WO2015029427A1 - 角度位置検出装置 - Google Patents
角度位置検出装置 Download PDFInfo
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- WO2015029427A1 WO2015029427A1 PCT/JP2014/004388 JP2014004388W WO2015029427A1 WO 2015029427 A1 WO2015029427 A1 WO 2015029427A1 JP 2014004388 W JP2014004388 W JP 2014004388W WO 2015029427 A1 WO2015029427 A1 WO 2015029427A1
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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
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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
- G01D5/14—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 the magnitude of a current or voltage
- G01D5/20—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
Definitions
- the present invention relates to an angular position detection device using a resolver that excites one phase and outputs it in two phases.
- a resolver is often used as a means for detecting the angular position of a motor mainly in the industrial field or electrical field.
- the resolver is attached to the shaft of the motor.
- the angular position of the motor is detected by a resolver.
- the motor 113 is controlled based on the angular position detected by the resolver 101.
- FIG. 24 is a block diagram showing an angular position detection device using a conventional resolver.
- the resolver 101 employs a method of exciting one phase and outputting it to two phases.
- the method of exciting one phase and outputting it to two phases is referred to as “one-phase excitation two-phase output”.
- the resolver 101 is attached to a shaft that the motor 113 has.
- the resolver 101 outputs an A-phase signal and a B-phase signal as a two-phase signal whose amplitude is modulated.
- the A-phase signal and the B-phase signal have a phase difference of approximately 90 degrees.
- the angular position detection device 1102 detects the angular position of the resolver 101 based on the two-phase signal detected by the resolver 101.
- the angular position detection device 1102 outputs the detected angular position of the resolver 101 to the servo amplifier 112.
- the servo amplifier 112 controls and drives the motor 113 according to the detected angular position.
- the angular position detection device 1102 outputs an excitation signal.
- the output excitation signal excites the resolver 101 via the buffer circuit 111.
- the first analog-digital converter 103 converts the A-phase analog signal output from the resolver 101 into a digital value and outputs the digital value.
- the second analog-digital converter 104 converts the B-phase analog signal output from the resolver 101 into a digital value and outputs the digital value.
- the analog-digital converter may be referred to as an “AD converter”.
- the timing for converting the analog signal to the digital signal is based on the sampling command signal output from the sampling command signal generation unit 1107.
- the resolver digital conversion unit 105 converts the A-phase signal converted into a digital value by the first AD converter 103 and the B-phase signal converted into a digital value by the second AD converter 104 in the resolver 101. Is converted into a signal indicating the angular position.
- the resolver digital conversion unit may be referred to as an “RD conversion unit”.
- a method such as a tracking loop is used as a method for converting a digital value into a signal indicating the angular position of the resolver 101.
- the A-phase signal and the B-phase signal converted into signals indicating the angular position of the resolver 101 are output to the servo amplifier 112 via the interface processing unit 110.
- the interface processing unit may be referred to as an “IF processing unit”.
- the servo amplifier 112 controls and drives the motor 113 according to the detected angular position of the resolver 101, that is, the angular position of the motor 113.
- the sampling command signal generation unit 1107 adjusts the phase of the sampling command signal based on the reference signal output from the reference signal generation unit 108.
- the sampling command signal generation unit 1107 outputs a sampling command signal whose phase is adjusted to the first AD converter 103 and the second AD converter 104.
- Patent Document 1 A conventional angular position detection device as described above is disclosed in, for example, Patent Document 1.
- FIG. 25 is a waveform diagram showing each signal in the conventional angular position detection device.
- FIG. 25 shows the following waveform.
- a waveform output from the resolver 101 is shown as the A-phase signal 15a1.
- a waveform output from the resolver 101 is shown as the B-phase signal 15a2.
- As the reference signal 15b a waveform output from the reference signal generation unit 108 is shown.
- the sampling command signal generation unit 1107 adjusts the phase of the sampling command signal based on the reference signal 15b.
- the sampling command signal generation unit 1107 outputs a sampling command signal whose phase is adjusted. As shown in FIG. 25, the sampling command signal generator 1107 outputs a sampling command signal at times t1 and t3. At times t1 and t3, the output of each of the A phase signal 15a1 and the B phase signal 15a2 output from the resolver 101 is maximized.
- the angular position detection device performs analog-digital conversion of the A-phase signal 15a1 and the B-phase signal 15a2 at the timing when the A-phase signal 15a1 and the B-phase signal 15a2 output the maximum output.
- the angular position detection device can detect the angular position of the resolver.
- An angular position detection device targeted by the present invention includes a resolver, a sampling command signal generation unit, a first analog-digital converter, a second analog-digital converter, and a resolver digital conversion unit.
- the resolver outputs an A-phase signal whose amplitude is modulated and a B-phase signal whose amplitude is modulated with a phase difference of 90 degrees between the A-phase signal and the A-phase signal.
- the following four phases exist in at least one of the A phase signal and the B phase signal.
- the first phase is when the signal magnitude is minimum.
- the time when the magnitude of the signal is maximum is taken as the second phase.
- the middle time when the phase changes from the first phase to the second phase is taken as the third phase.
- the middle time when the second phase changes to the first phase is defined as the fourth phase.
- the sampling command signal generation unit outputs a sampling command signal in each of the third phase and the fourth phase.
- the first analog-digital converter receives a phase A signal when a sampling command signal is input, converts the magnitude of the input phase A signal into a digital value, and outputs a first AD conversion value. Is generated. The first analog-digital converter outputs the generated first AD conversion value.
- the second analog-digital converter receives a B-phase signal when a sampling command signal is input, converts the magnitude of the input B-phase signal into a digital value, and outputs a second AD conversion value. Is generated. The second analog-digital converter outputs the generated second AD conversion value.
- the resolver digital conversion unit receives the first AD conversion value and the second AD conversion value, and calculates the angular position of the resolver based on the input first AD conversion value and second AD conversion value.
- the angle data shown is calculated.
- the resolver digital conversion unit outputs the calculated angle data.
- FIG. 1 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a waveform diagram showing each signal in the first embodiment of the present invention.
- FIG. 3 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 2 of the present invention.
- FIG. 4 is a block diagram illustrating an average value calculation unit according to Embodiment 2 of the present invention.
- FIG. 5 is a waveform diagram showing each signal in the second embodiment of the present invention.
- FIG. 6 is a block diagram illustrating a specific example of the resolver angle detection apparatus according to the second embodiment of the present invention.
- FIG. 7 is a block diagram illustrating an average value calculation unit according to Embodiment 2 of the present invention.
- FIG. 1 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a waveform diagram showing each signal in the first embodiment of the present invention.
