angle detection device has a detection rotor (hereinafter simply referred to as “rotor 1”) that rotates in accordance with the rotation of the brushless motor 10.
- the rotor 1 includes a cylindrical magnet 2 having a plurality of magnetic pole pairs corresponding to the magnetic pole pairs provided in the rotor of the brushless motor 10.
- the rotor 1 is provided with a plurality of magnetic poles arranged in the circumferential direction.
- the magnet 2 includes five magnetic pole pairs (M0, M1), (M2, M3), (M4, M5), (M6, M7), (M8, M9). That is, the magnet 2 has ten magnetic poles M0 to M9.
- the circumferential lengths of the magnetic poles provided on the rotor of the brushless motor 10 are all the same. That is, the angular widths of the magnetic poles provided on the rotor of the brushless motor 10 are all the same and are 36 °. Therefore, in this brushless motor 10, the angular width of one magnetic pole pair is 72 ° in mechanical angle, which corresponds to 360 ° in electrical angle.
- the angular widths (a, c, e, g) of the magnetic poles M0, M2, M4, M6, M8 having N poles. , I) are different from each other. That is, the magnetized areas differ between the N poles.
- the angular width (j) of the magnetic pole M9 is equal to the angular width (f) of the magnetic pole M5.
- the angular widths of the magnetic poles M0 to M9 are as shown in Table 1.
- the angle width is represented by a value obtained by multiplying the mechanical angle corresponding to the angle width by the number of magnetic pole pairs (“5” in this embodiment).
- broken lines indicate regions when the rotor 1 is divided at intervals of 36 ° (180 ° in the electrical angle) in the circumferential direction.
- two magnetic sensors 21 and 22 are arranged at an angular interval of a predetermined angle (18 ° (90 ° in the electrical angle)) around the rotation center axis of the rotor 1. .
- These two magnetic sensors 21 and 22 may be referred to as a first magnetic sensor 21 and a second magnetic sensor 22, respectively.
- a sensor provided with an element having a characteristic in which an electrical characteristic is changed by the action of a magnetic field such as a Hall element or a magnetoresistive element (MR element) can be used.
- the direction indicated by the arrow in FIG. 2 is the positive rotation direction of the rotor 1.
- the rotation angle of the rotor 1 is increased.
- the rotation angle of the rotor 1 is decreased.
- the magnetic sensors 21 and 22 output sinusoidal signals (hereinafter referred to as “sine wave signals”) V1 and V2 as the rotor 1 rotates.
- the rotor angle [deg] on the horizontal axis in FIG. 3 represents an angle obtained by multiplying the mechanical angle by the number of magnetic pole pairs (“5” in this embodiment).
- the magnetic pole regions a to j sensed by the first magnetic sensor 21 at that time are clearly specified in the vicinity of each peak value of the sine wave signal V1.
- the absolute rotation angle of the rotor 1 from a predetermined reference position is referred to as an absolute rotation angle (mechanical angle) ⁇ A of the rotor 1.
- the angle range for one rotation of the rotor 1 is divided into five sections (a + b, c + d, e + f, g + h, i + j) corresponding to the angular width of the five magnetic pole pairs, and the start position of each section is set to 0 ° and the end.
- the angle at which the position is 360 ° and the angle corresponding to the absolute rotation angle ⁇ A is represented within the range of 0 to 360 ° is referred to as the relative rotation angle ⁇ R of the rotor 1.
- the angular widths of these five sections are not constant.
- the second magnetic sensor 22 outputs five magnetic pole pairs.
- V1 and A2 each represent an amplitude.
- the amplitude A1 is different for each magnetic pole.
- the amplitude A2 is different for each magnetic pole.
- theta R represents a relative rotation angle theta R in the corresponding section.
- the relative angle ⁇ R of the rotor 1 in the corresponding section is obtained based on the following equation (3) using both the output signals V1 and V2. be able to.
- the output signals V ⁇ b> 1 and V ⁇ b> 2 of the magnetic sensors 21 and 22 are input to the rotation angle calculation device 20.
- Rotation angle calculation unit 20 based on the output signal V1, V2 of the magnetic sensors 21 and 22, to calculate the relative rotational angle theta R of the rotor 1.
- the rotation angle computing device 20 calculates the absolute rotation angle (mechanical angle) ⁇ A of the rotor 1 based on the obtained relative rotation angle ⁇ R and the like, and obtains the absolute rotation angle ⁇ A of the obtained rotor 1. based on, for calculating the electrical angle theta E of a rotor of a brushless motor.
- the rotation angle calculation device 20 is composed of, for example, a microcomputer, and includes a CPU (Central Processing Unit) and a memory (ROM, RAM, rewritable nonvolatile memory, etc.).