- FIG. 8 is a block diagram for explaining another specific example of the resolver angle detection apparatus according to Embodiment 2 of the present invention.
- FIG. 9 is a block diagram of an RD conversion unit as a comparative example compared in the second embodiment of the present invention.
- FIG. 10 is a block diagram of the RD conversion unit in Embodiment 2 of the present invention.
- FIG. 11 is a block diagram illustrating another average value calculation unit according to Embodiment 2 of the present invention.
- FIG. 12 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 3 of the present invention.
- FIG. 13 is a block diagram of a sampling command signal generation unit in the third embodiment of the present invention.
- FIG. 14 is a waveform diagram showing signals in the third embodiment of the present invention.
- FIG. 9 is a block diagram of an RD conversion unit as a comparative example compared in the second embodiment of the present invention.
- FIG. 10 is a block diagram of the RD conversion unit in Embodi
- FIG. 15 is a waveform diagram showing changes in the vector length difference in the third embodiment of the present invention.
- FIG. 16 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 4 of the present invention.
- FIG. 17 is a block diagram illustrating an excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 18 is a block diagram illustrating another excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 19 is a block diagram illustrating another resolver angle detection apparatus according to Embodiment 4 of the present invention.
- FIG. 20 is a block diagram illustrating still another excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 21 is a waveform diagram showing each signal in the fourth embodiment of the present invention.
- FIG. 22 is a waveform diagram showing other signals in the fourth embodiment of the present invention.
- FIG. 23 is a waveform diagram showing changes in the vector length value according to the fourth embodiment of the present invention.
- FIG. 24 is a block diagram showing an angle detection device using a conventional resolver.
- FIG. 25 is a waveform diagram showing each signal in the conventional angle detection apparatus.
- the angular position detection device has good response and high detection accuracy due to the configuration described later.
- the angular position detection device can adjust the timing at which the AD converter detects the signal output from the resolver when detecting the angular position of the motor from the resolver via the AD converter.
- the timing detected by the AD converter is adjusted by a sampling command signal.
- the sampling command signal can be adjusted including fluctuation factors such as variations in resolver characteristics, changes in ambient temperature surrounding the resolver, and changes in the resolver over time. Therefore, the angular position detection device in the embodiment of the present invention can detect the angular position of the motor using the resolver stably and accurately.
- the conventional angular position detection device has the following improvements. That is, the signal output from the resolver exists only twice in one cycle when the signal output is maximized. Therefore, it is difficult for the conventional angular position detection device to increase the responsiveness for detecting the angular position by shortening the sampling period of the signal output from the resolver.
- the resolver signal amplitude value that can be used to adjust the timing exists only twice in one period. Therefore, there is a problem that the adjustment accuracy of the timing for outputting the sampling command signal is deteriorated or the adjustment time is extended.
- the embodiment of the present invention provides an angular position detection device using a resolver that can detect the angular position output from the resolver with high responsiveness.
- the embodiment of the present invention can adjust the timing at which the sampling command signal is output more accurately. Therefore, it is possible to provide an angular position detection device with good responsiveness and high detection accuracy.
- FIG. 1 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a waveform diagram showing each signal in the first embodiment of the present invention.
- the angular position detection device 102 includes a resolver 101, a sampling command signal generation unit 107, a first analog-digital converter 103, and a second analog-digital conversion.
- Device 104 and resolver digital conversion unit 105 are shown in FIG. 1, the angular position detection device 102 according to the first embodiment of the present invention.
- the resolver 101 outputs an A-phase signal whose amplitude is modulated and a B-phase signal whose amplitude is modulated with a phase difference of 90 degrees between the A-phase signal and the A-phase signal.
- the first phase is when the magnitude of the A phase signal or the B phase signal is minimized.
- the second phase is when the magnitude of the A-phase signal or the B-phase signal is maximized.
- the middle time when the phase changes from the first phase to the second phase is taken as the third phase.
- the middle time when the second phase changes to the first phase is defined as the fourth phase.
- the sampling command signal generation unit 107 outputs a sampling command signal in each of the third phase and the fourth phase.
- the first analog-digital converter 103 When a sampling command signal is input, the first analog-digital converter 103 receives an A-phase signal, converts the magnitude of the input A-phase signal into a digital value, and performs a first AD conversion. Generate a value. The first analog-digital converter 103 outputs the generated first AD conversion value.
- the second analog-to-digital converter 104 receives a B-phase signal when a sampling command signal is input, converts the magnitude of the input B-phase signal into a digital value, and performs second AD conversion. Generate a value. The second analog-digital converter 104 outputs the generated second AD conversion value.
- the resolver digital conversion unit 105 receives the first AD conversion value and the second AD conversion value, and the angle of the resolver 101 based on the input first AD conversion value and second AD conversion value. Angle data indicating the position is calculated. The resolver digital conversion unit 105 outputs the calculated angle data.
- the magnitude of the signal can be translated into the absolute value of the signal.
- the resolver angular position detection device has good responsiveness and high accuracy.
- the resolver 101 is a one-phase excitation two-phase output method and is attached to a shaft of the motor 113.
- the resolver 101 outputs a two-phase signal, one is called an A-phase signal and the other is called a B-phase signal.
- the A-phase signal and the B-phase signal have a phase difference of approximately 90 degrees, and the amplitude is modulated.
- the angular position detection device 102 of the resolver 101 detects the angular position of the resolver 101 from this two-phase signal and outputs it to the servo amplifier 112.
- the servo amplifier 112 controls the motor 113 and drives the motor 113 according to the angular position detected by the angular position detection device 102. Further, the angular position detection device 102 of the resolver 101 outputs an excitation signal to the resolver 101 via the buffer circuit 111 to excite the resolver 101.
- the first analog-digital converter 103 converts the A-phase analog signal output from the resolver 101 into a digital value.
- the second analog-digital converter 104 converts the B-phase analog signal output from the resolver 101 into a digital value.
- the timing at which the first AD converter 103 and the second AD converter 104 convert the analog signal into a digital value follows the sampling command signal output from the sampling command signal generation unit 107.
- the resolver digital conversion unit 105 converts the signals converted into digital values by the first AD converter 103 and the second AD converter 104 into signals indicating the angular position of the resolver 101.
- a method such as a tracking loop is used as a method for converting a signal converted into a digital value into a signal indicating the angular position of the resolver 101.
- a signal indicating the angular position of the resolver 101 is output to the servo amplifier 112 via the interface processing unit 110.
- the servo amplifier 112 controls the motor 113 and drives the motor 113 based on the detected angular position of the resolver 101, that is, the angular position of the motor 113.
- the sampling command signal generation unit 107 outputs a sampling command signal to the first AD converter 103 and the second AD converter 104 based on the reference signal output from the reference signal generation unit 108. Output.
- the excitation signal generator 109 generates an excitation signal based on the reference signal output from the reference signal generator 108, and outputs the generated excitation signal.
- the resolver angular position detection device configured as described above functions as a motor control device. The operation and action of the resolver angular position detection device will be described below.
- FIG. 2 shows an A phase signal, a B phase signal, and the like output from the resolver 101.
- An A-phase signal 2 a 1 and a B-phase signal 2 a 2 shown in FIG. 2 are signals obtained by amplitude-modulating the excitation signal (sin ⁇ t) inside the resolver 101.
- the A-phase signal 2a1 and the B-phase signal 2a2 have a phase difference of 90 degrees and are modulated in amplitude.
- the angular position of the resolver 101 is ⁇
- the A-phase signal 2a1 is represented by Asin ⁇ sin ⁇ t
- the B-phase signal 2a2 is represented by Acos ⁇ sin ⁇ t.
- A means amplitude in the signal of each phase.
- the reference signal generator 108 is output from the reference signal generator 108.
- the excitation signal generator 109 generates an excitation signal based on the input reference signal 2b.
- the reference signal 2b is repeatedly output at the same cycle as the A-phase signal 2a1 and the B-phase signal 2a2 output from the resolver 101.
- the A-phase signal 2a1 and the B-phase signal 2a2 output from the resolver 101 have amplitudes Is assumed to be zero.
- the amplitudes of the A-phase signal 2a1 and the B-phase signal 2a2 output from the resolver 101 at time t1 between time t0 and time t2 and at time t3 between time t2 and time t4 are maximum. It becomes.
- the sampling command signal generation unit 1107 outputs a sampling command signal at time t1 and time t3.
- the first AD converter 103 and the second AD converter 104 to which the sampling command signal is input convert the signal output from the resolver 101 into a digital value, and the amplitude of each signal is sent to the RD converter 105. Output.
- the RD conversion unit 105 performs conversion processing for deriving the angular position of the resolver 101 from the amplitude of each input signal.
- the sampling command signal generation unit 107 outputs a sampling command signal at a later-described time indicated by a dotted line in FIG. That is, the time indicated by the dotted line is the time t5 between the time t0 and the time t1, the time t6 between the time t1 and the time t2, the time t7 between the time t2 and the time t3, and the time t3.
- the time t8 is an intermediate time t4.
- the amplitudes of the A-phase signal 2a1 and the B-phase signal 2a2 converted into digital values by the first AD converter 103 and the second AD converter 104 are input to the RD conversion unit 105.
- the RD conversion unit 105 performs conversion processing for deriving the angular position of the resolver 101 from the input amplitude.
- the sampling opportunity increases to four times for one cycle of the excitation signal.
- the A-phase signal 2a1 and the B-phase signal 2a2 are detected with equal amplitude.
- the angular position detection device 102 can obtain twice as much responsiveness as the conventional method without degrading the detection accuracy of the angular position.
- the sampling command signal generation unit 107 is configured so that the magnitudes of the A-phase signal 2a1 and the B-phase signal 2a2, that is, the absolute values of the signals 2a1 and 2a2, are the maximum and minimum phases.
- a sampling command signal is output at a phase located in the middle.
- the RD conversion unit 105 performs conversion for deriving the angular position of the resolver 101 from the digital values output from the first AD converter 103 and the second AD converter 104 at every timing when the sampling command signal is output. Process.
- the cycle in which the conversion process is performed is shortened to half of the conventional one.
- the A-phase signal 2a1 and the B-phase signal 2a2 are sampled with equal amplitude. Therefore, the angular position detection device 102 according to the first embodiment of the present invention has good responsiveness and can detect the angle of the resolver 101 with high accuracy.
- FIG. 3 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 2 of the present invention.
- the angular position detection device shown in the second embodiment is different from the angular position detection device described in the first embodiment in a resolver digital conversion unit.
- the angular position detection device shown in the second embodiment includes a resolver digital conversion unit having a function of performing an averaging process.
- the angular position detection device 302 is an average resolver digital conversion unit in place of the resolver digital conversion unit 105 in the angular position detection device 102 described in the first embodiment. 300.
- the average resolver digital conversion unit 300 includes an average value calculation unit 114 and a resolver digital conversion unit 105.
- the first AD conversion value output from the first analog-digital converter 103 is the past first AD conversion value.
- the first analog-digital signal is output in accordance with the sampling command output from the sampling command signal generation unit 107.
- the first AD conversion value newly output from the converter 103 is set as a new first AD conversion value.
- the second AD conversion value output from the second analog-digital converter 104 is a past second AD conversion value.
- the second analog-digital signal is output in accordance with the sampling command output from the sampling command signal generation unit 107.
- the second AD conversion value newly output from the converter 104 is set as a new second AD conversion value.
- the resolver 101 uses the past first AD conversion value, the new first AD conversion value, the past second AD conversion value, and the new second AD conversion value.
- Angle data indicating the angular position is calculated.
- the average value calculation unit 114 includes a past first AD conversion value, a new first AD conversion value, a past second AD conversion value, Then, the averaging process is performed based on at least two of the new second AD conversion values.
- the resolver digital conversion unit 105 includes at least two or more of a past first AD conversion value, a new first AD conversion value, a past second AD conversion value, and a new second AD conversion value.
- the angle data is calculated based on the value of, and the calculated angle data is output.
- the angle detection error is caused by a phase shift included in the two-phase signal output from the resolver 101. Therefore, the angular position detection device 302 according to the second embodiment can easily realize highly accurate angular position detection.
- the average resolver digital conversion unit 300 three modes in which the average value calculation unit 114 is attached to different positions with respect to the resolver digital conversion unit 105 will be described.
- the three aspects are: 1. When the average value calculation unit is located on the output side of the resolver digital conversion unit. The case where the average value calculation unit is located on the input side of the resolver digital conversion unit is 3, and the case where the average value calculation unit is located inside the resolver digital conversion unit.
- FIG. 4 is a block diagram illustrating an average value calculation unit according to Embodiment 2 of the present invention.
- FIG. 5 is a waveform diagram showing each signal in the second embodiment of the present invention.
- the angular position detection device 302 includes an average resolver digital conversion unit 300 having a resolver digital conversion unit 105 and an average value calculation unit 114.
- the resolver digital conversion unit 105 receives the first AD conversion value and the second AD conversion value.