- the electrical angle calculated by the rotation angle calculation device 20 is given to the motor controller 30.
- the motor controller 30 controls the brushless motor 10 based on the electrical angle ⁇ E given from the rotation angle calculation device 20 and a given command value.
- ⁇ E the electrical angle
- a given command value the operation of the rotation angle calculation device 20 will be described.
- an amplitude correction table is stored for each of the magnetic sensors 21 and 22.
- FIG. 4A shows an example of the contents of an amplitude correction table (hereinafter also referred to as “first table”) corresponding to the first magnetic sensor 21.
- the first table shows the peak value (maximum value or minimum value) of the output signal V1 of the first magnetic sensor 21 corresponding to each magnetic pole number 0 to 9 of each magnetic pole M0 to M9, and the angle of the magnetic pole.
- the width [deg] and the correction gain G1 are stored.
- the angular width is a value obtained by multiplying the mechanical angle corresponding to the angular width by the number of magnetic pole pairs (“5” in this embodiment).
- the correction gain G1 is a gain for correcting variations in the amplitude of the first magnetic sensor 21 for each magnetic pole.
- the amplitude correction gain G1 for an arbitrary magnetic pole is based on the following equation (4) using the peak value (maximum value or minimum value) of the output signal V1 of the first magnetic sensor 21 corresponding to the magnetic pole and the reference amplitude. Desired.
- the reference amplitude is, for example, a value corresponding to the peak value (absolute value) of the output signal V1 of the first magnetic sensor 21 corresponding to a magnetic pole whose angular width (mechanical angle ⁇ number of magnetic pole pairs) is 180 °.
- the reference amplitude is preset and is “500” in this example.
- FIG. 4B shows an example of the contents of an amplitude correction table (hereinafter sometimes referred to as “second table”) corresponding to the second magnetic sensor 22.
- the peak value (maximum value or minimum value) of the output signal V2 of the second magnetic sensor 22 corresponding to each magnetic pole number 0 to 9 of each magnetic pole M0 to M9, the angle of the magnetic pole The width [deg] and the correction gain G2 are stored.
- the correction gain G2 is a gain for correcting variations in the amplitude of the second magnetic sensor 22 for each magnetic pole.
- the peak value of the second magnetic sensor 22 with respect to each magnetic pole is the same value as the peak value of the first magnetic sensor 21 with respect to the corresponding magnetic pole, but is actually different from each other. There is also.
- the correction gain G2 for an arbitrary magnetic pole is obtained based on the following equation (5) using the peak value (maximum value or minimum value) of the output signal V2 of the second magnetic sensor 22 corresponding to the magnetic pole and the reference amplitude. It is done.
- the reference amplitude is, for example, a value corresponding to the peak value (absolute value) of the output signal V2 of the second magnetic sensor 221 corresponding to a magnetic pole whose angular width (mechanical angle ⁇ number of magnetic pole pairs) is 180 °.
- the reference amplitude is preset and is “500” in this example.
- the peak value and the correction gain may be stored in the amplitude correction table before the brushless motor 10 is shipped, or by detecting the peak value during motor control after the brushless motor 10 is shipped. May be.
- the peak value and the correction gain stored in the amplitude correction table may be obtained from data for one period or may be obtained from an average value of data for a plurality of periods.
- the rewritable nonvolatile memory in the rotation angle calculation device 20 has a second value when the first magnetic sensor 21 detects a peak value for each magnetic pole (each magnetic pole number).
- the magnetic field specifying table (hereinafter, also referred to as “third table”) that stores data indicating the pole number of the magnetic pole sensed by the magnetic sensor 22 and the second magnetism for each magnetic pole (for each magnetic pole number).
- a magnetic pole specifying table (hereinafter referred to as “fourth table”) that stores data indicating the pole number of the magnetic pole sensed by the first magnetic sensor 21 when the sensor 22 detects the peak value for the magnetic pole. Is stored).
- the third table and the fourth table are created based on the arrangement and angular interval of both magnetic sensors 21 and 22 and the configuration of the rotor 1.
- the rotation angle calculation device 20 detects the peak value from the output signals V1 and V2 of the first or second magnetic sensor 21, 22, the amplitude correction table (first table) corresponding to one of the magnetic sensors from which the peak value has been detected.
- the pole number of the magnetic pole sensed by the magnetic sensor is specified based on the first table or the second table.
- the magnet temperature coefficient (the coefficient that decreases as the temperature increases) is used for amplitude correction.
- the table value may be corrected by multiplying the peak value of the table, and the pole number of the magnetic pole may be specified based on the detected peak value and the corrected table value.
- the rotation angle calculation device 20 cannot specify the pole number of the magnetic pole sensed by the magnetic sensor. Therefore, when the peak value corresponding to the magnetic poles other than the magnetic poles M5 and M9 is detected by one of the magnetic sensors after the start of processing, the rotation angle calculation device 20 determines the pole number of the magnetic pole sensed by the magnetic sensor. Identify.