- the resolver digital conversion unit 105 calculates angle data indicating the angular position of the resolver 101 based on the input first AD conversion value and second AD conversion value.
- the resolver digital conversion unit 105 outputs the calculated angle data.
- the average value calculation unit 114 includes an angle data storage unit 401 and an angle data average unit 402.
- the angle data storage unit 401 stores the angle data output from the resolver digital conversion unit 105 according to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase. .
- the angle data storage unit 401 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or in the third phase that occurs immediately after the fourth phase.
- the angle data newly output from the resolver digital conversion unit 105 is stored as new angle data in place of the stored angle data.
- the angle data averaging unit 402 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the angle data output from the resolver digital conversion unit 105 is input as new angle data.
- the angle data stored in the angle data storage unit 401 before the third phase or before the fourth phase is input as past angle data.
- the angle data averaging unit 402 calculates an average value of past angle data and new angle data, and outputs the calculated average value.
- the angular position detection device 302 of the resolver 101 is different from the angular position detection device 102 described in Embodiment 1 in that the RD conversion unit 105 is replaced with an average resolver digital conversion unit 300.
- the difference is that an average value calculation unit 114 is added to the output side of the RD conversion unit 105 inside the angular position detection device 102 described in the first embodiment.
- the average resolver digital conversion unit may be referred to as an “average RD conversion unit”.
- the average value calculation unit 114 will be described with reference to FIG.
- the average value calculation unit 114 stores the input signal in the angle data storage unit 401.
- the angle data storage unit 401 stores angle data that is an input signal for one sampling.
- angle data that is a new signal is input to the average value calculation unit 114.
- the angle data storage unit 401 outputs the angle data stored before one sampling to the angle data averaging unit 402 as past angle data.
- the angle data storage unit 401 stores angle data, which is a newly input signal, as new angle data.
- the angle data averaging unit 402 calculates an average value using the new angle data input from the RD conversion unit 105 and the past angle data input from the angle data storage unit 401.
- the angle data averaging unit 402 outputs the calculated average value.
- FIG. 5 shows an A phase signal, a B phase signal, and the like output from the resolver 101.
- the excitation signal is sin ⁇ t
- the angular position of the resolver 101 is ⁇
- the signal amplitude is A.
- the A-phase signal 5a1 is represented by Asin ⁇ sin ⁇ t
- the B-phase signal 5a2 is represented by Acos ⁇ sin ⁇ t.
- FIG. 5 shows a reference signal 5b.
- the A phase signal and the B phase signal are slightly out of phase with each other. Let this phase shift be ⁇ . Reflecting the phase shift, the A-phase signal 5a1 is represented by Asin ⁇ sin ⁇ t, and the B-phase signal 5a3 is represented by Acos ⁇ sin ( ⁇ t + ⁇ ). In general, the phase shift ⁇ is a value of about ⁇ 0.1 degrees.
- the output value of the RD conversion unit 105 fluctuates for each sampling in which the sampling command signal is output. To do. As shown in FIG. 5, the output value 5c1 of the RD conversion unit is indicated by a dotted line.
- the width of this fluctuation is the maximum width of the phase shift ⁇ . If the phase shift ⁇ is 0.1 degree, the fluctuation width is 6 minutes.
- an angular position detection device 302 having an average value calculation unit 114 is used. At this time, fluctuations in the output value of the average RD conversion unit 300 are canceled out. As shown in FIG. 5, the output value 5c2 of the average RD conversion unit having a flat waveform after the fluctuation is canceled is indicated by a solid line.
- the value obtained by detecting the angular position of the resolver 101 is averaged by the average value calculation unit 114 before and after one sampling.
- the value averaged by the average value calculation unit 114 is output as the angular position of the resolver 101. If the averaged output value is used, the angle of the resolver 101 can be detected with good responsiveness and high accuracy.
- the angle data storage unit 401 stores only one sampling of angle data, and updates and stores new angle data as needed.
- angle data stored in the angle data storage unit 401 is not limited to one sampling, and a plurality of predetermined samplings may be stored.
- the angle data stored in the angle data storage unit 401 is for one sampling, the calculation in the angle data averaging unit 402 is accelerated, and the responsiveness is improved. On the other hand, when the angle data stored in the angle data storage unit 401 stores a plurality of samplings, the accuracy of the average value calculated by the angle data averaging unit 402 is improved.
- the angular position detection device 302 of the resolver shown in FIG. 3 is somewhat less responsive than the angular position detection device 102 of the resolver 101 shown in FIG.
- the angular position detection device 302 of the resolver 101 shown in FIG. 3 has a response that is about 1.5 times faster than the angular position detection device 1102 of the conventional resolver 101 shown in FIG. ing.
- the magnitude of the A phase signal and the B phase signal that is, the phase of the A phase output from the resolver 101 in the phase that is located approximately in the middle of the phase where the absolute value is maximum and the phase where the absolute value is minimum.
- the amplitude of the signal and the B-phase signal is about 0.7 times the maximum value.
- FIG. 6 is a block diagram illustrating a specific example of the resolver angle detection apparatus according to the second embodiment of the present invention.
- FIG. 7 is a block diagram illustrating an average value calculation unit according to Embodiment 2 of the present invention.
- the angular position detection device 502 includes an average resolver digital conversion unit 300 having a resolver digital conversion unit 105 and an average value calculation unit 514.
- the average value calculation unit 514 includes an A-phase average value calculation unit 503 and a B-phase average value calculation unit 504.
- the A-phase average value calculation unit 503 includes a first AD conversion value storage unit 511 and a first AD conversion value average unit 512.
- the first AD conversion value storage unit 511 responds to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the first AD conversion value output from the first analog-digital converter 103 is stored.
- the first AD conversion value storage unit 511 is output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the first AD conversion value newly output from the first analog-digital converter 103 is replaced with the stored first AD conversion value, and a new first AD conversion value is obtained. Store as a value.
- the first AD conversion value averaging unit 512 is output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or in the third phase that occurs immediately after the fourth phase. In response to the sampling command, the first AD conversion value output from the first analog-digital converter 103 is input as a new first AD conversion value.
- the first AD conversion value averaging unit 512 stores the first AD conversion value stored in the first AD conversion value storage unit 511 before the third phase or the fourth phase in the past. Input as the first AD conversion value.
- the first AD conversion value averaging unit 512 calculates an average value of the past first AD conversion value and the new first AD conversion value, and averages the calculated average value. Output as converted value.
- the B-phase average value calculation unit 504 includes a second AD conversion value storage unit 521 and a second AD conversion value average unit 522.
- the second AD conversion value storage unit 521 receives the second analog-to-digital converter 104 from the second analog-digital converter 104 according to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the output second AD conversion value is stored.