- the rotation angle calculation device 20 specifies the pole number of the magnetic pole sensed by the other magnetic sensor based on the specified pole number and the third or fourth table (magnetic pole specifying table). For example, when the pole number of the magnetic pole sensed by the first magnetic sensor 21 is specified based on the first table, the second magnetic field is determined based on the specified pole number and the third table. The pole number of the magnetic pole sensed by the sensor 22 is specified. On the other hand, when the pole number of the magnetic pole sensed by the second magnetic sensor 22 is specified based on the second table, the first magnetic field is determined based on the specified pole number and the fourth table. The pole number of the magnetic pole sensed by the sensor 21 is specified.
- the pole number of the magnetic pole sensed by each of the magnetic sensors 21 and 22 is specified, so that the rotation angle computing device 20 senses the output signals V1 and V2 of the respective magnetic sensors 21 and 22 by detecting them. Correction is performed using correction gains G1 and G2 corresponding to the magnetic poles. Then, the rotation angle calculation unit 20 based on the output signal after amplitude correction, calculates the relative rotation angle theta R of the rotor 1. Further, the rotation angle calculation device 20 calculates the absolute rotation angle ⁇ A based on the obtained relative rotation angle ⁇ R and the like. Then, the rotation angle calculation unit 20, the absolute rotation angle theta A obtained, calculates the electrical angle theta E of the brushless motor 10.
- the rotation angle calculation device 20 calculates the relative rotation angle ⁇ R of the rotor 1, the absolute rotation angle ⁇ A , and the electrical angle ⁇ E of the brushless motor 10 in the same manner as described above.
- FIG. 5 is a flowchart showing a procedure of rotation angle calculation processing by the rotation angle calculation device 20.
- the rotation angle calculation device 20 reads the output signals (sensor values) V1 and V2 of the magnetic sensors 21 and 22 (step S1).
- the memory for example, RAM
- the rotation angle calculation device 20 stores sensor values for a plurality of times from the sensor value read a predetermined number of times to the sensor value read most recently. ing.
- the rotation angle calculation device 20 determines whether or not a peak value (extreme value) has been detected for each of the sensor values V1 and V2 based on the sensor values stored in the memory (step S2).
- the determination process in step S2 may be referred to as a peak value detection process.
- the rotation angle calculation device 20 determines that a peak value (maximum value) has been detected and identifies the maximum value. In addition, when the sensor value changes from a downward trend to an upward trend, the rotation angle calculation device 20 determines that a peak value (minimum value) has been detected and identifies the minimum value.
- step S2 when no peak value is detected (step S2: NO), the process proceeds to step S6.
- step S2: YES when the peak value is detected in step S2 (step S2: YES), the rotation angle calculation device 20 is detected by each magnetic sensor by the pole number specifying process in step S4 described later after the controller is activated. It is determined whether or not the magnetic pole has already been specified (step S3).
- step S4 When the magnetic pole sensed by each magnetic sensor is not specified (step S3: NO), the rotation angle calculation device 20 performs a pole number specifying process (step S4). That is, the rotation angle calculation device 20 specifies the magnetic poles that are detected by the magnetic sensors 21 and 22, respectively.
- the rotation angle calculation device 20 firstly corrects the peak value (maximum value or minimum value) detected by the peak value detection process in step S2 and the amplitude correction corresponding to the magnetic sensor that has output the peak value. Based on the contents of the work table (first or second table), the magnetic pole sensed by the magnetic sensor is specified. That is, the rotation angle calculation device 20 assigns the pole number corresponding to the peak value closest to the peak value detected by the peak value detection process among the plurality of peak values stored in the amplitude correction table to the magnetic sensor. Is specified as the pole number of the magnetic pole sensed by.
- the rotation angle calculation device 20 determines that the magnetic sensor is Does not identify the magnetic pole being sensed.
- the rotation angle calculation device 20 determines the pole number of the magnetic pole sensed by the magnetic sensor and the third table or the fourth table (magnetic pole). The magnetic pole sensed by the other magnetic sensor is identified based on the identification table. As a result, the magnetic pole sensed by each of the magnetic sensors 21 and 22 is specified.
- step S3 If it is determined in step S3 that the pole numbers of the magnetic poles detected by the sensors 21 and 22 have been specified by the pole number specifying process in step S4 performed after the controller is started (step S3: YES).
- the rotation angle calculation device 20 performs pole number update processing (step S5). Specifically, the rotation angle calculation device 20 uses the rotation number of the rotor 1 based on the pole number already specified for the magnetic sensor whose peak value has been detected by the peak value detection processing in step S2. Update. More specifically, the rotation angle calculation device 20 changes the pole number already specified for the magnetic sensor to a pole number that is one more or a pole number that is one less depending on the rotation direction of the rotor 1. To do.