- the second AD conversion value storage unit 521 is output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the second AD conversion value newly output from the second analog-digital converter 104 is replaced with the new second AD conversion value instead of the stored second AD conversion value. Store as a value.
- the second AD conversion value averaging unit 522 is output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or in the third phase that occurs immediately after the fourth phase.
- the second AD conversion value output from the second analog-digital converter 104 is input as a new second AD conversion value in response to the sampling command.
- the second AD conversion value averaging unit 522 stores the second AD conversion value stored in the second AD conversion value storage unit 521 before the third phase or before the fourth phase. Input as the second AD conversion value.
- the second AD conversion value averaging unit 522 calculates an average value of the past second AD conversion value and the new second AD conversion value, and averages the calculated average value. Output as converted value.
- the resolver digital conversion unit 105 receives the averaged first AD conversion value and the averaged second AD conversion value.
- the resolver digital conversion unit 105 calculates angle data indicating the angular position of the resolver 101 based on the input averaged first AD conversion value and averaged second AD conversion value.
- the resolver digital conversion unit 105 outputs the calculated angle data.
- the angular position detection device 502 of the resolver 101 is different from the angular position detection device 102 described in the first embodiment in that the RD conversion unit 105 is replaced with an average resolver digital conversion unit 300.
- an average value calculation unit 514 is added to the input side of the RD conversion unit 105 inside the angular position detection device 102 described in the first embodiment.
- the average value calculation unit 514 includes an A phase average value calculation unit 503 and a B phase average value calculation unit 504.
- the A-phase average value calculation unit 503 and the B-phase average value calculation unit 504 will be described with reference to FIG.
- the A-phase average value calculation unit 503 and the B-phase average value calculation unit 504 are respectively 1. It has the same function as the average value calculation unit 114 described in the aspect. Therefore, the A-phase average value calculation unit 503 will be described below on behalf of both.
- the description of the A-phase average value calculation unit 503 is cited.
- the A-phase average value calculation unit 503 stores the input signal in the first AD conversion value storage unit 511.
- the first AD conversion value storage unit 511 stores the first AD conversion value, which is an input signal, for one sampling.
- the first AD conversion value which is a new signal
- the first AD conversion value storage unit 511 After the one sampling, the first AD conversion value, which is a new signal, is input to the A-phase average value calculation unit 503.
- the first AD conversion value storage unit 511 outputs the first AD conversion value stored before one sampling to the first AD conversion value averaging unit 512 as the past first AD conversion value. To do.
- the first AD conversion value storage unit 511 stores the first AD conversion value, which is a newly input signal, as a new first AD conversion value.
- the first AD conversion value averaging unit 512 includes a new first AD conversion value input from the first AD converter 103 and a past input from the first AD conversion value storage unit 511. The average value is calculated using the first AD conversion value. The first AD conversion value averaging unit 512 outputs the calculated average value.
- the A-phase signal converted into a digital value by the first AD converter 103 is input to the A-phase average value calculation unit 503. Then, after the above-described averaging process is performed, the averaged first AD conversion value is input to the RD conversion unit 105.
- the B-phase signal converted into a digital value by the second AD converter 104 is input to the B-phase average value calculation unit 504. Then, after the above-described averaging process is performed, the averaged second AD conversion value is input to the RD conversion unit 105.
- the A-phase signal 5a1 and the B-phase signal 5a2 output from the resolver 101 have a slight phase shift from each other.
- the above-described 1 As described in detail in the embodiment, when the angular position detection device 102 that does not have the average value calculation unit 114 described in the first embodiment is used, the output value of the RD conversion unit 105 is the sampling command signal. Fluctuate every sampling. As shown in FIG. 5, the output value 5c1 of the RD conversion unit is indicated by a dotted line.
- the values obtained by detecting the angular position of the resolver 101 before and after one sampling are averaged by an average value calculation unit 514, which is an average value calculation unit 514, and an average value calculation unit 504 for B phase, respectively.
- a value averaged by the A-phase average value calculation unit 503 and the B-phase average value calculation unit 504, which are the average value calculation unit 514, is output as the angular position of the resolver 101. If the averaged output value is used, the angle of the resolver 101 can be detected with good responsiveness and high accuracy.
- the first AD conversion value storage unit 511 stores the first AD conversion value for only one sampling, and updates and stores the new AD conversion value as needed. To do.
- the first AD conversion value stored in the first AD conversion value storage unit 511 is not limited to one sampling, and a plurality of predetermined samplings may be stored.
- the calculation in the first AD conversion value averaging unit 512 is accelerated, and the responsiveness is improved. To do.
- the first AD conversion value stored in the first AD conversion value storage unit 511 stores a plurality of samplings, the accuracy of the average value calculated by the first AD conversion value averaging unit 512 Will improve.
- the angular position detection device 502 of the resolver 101 shown in FIG. 6 is somewhat less responsive than the angular position detection device 102 of the resolver 101 shown in FIG.
- the angular position detection device 502 of the resolver 101 shown in FIG. 6 has a response that is about 1.5 times faster than the angular position detection device 1102 of the conventional resolver 101 shown in FIG. ing.
- the magnitude of the A phase signal and the B phase signal that is, the phase of the A phase output from the resolver 101 in the phase that is located approximately in the middle of the phase where the absolute value is maximum and the phase where the absolute value is minimum.
- the amplitude of the signal and the B-phase signal is about 0.7 times the maximum value.
- FIG. 8 is a block diagram for explaining another specific example of the resolver angle detection apparatus according to Embodiment 2 of the present invention.
- FIG. 9 is a block diagram of an RD conversion unit as a comparative example compared in the second embodiment of the present invention.
- FIG. 10 is a block diagram of the RD conversion unit in Embodiment 2 of the present invention.
- FIG. 11 is a block diagram illustrating another average value calculation unit according to Embodiment 2 of the present invention.
- the angular position detection device 702 in this aspect includes an average resolver digital conversion unit 300 having a resolver digital conversion unit 705 and an average value calculation unit 714.
- the resolver digital conversion unit 705 when the first AD conversion value and the second AD conversion value are input, based on the input first AD conversion value and the input second AD conversion value, The angular position ⁇ of the resolver 101 is calculated from the rotation angle ⁇ of the resolver 101.
- the resolver digital conversion unit 705 calculates a deviation signal sin ( ⁇ ) from the input first AD conversion value and the input second AD conversion value, and calculates the calculated deviation signal sin ( A tracking loop 707 for calculating the angular position ⁇ of the resolver 101 by converging ⁇ ) to zero.
- the resolver digital conversion unit 705 outputs angle data from the calculated angular position ⁇ .
- the average value calculation unit 714 includes a deviation signal storage unit 711 and a deviation signal average unit 712.
- the deviation signal storage unit 711 is used in the tracking loop 707 according to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the calculated deviation signal is stored.
- the deviation signal storage unit 711 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the deviation signal newly calculated by the tracking loop 707 is stored as a new deviation signal in place of the stored deviation signal.
- the deviation signal averaging unit 712 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the deviation signal calculated by the tracking loop 707 is input as a new deviation signal.
- the deviation signal averaging unit 712 receives the deviation signal stored in the deviation signal storage unit 711 before the third phase or before the fourth phase as a past deviation signal.
- the deviation signal averaging unit 712 calculates an average value of the past deviation signal and the new deviation signal, and outputs the calculated average value.
- the resolver angular position detection device 702 is different from the angular position detection device 102 described in Embodiment 1 in that the RD conversion unit 105 is replaced with an average RD conversion unit 300. More precisely, the difference is that an average value calculation unit 714 is added to the inside of the RD conversion unit 105 inside the angular position detection device 102 described in the first embodiment.
- the average RD conversion unit 300 will be described with reference to FIGS. 9 and 10.
- the RD conversion unit 1815 is called a tracking loop.
- the A-phase signal (sin ⁇ ) is input from the first AD converter to the RD converter 1815.
- the A-phase signal input to the RD conversion unit 1815 is input to the first multiplication unit 1801.
- the A-phase signal is multiplied by the cosine wave signal (cos ⁇ ) output from the cosine wave table 1805.
- the A-phase signal multiplied by the cosine wave signal is output from the first multiplier 1801 to the difference unit 1803.
- a B-phase signal (cos ⁇ ) is input from the second AD converter to the RD conversion unit 1815.
- the B-phase signal input to the RD conversion unit 1815 is input to the second multiplication unit 1802.
- the B-phase signal is multiplied by the sine wave signal (sin ⁇ ) output from the sine wave table 1806.
- the B-phase signal multiplied by the sine wave signal is output from the second multiplier 1802 to the difference unit 1803.
- the difference unit 1803 the difference between the output value of the first multiplier 1801 and the output value of the second multiplier 1802 is calculated, and an error signal (sin ( ⁇ )) is calculated as a result of the calculation. Is done.
- the calculated error signal is input to a proportional-integral controller (Proportional-Integral Controller) 1804.
- PI controller Proportional-Integral Controller
- the PI controller 1804 performs integration processing, gain multiplication processing, and the like. As a result of the integration processing and gain multiplication processing, the PI controller 1804 outputs the angular position ⁇ of the resolver 101.
- the angular position ⁇ of the resolver 101 output from the PI controller 1804 is input to the cosine wave table 1805 and the sine wave table 1806.
- the value of the angular position ⁇ of the resolver 101 the value of the cosine wave signal (cos ⁇ ) is input to the cosine wave table 1805.
- the value of the angular position ⁇ of the resolver 101 is input to the sine wave table 1806 as the value of the sine wave signal (sin ⁇ ).
- the RD conversion unit 1815 performs conversion processing for calculating the angular position of the resolver 101 from the input A-phase signal and B-phase signal.
- the average RD conversion unit 300 includes an average value calculation unit 714 in addition to the RD conversion unit 705 constituting the tracking loop 707.
- the error signal (sin ( ⁇ )) output from the difference unit 1803 is input to the average value calculation unit 714.
- the average value calculation unit 714 performs an averaging process on the input error signal.
- the averaged error signal is output from the average value calculation unit 714 to the PI controller 1804.
- the average value calculation unit 714 will be described with reference to FIG.
- the average value calculation unit 714 includes: It has the same function as the average value calculation unit 114 described in the aspect.
- the average value calculation unit 714 stores the input signal in the deviation signal storage unit 711.
- the deviation signal storage unit 711 stores a deviation signal, which is an input signal, for one sampling.
- a deviation signal that is a new signal is input to the average value calculation unit 714.
- the deviation signal storage unit 711 outputs the deviation signal stored before one sampling to the deviation signal averaging unit 712 as a past deviation signal.
- the deviation signal storage unit 711 stores a deviation signal, which is a newly input signal, as a new deviation signal.
- the deviation signal averaging unit 712 calculates an average value using the new deviation signal input from the difference unit 1803 and the past deviation signal input from the deviation signal storage unit 711.
- the deviation signal averaging unit 712 outputs the calculated average value.
- the angular position detection device 702 is operated by the average value calculation unit 714.
- the same effect is obtained with the A-phase average value calculation unit 503 and the B-phase average value calculation unit 504 described in the above aspect.
- the A-phase signal 5a1 and the B-phase signal 5a2 output from the resolver 101 have a slight phase shift from each other.
- the above-described 1 As described in detail in the embodiment, when the angular position detection device 102 that does not have the average value calculation unit 114 described in the first embodiment is used, the output value of the RD conversion unit 105 is the sampling command signal. Fluctuate every sampling. As shown in FIG. 5, the output value 5c1 of the RD conversion unit is indicated by a dotted line.
- an angular position detection device 702 having an average value calculation unit 714 is used. At this time, fluctuations in the output value of the average RD conversion unit 300 are canceled out. As shown in FIG. 5, the output value 5c2 of the average RD conversion unit having a flat waveform after the fluctuation is canceled is indicated by a solid line.
- the value obtained by detecting the angular position of the resolver 101 is averaged by the average value calculation unit 714 before and after one sampling.
- the value averaged by the average value calculation unit 714 is output as the angular position of the resolver 101. If the averaged output value is used, the angle of the resolver 101 can be detected with good responsiveness and high accuracy.
- the deviation signal storage unit 711 stores the deviation signal for one sampling, and updates and stores a new deviation signal as needed.
- the deviation signal stored in the deviation signal storage unit 711 is not limited to one sampling, and a plurality of predetermined samplings may be stored.
- the deviation signal stored in the deviation signal storage unit 711 is for one sampling, the calculation in the deviation signal averaging unit 712 is accelerated, and the responsiveness is improved. On the other hand, when the deviation signal stored in the deviation signal storage unit 711 stores a plurality of samplings, the accuracy of the average value calculated by the deviation signal averaging unit 712 is improved.
- the angular position detection device 702 of the resolver 101 shown in FIG. 8 is somewhat less responsive than the angular position detection device 102 of the resolver 101 shown in FIG.
- the angular position detection device 702 of the resolver 101 shown in FIG. 8 has a response that is about 1.5 times faster than the angular position detection device 1102 of the conventional resolver 101 shown in FIG. ing.