- the already-specified pole number is updated to a pole number increased by 1, and the rotation direction of the rotor 1 is reversed. If it is, the already specified pole number is updated to a pole number that is less by one. However, the pole number that is smaller by 1 than the pole number of “0” is “9”. Further, a pole number that is 1 more than the pole number of “9” is “0”.
- the process of step S5 ends, the process proceeds to step S6.
- the rotation direction of the rotor 1 can be determined based on, for example, the phases of the output signals V1 and V2 of the magnetic sensors 21 and 22.
- step S6 the rotation angle calculation device 20 performs amplitude correction on the sensor values V1 and V2 read in step S1. Specifically, the rotation angle calculation device 20 reads the amplitude correction gains G1 and G2 corresponding to the pole numbers currently specified for the magnetic sensors 21 and 22 from the first table and the second table, respectively. Then, the rotation angle calculation device 20 corrects the sensor values V1 and V2 read in step S1 using the gains G1 and G2 read from the first table and the second table, respectively. Assuming that the corrected sensor values are V1 'and V2', V1 'and V2' are expressed by the following equations (6) and (7), respectively.
- V2 ′ V1 ⁇ G2 (7)
- step S7 the process has shifted from step S4 to step S6, and the pole number of the magnetic pole sensed by both magnetic sensors 21 and 22 is not specified in the pole number specifying process of step S4, In step S6, the sensor values V1 and V2 are not corrected, and the process proceeds to step S7.
- the rotation angle calculation device 20 specifies the magnetic pole sensed by the magnetic sensor 21 based on the pole number of the magnetic pole sensed by the magnetic sensor 21. Then, the angular width W corresponding to the specified magnetic pole is obtained. For example, when the magnetic pole sensed by the magnetic sensor 21 is the first magnetic pole M0 among the ten magnetic poles, the angular width W corresponding to the magnetic pole is 170 [deg].
- the relative angle ⁇ R of the rotor 1 calculated in step S7 is an angle calculated assuming that the magnetic pole 21 has an angular width W detected by the magnetic sensor 21 of 180 °. Therefore, the rotation angle calculation device 20 uses the relative angle ⁇ R of the rotor 1 calculated in step S7 according to the angular width of the magnetic pole region sensed by the magnetic sensor 21 based on the following equation (9). The relative angle ⁇ R ′ is converted (phase correction).
- 5 is the number of magnetic pole pairs.
- ⁇ A ⁇ R '+ (angular width of the first magnetic pole M0) ⁇ / 5.
- the angular width is a value obtained by multiplying the mechanical angle corresponding to the angular width by the number of magnetic pole pairs (“5” in this embodiment).
- ⁇ A ⁇ R '+ (the sum of the angular widths of the first and second magnetic poles M0 and M1) ⁇ / 5 It becomes.
- ⁇ A ⁇ R '+ (sum of angular widths M0 to M7 of the first to eighth magnetic poles) ⁇ / 5 Become.
- ⁇ A ⁇ R '+ (sum of angular widths M0 to M8 of the first to ninth magnetic poles) ⁇ / 5 Become.
- the rotation angle calculation device 20 calculates the electrical angle ⁇ E (step S9). Specifically, the numbers (1-5) of the magnetic pole pairs (M0, M1), (M2, M3), (M4, M5), (M6, M7), (M8, M9) sensed by the magnetic sensor 21 ) and When n, the rotation angle calculation unit 20, based on the following equation (10), to calculate the electrical angle theta E, gives the motor controller 30.
- step S10 determines whether or not the motor control is finished. If the motor control has not ended (step S10: NO), the process returns to step S1. If the motor control has been completed (step S10: YES), the rotation angle calculation device 20 performs a control end process (step S11).
- FIG. 6 is a flowchart illustrating an example of the control end process.
- the rotation angle calculation device 20 determines whether or not the brushless motor 10 has sufficiently rotated during the current motor control period (step S21). Specifically, the rotation angle calculation device 20 determines whether or not the rotation speed of the motor 10 during the current motor control period is equal to or greater than a predetermined rotation speed.
- step S21: YES the peak value corresponding to each pole number in the amplitude correction table (the first table and the second table) is represented by the pole number. Is updated to the latest detected peak value (step S22). Then, the control end process ends.
- the angular width (f) of the magnetic pole M5 of the S pole is equal to the angular width (j) of the magnetic pole M9, but the angular width of each of the magnetic poles M1, M3, M5, M7, M9 of the S pole
- the magnetic poles M0, M2, M4, M6, and M8 may be different from each other.