- the magnitude of the A phase signal and the B phase signal that is, the phase of the A phase output from the resolver 101 in the phase that is located approximately in the middle of the phase where the absolute value is maximum and the phase where the absolute value is minimum.
- the amplitude of the signal and the B-phase signal is about 0.7 times the maximum value.
- FIG. 12 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 3 of the present invention.
- FIG. 13 is a block diagram of a sampling command signal generation unit in the third embodiment of the present invention.
- FIG. 14 is a waveform diagram showing signals in the third embodiment of the present invention.
- FIG. 15 is a waveform diagram showing changes in the vector length difference in the third embodiment of the present invention.
- a vector length calculation unit is added to the angular position detection device described in the first embodiment.
- the angular position detection device 602 according to the third embodiment of the present invention further includes a vector length calculation unit 106 in the angular position detection device 102 described in the first embodiment.
- the vector length calculation unit 106 outputs the first analog / digital converter 103 output in response to the sampling command output from the sampling command signal generation unit 607 in the third phase or the fourth phase.
- the AD conversion value and the second AD conversion value output from the second analog-digital converter 104 are input.
- the vector length calculation unit 106 calculates a vector length indicating the magnitude of the vector based on the input first AD conversion value and second AD conversion value, and outputs the calculated vector length.
- the sampling command signal generation unit 607 has a vector length storage unit 611 and a timing adjustment unit 612.
- the vector length storage unit 611 includes a vector length calculation unit according to the sampling command output from the sampling command signal generation unit 607 in the third phase or the fourth phase.
- the vector length output by 106 is stored as the first vector length.
- the vector length storage unit 611 responds to the sampling command output from the sampling command signal generation unit 607 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the vector length newly output by the vector length calculation unit 106 is stored as a new first vector length instead of the stored first vector length.
- the timing adjustment unit 612 responds to the sampling command output from the sampling command signal generation unit 607 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the vector length output by the vector length calculation unit 106 is input as the second vector length.
- the timing adjustment unit 612 receives the first vector length stored in the vector length storage unit 611 before the third phase or the fourth phase, and receives the first vector length and the second vector length. The timing at which the sampling command signal is output is adjusted so that the difference between the two becomes zero.
- the angular position detection device 602 can easily realize highly accurate angular position detection.
- the angular position detection device 602 of the resolver 101 is different from the angular position detection device 102 described in Embodiment 1 in that a vector length calculation unit 106 is added.
- the sampling command signal generation unit 607 also has a specific function.
- the vector length calculation unit 106 receives the output of the first AD converter 103 and the output of the second AD converter 104. The vector length calculation unit 106 calculates the vector length based on the input outputs of the first AD converter 103 and the second AD converter 104. The vector length calculation unit 106 outputs the calculated vector length.
- the sampling command signal generation unit 607 outputs a sampling command signal to the first AD converter 103 and the second AD converter 104 based on the input signal of the reference signal generation unit 108.
- the sampling command signal generation unit 607 has a function of adjusting the phase of the sampling command signal based on the vector length output from the vector length calculation unit 106.
- the sampling command signal generation unit 607 will be described with reference to FIG.
- the sampling command signal generation unit 607 stores the input signal in the vector length storage unit 611.
- the vector length storage unit 611 stores the first vector length, which is an input signal, for one sampling.
- the vector length storage unit 611 After the one sampling, the second vector length that is a new signal is input to the timing adjustment unit 612. At this time, the vector length storage unit 611 outputs the first vector length stored before one sampling to the timing adjustment unit 612. The vector length storage unit 611 stores the newly input signal as a new first vector length.
- the timing adjustment unit 612 performs a sampling command so that the difference between the second vector length input from the vector length calculation unit 106 and the first vector length input from the vector length storage unit 611 is zero. Adjust the signal output timing.
- FIG. 14 shows an A-phase signal 7a1 and a B-phase signal 7a2 output from the resolver 101.
- the A-phase signal 7 a 1 and the B-phase signal 7 a 2 are signals obtained by amplitude-modulating the excitation signal (sin ⁇ t) inside the resolver 101.
- the A-phase signal 7a1 and the B-phase signal 7a2 are amplitude-modulated with a phase difference of 90 degrees from each other.
- the A-phase signal 7a1 is represented by Asin ⁇ sin ⁇ t
- the B-phase signal 7a2 is represented by Acos ⁇ sin ⁇ t.
- A means the amplitude of the signal.
- the A-phase signal 7a1 and the B-phase signal 7a2 are amplitude-modulated with a phase difference of 90 degrees from each other. Therefore, when these two signals are considered as vectors, the vector length indicating the length of the vector is represented by the square root of the following equation.
- the vector length described above always has a constant amplitude regardless of the angular position ⁇ of the resolver 101.
- the vector length is a signal synchronized with the reference signal, the A-phase signal 7a1, and the B-phase signal 7a2.
- the angular position detection device 602 can easily and accurately detect the vector length. Since the vector length can be detected easily and accurately, the angular position detection device 602 can determine the optimum timing for outputting the sampling command signal from the sampling command signal generation unit 607.
- FIG. 14 shows a vector length value 7b and a reference signal 7c.
- the vector length value 7 b is output from the vector length calculation unit 106.
- the reference signal 7c is output from the reference signal generation unit 108.
- the sampling command signal generator 607 outputs four sampling command signals at regular intervals. This corresponds to a phase difference of 90 degrees.
- the sampling command signal generation unit 607 outputs a sampling command signal at times t1, t2, t3, and t4.
- the vector length at time t1 and the vector length at time t2 are values that are greatly different from each other.
- the vector length at time t3 and the vector length at time t4 are values that are greatly different from each other.
- the times t1, t2, t3, and t4 are from the time corresponding to the phase in which the magnitude of the A-phase signal and the magnitude of the B-phase signal are located approximately in the middle between the maximum phase and the minimum phase. It's off.
- the excitation signal (sin ⁇ t) is generated by the excitation signal generation unit 109 based on the reference signal 7 c and then input to the resolver 101 via the buffer circuit 111.
- the phase relationship among the reference signal 7c, the A-phase signal 7a1, and the B-phase signal 7a2 is as follows. That is, (1) an excitation signal is generated from the reference signal 7c. (2) The generated excitation signal is transmitted to the first AD converter 103 and the second AD converter 104 via the resolver 101. (3) Based on the transmitted excitation signal, the A-phase signal 7a1 and the B-phase signal 7a2 are converted into digital values. The reference signal 7c, the A-phase signal 7a1, and the B-phase signal 7a2 are affected by the phase delay, delay, etc. that occur in the transmission process from (1) to (3).