- 7 and 8 show a detection rotor used in the rotation angle detection device according to the second embodiment of the present invention.
- FIG. 7 is a perspective view of the detection rotor
- FIG. 8 is a view of the detection rotor as viewed from the end face side.
- the detection rotor 1A has a magnet 2A having a shape in which one end side of a cylindrical magnet is cut obliquely with respect to the axial direction. That is, one end side of the magnet 2A is a flat end surface (flat end surface), and the other end side is an inclined end surface (inclined end surface).
- the magnet 2A is magnetized with ten magnetic poles M0 to M9 at equal angular intervals in the circumferential direction when viewed from the end face side.
- the lengths of the rotor for detection 1A in the direction of the rotation axis in the magnetic poles M0 to M9 are different.
- the magnetic poles M0 to M9 have different heights.
- the two opposite sides of the inclined end surface of the rotor 1 ⁇ / b> A are opposed to the inclined end surface of the rotor 1 ⁇ / b> A in the direction opposite to the direction toward the flat end surface.
- the magnetic sensors 21 and 22 are arranged at an angular interval of a predetermined angle (18 ° (90 ° in the electrical angle)) with the rotation center axis of the rotor 1A as the center.
- the rotation angle calculation device 20 performs output signals of the magnetic sensors 21 and 22 by the same method as that of the first embodiment described above, that is, by performing substantially the same processing as that shown in FIG. Amplitude correction of V1 and V2 can be performed.
- the magnetic sensors 21 and 22 may be disposed close to the side surface (outer peripheral surface) of the rotor 1A as indicated by a broken line. However, it is necessary to dispose the magnetic sensors 21 and 22 closer to the flat end surface of the rotor 1A than the position of the inclined end surface of the magnetic pole having the shortest length in the rotation axis direction of the rotor 1A.
- the rotation angle calculation device 20 can correct the amplitude of the output signals V1 and V2 of the magnetic sensors 21 and 22 by the same method as in the first embodiment described above.
- FIG. 9 shows a detection rotor used in the rotation angle detection device according to the third embodiment of the present invention.
- the detection rotor 1B has a cylindrical magnet 2B.
- the magnet 2B is magnetized with ten magnetic poles M0 to M9 at equal angular intervals in the circumferential direction when viewed from the end face side.
- the magnitude of the magnetic force of each of the magnetic poles M0 to M9 is greatly different for each magnetic pole. That is, the magnitude of the magnetic force of each of the magnetic poles M0 to M9 is intentionally changed. Since the magnitude of the magnetic force of each of the magnetic poles M0 to M9 is greatly different for each magnetic pole, when the rotor 1B rotates, the peak value for each magnetic pole of the output signals V1 and V2 of the magnetic sensors 21 and 22 is different for each magnetic pole. Different. For this reason, the rotation angle calculation device 20 performs output signals of the magnetic sensors 21 and 22 by the same method as that of the first embodiment described above, that is, by performing substantially the same processing as that shown in FIG. Amplitude correction of V1 and V2 can be performed.
- the magnetic poles M0 ⁇ M9 are provided at equal angular intervals, in step S7 in FIG. 5, the relative angle theta R calculated based on the equation (8), the electrical angle of the brushless motor 10 It coincides with the ⁇ E. Therefore, in this embodiment, it is not necessary to perform the processing of steps S8 and S9 in FIG.
- a peak value corresponding to a magnetic pole other than the magnetic poles M5 and M9 is detected from the output signals V1 and V2 of any one of the magnetic sensors 21 and 22.
- the magnetic pole sensed by each magnetic sensor can be specified.
- the peak value of any magnetic pole is detected from the output signals V1, V2 of any one of the magnetic sensors 21, 22.
- the magnetic pole sensed by each magnetic sensor can be specified. Therefore, the magnetic pole sensed by each of the magnetic sensors 21 and 22 can be specified at an early stage immediately after the brushless motor 10 is started.
- the output signals V1 and V2 of the magnetic sensors 21 and 22 can be corrected (amplitude correction) according to the magnetic pole sensed by the magnetic sensor. it can.
- the rotation angle can be detected with high accuracy from an early stage immediately after the brushless motor 10 is started.
- the present invention can be implemented in other forms.
- the rotors 1, 1 ⁇ / b> A, 1 ⁇ / b> B have magnetic pole characteristics such that the peak value for each magnetic pole is different from any of the peak values for magnetic poles other than the magnetic pole, but at least one magnetic pole It suffices if the magnetic pole characteristics have a peak value different from that of any of the other magnetic pole values.
- the detection rotor has a magnetic pole characteristic in which the peak value for one magnetic pole (hereinafter referred to as “reference magnetic pole”) is different from any of the peak values for the other magnetic poles, the brushless motor is started.
- the magnetic pole sensed by each of the magnetic sensors 21 and 22 can be specified. Accordingly, there is a high possibility that the magnetic pole sensed by each of the magnetic sensors 21 and 22 can be specified before the detection rotor makes one rotation after the brushless motor is started. That is, the magnetic pole sensed by each of the magnetic sensors 21 and 22 can be identified at an early stage immediately after the brushless motor is started.
- the present invention can also be applied when detecting the rotation angle of a rotating body other than the rotor of a brushless motor.
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Abstract
Description
=tan-1(V1/V2) …(1)
このようにして、求められた相対角θRを使って、ブラシレスモータを制御する。
なお、ロータ101の絶対回転角θA は、相対角θRを用いて、たとえば、次式(2)に基づいて求めることができる。
検出用ロータは、それに設けられている複数の磁極のうちの少なくとも一つの磁極に対する各交番信号の極値が、他の磁極に対する当該交番信号の極値のいずれとも識別可能に異なるような磁極特性を有している。たとえば、一つの磁極(以下「基準磁極」という)に対する各交番信号の極値が、他の磁極に対する当該交番信号の極値のいずれとも識別可能に異なっている場合には、回転体が回転を開始してから、前記基準磁極に対応する極値が検出手段によって検出された時点で、その極値を出力している方の磁気センサが感知している磁極を特定することが可能となる。また、両磁気センサの配置および角度間隔、検出用ロータの構成等により、他方の磁気センサが感知している磁極を特定することが可能となる。これにより、回転体が回転を開始した後、検出用ロータが1回転する前に、各磁気センサが感知している磁極を特定することができる可能性が高くなる。つまり、回転体が回転を開始した直後の早い段階で、各磁気センサが感知している磁極を特定することができるようになる。
本発明における上述の、またはさらに他の目的、特徴および効果は、添付図面を参照して次に述べる実施形態の説明により明らかにされる。
図1は、この発明の第1の実施形態に係る回転角検出装置を、ブラシレスモータのロータの回転角を検出するための回転角検出装置に適用した場合の構成を示す模式図である。
この回転角検出装置は、ブラシレスモータ10の回転に応じて回転する検出用ロータ(以下、単に「ロータ1」という)を有している。図2に示すように、ロータ1は、ブラシレスモータ10のロータに設けられている磁極対に相当する複数の磁極対を有する円筒状の磁石2を含んでいる。つまり、ロータ1には、周方向に並んだ複数の磁極が設けられている。この例では、磁石2は、5組の磁極対(M0,M1),(M2,M3),(M4,M5),(M6,M7),(M8,M9)を有している。つまり、磁石2は、10個の磁極M0~M9を有している。
θR=tan-1(sinθR/cosθR)
=tan-1(V1/V2) …(3)
図1に戻り、各磁気センサ21,22の出力信号V1,V2は、回転角演算装置20に入力される。回転角演算装置20は、各磁気センサ21,22の出力信号V1,V2に基づいて、ロータ1の相対回転角θRを算出する。また、回転角演算装置20は、得られた相対回転角θR等に基いて、ロータ1の絶対回転角(機械角)θAを算出し、得られたロータ1の絶対回転角θAに基づいて、ブラシレスモータのロータの電気角θEを演算する。回転角演算装置20は、たとえば、マイクロコンピュータから構成され、CPU(中央演算処理装置)およびメモリ(ROM,RAM,書き換え可能な不揮発性メモリ等)を含んでいる。
以下、回転角演算装置20の動作について説明する。回転角演算装置20内の書き換え可能な不揮発性メモリには、磁気センサ21,22毎に、振幅補正用テーブルが記憶されている。
図4Bは、第2の磁気センサ22に対応する振幅補正用テーブル(以下、「第2テーブル」という場合がある)の内容例を示している。第2テーブルには、各磁極M0~M9の磁極番号0~9毎に、その磁極に対応する第2の磁気センサ22の出力信号V2のピーク値(極大値または極小値)、その磁極の角度幅[deg]および補正ゲインG2が記憶されている。補正ゲインG2は、第2の磁気センサ22の振幅の磁極毎のばらつきを補正するためのゲインである。図4Bでは、説明の便宜上、各磁極に対する第2の磁気センサ22のピーク値は、対応する磁極に対する第1の磁気センサ21のピーク値と同じ値となっているが、実際には互いに異なる場合もある。
前記振幅補正用テーブルへのピーク値および補正ゲインの記憶は、ブラシレスモータ10の出荷前に行ってもよいし、ブラシレスモータ10の出荷後において、モータ制御中にピーク値を検出することにより、行ってもよい。前記振幅補正用テーブルに記憶されるピーク値および補正ゲインは、1周期分のデータから求めてもよいし、複数周期分のデータの平均値から求めてもよい。
モータコントローラ30が起動されると、回転角演算装置20は、各磁気センサ21,22の出力信号(センサ値)V1,V2を読み込む(ステップS1)。なお、回転角演算装置20のメモリ(たとえば、RAM)には、所定回数前に読み込まれたセンサ値から最新に読み込まれたセンサ値までの、複数回数分のセンサ値が記憶されるようになっている。回転角演算装置20は、メモリに記憶されているセンサ値に基づいて、各センサ値V1,V2毎にピーク値(極値)を検出したか否かを判定する(ステップS2)。以下において、ステップS2の判定処理を、ピーク値検出処理という場合がある。具体的には、回転角演算装置20は、センサ値が上昇傾向から下降傾向に変化したときには、ピーク値(極大値)を検出したと判別するとともに、当該極大値を特定する。また、回転角演算装置20は、センサ値が下降傾向から上昇傾向に変化したときには、ピーク値(極小値)を検出したと判別するとともに、当該極小値を特定する。
前記磁気センサが感知している磁極の極番号を特定できた場合には、回転角演算装置20は、当該磁気センサが感知している磁極の極番号と、第3テーブルまたは第4テーブル(磁極特定用テーブル)とに基づいて、他方の磁気センサが感知している磁極を特定する。これにより、各磁気センサ21,22がそれぞれ感知している磁極が特定される。ステップS4の処理が終了すると、ステップS6に移行する。
V2’=V1×G2 …(7)
ただし、コントローラが起動されてからピーク値が検出されるまでにおいては、各磁気センサ21,22が感知している磁極は特定されないので、ステップS6では、センサ値V1,V2の補正は行われずに、ステップS7に移行する。また、ステップS4からステップS6に移行してきた場合であって、そのステップS4の極番号特定処理において、両磁気センサ21,22が感知している磁極の極番号が特定されなかった場合にも、ステップS6では、センサ値V1,V2の補正は行われずに、ステップS7に移行する。
θR=tan-1(V1’/V2’) …(8)
次に、回転角演算装置20は、ステップS7で算出されたロータ1の相対角θRと、磁気センサ21が感知している磁極の極番号と、振幅補正テーブルの内容とに基づいて、ロータ1の絶対角(機械角)θAを算出する(ステップS8)。具体的には、回転角演算装置20は、磁気センサ21が感知している磁極の極番号に基づいて、磁気センサ21が感知している磁極を特定する。そして、特定した磁極に対応する角度幅Wを求める。たとえば、磁気センサ21が感知している磁極が、10個の磁極のうち、1番目の磁極M0である場合には、その磁極に対応する角度幅Wは、170[deg]となる。
そして、回転角演算装置20は、磁気センサ21が感知している磁極と、変換後の相対角θR’とに基いて、ロータ1の絶対角(機械角)θAを算出する。たとえば、磁気センサ21が感知している磁極が1番目の磁極M0である場合には、ロータ1の絶対角θAは、変換後の相対角θR’と一致する。つまり、θA=θR’/5となる。ここで、5は、磁極対数である。
この後、回転角演算装置20は、モータ制御が終了したか否かを判別する(ステップS10)。モータ制御が終了していなければ(ステップS10:NO)、ステップS1に戻る。モータ制御が終了していれば(ステップS10:YES)、回転角演算装置20は、制御終了処理を行なう(ステップS11)。
制御終了処理においては、回転角演算装置20は、今回のモータ制御期間中において、ブラシレスモータ10が十分に回転したか否かを判定する(ステップS21)。具体的には、回転角演算装置20は、今回のモータ制御期間中におけるモータ10の回転数が、所定回転数以上であるか否かを判定する。ブラシレスモータ10が十分に回転したと判別された場合には(ステップS21:YES)、振幅補正用テーブル(第1テーブルおよび第2テーブル)内の各極番号に対応するピーク値を、その極番号に対応するピーク値として最新に検出されたピーク値に更新する(ステップS22)。そして、制御終了処理を終了する。
図7および図8は、この発明の第2の実施形態に係る回転角検出装置で用いられる検出用ロータを示している。図7は、検出用ロータの斜視図であり、図8は検出用ロータを端面側から見た図である。
図7および図8に、破線で示すように、ロータ1Aの側面(外周面)に近接して磁気センサ21,22を配置してもよい。ただし、ロータ1Aの回転軸方向の長さが最も短い磁極の傾斜状端面の位置より、ロータ1Aの平坦状端面に近い位置側に、磁気センサ21,22を配置する必要がある。ロータ1Aが回転した場合、磁気センサ21,21が面している磁極の大きさが、磁極毎に異なるので、各磁気センサ21,22の出力信号V1,V2の磁極毎のピーク値は、磁極ごとに異なる。このため、回転角演算装置20は、前述した第1の実施形態と同様な方法で、各磁気センサ21,22の出力信号V1,V2の振幅補正を行うことができる。
図9は、この発明の第3の実施形態に係る回転角検出装置で用いられる検出用ロータを示している。
各磁極M0~M9の磁力の大きさが磁極毎に大きく異なっているので、ロータ1Bが回転した場合、各磁気センサ21,22の出力信号V1,V2の磁極毎のピーク値は、磁極ごとに異なる。このため、回転角演算装置20は、前述した第1の実施形態と同様な方法で、つまり、図5に示した処理とほぼ同様な処理を行なうことによって、各磁気センサ21,22の出力信号V1,V2の振幅補正を行うことができる。
前記第1の実施形態では、ブラシレスモータ10が起動された後、磁極M5,M9以外の磁極に対応するピーク値が、いずれかの磁気センサ21,22の出力信号V1,V2から検出された時点で、各磁気センサが感知している磁極を特定することができる。また、前記第2および第3の実施形態では、ブラシレスモータ10が起動された後、いずれかの磁気センサ21,22の出力信号V1,V2から、いずれかの磁極のピーク値が検出された時点で、各磁気センサが感知している磁極を特定することができる。したがって、ブラシレスモータ10が起動された直後の早い段階で、各磁気センサ21,22が感知している磁極を特定することができるようになる。これにより、ブラシレスモータ10が起動された直後の早い段階で、各磁気センサ21,22の出力信号V1,V2を、その磁気センサが感知している磁極に応じて補正(振幅補正)することができる。この結果、ブラシレスモータ10が起動された直後の早い段階から、精度の高い回転角検出を行えるようになる。
本発明の実施形態について詳細に説明したが、これらは本発明の技術的内容を明らかにするために用いられた具体例に過ぎず、本発明はこれらの具体例に限定して解釈されるべきではなく、本発明の範囲は添付の請求の範囲によってのみ限定される。
21,22…磁気センサ
10…ブラシレスモータ
M0~M9…磁極
Claims (5)
- 回転体の回転に応じて回転しかつ複数の磁極が設けられた検出用ロータと、検出用ロータの回転に応じて、所定の位相差を有する第1および第2の交番信号をそれぞれ出力する第1および第2の磁気センサとを含み、これらの磁気センサの出力信号に基づいて前記回転体の回転角を検出する回転角検出装置であって、
前記検出用ロータは、前記複数の磁極のうち少なくとも一つの磁極に対する前記各交番信号の極値が、他の磁極に対する当該交番信号の極値のいずれとも識別可能に異なるような磁極特性を有しており、
前記各交番信号の極値を検出する検出手段と、
前記検出手段によって検出される極値と、予め設定された極値データとに基づいて、各磁気センサが感知している磁極を特定し、特定した磁極に応じて、前記各交番信号の振幅を補正する補正手段と、
振幅補正後の各交番信号に基づいて、前記回転体の回転角を演算する回転角演算手段と、
を含む回転角検出装置。 - 前記検出用ロータは、周方向に設けられた複数の磁極を有しており、磁極間に磁極面積差が設けられることにより、前記磁極特性を有している、請求項1に記載の回転角検出装置。
- 前記検出用ロータは、周方向に等角度間隔で設けられた複数の磁極を有しており、磁極間に前記検出用ロータの回転軸方向長さの差が設けられることにより、前記磁極特性を有している、請求項1に記載の回転角検出装置。
- 前記検出用ロータは、周方向に等角度間隔で設けられかつ前記検出用ロータの回転軸方向の長さが等しい複数の磁極を有しており、磁極間に磁力の大きさの差が設けられることにより、前記磁極特性を有している、請求項1に記載の回転角検出装置。
- 前記検出用ロータは、周方向に設けられた複数の磁極を有しており、磁極間に角度幅差が設けられることにより、前記磁極特性を有しており、
前記回転角演算手段は、位相補正手段を含み、位相補正手段は、振幅補正後の各交番信号から前記検出用ロータの相対角を算出し、算出した相対角を、予め定められた一方の磁気センサが感知している磁極の角度幅に応じた相対角に補正する手段を含む、請求項1または2に記載の回転角検出装置。
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Also Published As
Publication number | Publication date |
---|---|
EP2543975A4 (en) | 2015-08-26 |
EP2543975A1 (en) | 2013-01-09 |
JP5674053B2 (ja) | 2015-02-25 |
CN102782457B (zh) | 2015-11-25 |
EP2543975B1 (en) | 2017-05-17 |
CN102782457A (zh) | 2012-11-14 |
JPWO2011108421A1 (ja) | 2013-06-27 |
US20120319680A1 (en) | 2012-12-20 |
US8957675B2 (en) | 2015-02-17 |
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