- each component arranged in the transmission path described above may also be affected by temperature changes and changes over time. Therefore, it is necessary to adjust the timing for the sampling command signal.
- the sampling command signal generation unit 607 adjusts the timing of the sampling command signal to be output so that the vector lengths are equal in the output timing of the sampling command signal. Specifically, the sampling command signal generation unit 607 calculates the difference between the value held before one sampling and the latest value for the value of the vector length output by the vector length calculation unit 106. The sampling command signal generation unit 607 adjusts the timing of the sampling command signal so that the difference becomes zero.
- the sampling command signal is output at times t5, t6, t7, and t8 shown in FIG.
- the vector lengths at time t5 and time t6 are substantially the same value.
- the vector lengths at time t7 and time t8 are also substantially the same value.
- the time interval at which the sampling command signal is output corresponds to a phase difference of 90 degrees. Therefore, the times t5, t6, t7, and t8 naturally correspond to phases in which the magnitude of the A-phase signal and the magnitude of the B-phase signal are located approximately in the middle between the maximum phase and the minimum phase. It is time.
- the sampling command signal has a phase shift amount ⁇ from a phase located approximately in the middle.
- the difference between the value of the vector length and the value of the vector length stored until one sampling is a curve 15 of a sine wave function via the origin zero. Therefore, by forming a negative feedback loop in a region where the phase shift amount ⁇ is relatively small, the timing at which the sampling command signal is output can be adjusted so that the phase shift amount ⁇ automatically becomes zero. it can.
- the sampling command signal generation unit 607 uses the vector length calculation unit 106 to adjust the timing for outputting the sampling command signal.
- the vector length calculation unit 106 uses the output value of the first AD converter 103 and the output value of the second AD converter 104 that are output according to the timing at which the sampling command signal is output, to Calculate the size.
- the sampling command signal generation unit 607 stores the output value of the vector length calculation unit 106 output before one sampling.
- the sampling command signal generation unit 607 compares the output values before and after one sampling output from the vector length calculation unit 106, and adjusts the timing for outputting the sampling command signal so that the difference becomes zero.
- the sampling command signal generation unit 607 outputs the sampling command signal at a phase where the magnitude of the A phase signal and the magnitude of the B phase signal are located approximately in the middle between the maximum phase and the minimum phase. it can. Therefore, for example, with the configuration shown in FIG. 12, the angular position detection device 602 according to the third embodiment can always detect the angle of the resolver 101 stably and with high accuracy.
- the above-described processing can be performed by acquiring the vector length four times in one cycle of the excitation signal. Therefore, the angular position detection device 602 according to the third embodiment can adjust the timing of the sampling command signal to be output in a shorter period than before.
- the vector length is calculated using a square root operation.
- the calculation of the vector length need not be constrained by the square root operation.
- the calculation of the vector length may omit the square root calculation.
- FIG. 16 is a block diagram illustrating a resolver angle detection apparatus according to Embodiment 4 of the present invention.
- FIG. 17 is a block diagram illustrating an excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 18 is a block diagram illustrating another excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 19 is a block diagram illustrating another resolver angle detection apparatus according to Embodiment 4 of the present invention.
- FIG. 20 is a block diagram illustrating still another excitation signal generation unit according to Embodiment 4 of the present invention.
- FIG. 21 is a waveform diagram showing each signal in the fourth embodiment of the present invention.
- FIG. 22 is a waveform diagram showing other signals in the fourth embodiment of the present invention.
- FIG. 23 is a waveform diagram showing changes in the vector length value 23 in the fourth embodiment of the present invention.
- the angular position detection device shown in the fourth embodiment further includes a vector length calculation unit and an excitation signal generation unit compared to the angular position detection device described in the first embodiment.
- the angular position detection device 902 is different from the angular position detection device 102 described in the first embodiment with a vector length calculation unit 106 and an excitation signal generation unit 909. And further comprising.
- the vector length calculation unit 106 outputs the first analog-to-digital converter 103 output in response to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the AD conversion value and the second AD conversion value output from the second analog-digital converter 104 are input.
- the vector length calculation unit 106 calculates a vector length indicating the magnitude of the vector based on the input first AD conversion value and second AD conversion value, and outputs the calculated vector length.
- the excitation signal generation unit 909 includes a vector length storage unit 911 and a phase adjustment unit 912.
- the vector length storage unit 911 includes a vector length calculation unit according to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the vector length output by 106 is stored as the first vector length.
- the vector length storage unit 911 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the vector length newly output by the vector length calculation unit 106 is stored as a new first vector length instead of the stored first vector length.
- the phase adjustment unit 912 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the vector length output by the vector length calculation unit 106 is input as the second vector length.
- the phase adjustment unit 912 receives the first vector length stored in the vector length storage unit 911 before the third phase or the fourth phase, and receives the first vector length and the second vector length.
- the phase of the excitation signal for exciting the resolver 101 is adjusted so that the difference between them becomes zero.
- the angular position detection device According to such a configuration, the timing at which the sampling command signal is output is relatively adjusted. Therefore, the angular position detection device according to the fourth embodiment can easily realize highly accurate angular position detection.
- the angular position detection device 902 may have the following configuration.
- the excitation signal generation unit 909 further includes a rectangular wave pulse generation unit 1002 and an amplitude adjustment unit 1003.
- the rectangular wave pulse generation unit 1002 outputs a first rectangular wave pulse based on the adjustment result of the phase adjustment unit 912.
- the amplitude adjustment unit 1003 receives the first rectangular wave pulse, and adjusts the amplitude of the excitation signal for exciting the resolver 101 according to the input first rectangular wave pulse. Is output.
- the amplitude of the signal output from the resolver that is, the amplitude of the input signal of the first AD converter and the amplitude of the input signal of the second AD converter are appropriate values. Adjusted to Therefore, the angular position detection device according to the fourth embodiment can easily realize highly accurate angular position detection.
- the angular position detection device 902 may be configured to further include a sine wave conversion unit 1004.
- the sine wave conversion unit 1004 receives the second rectangular wave pulse, converts the input second rectangular wave pulse into a sine wave having the same frequency as that of the second rectangular wave pulse, and converts the second rectangular wave pulse. Outputs a sine wave.
- the phase of the excitation signal can be easily adjusted.
- the sine wave conversion unit 1004 may be a low-pass filter. With such a configuration, sine wave conversion processing can be easily realized.
- another angular position detection device 902 according to the fourth embodiment of the present invention is different from the angular position detection device 102 described in the first embodiment in terms of a reference signal generation unit 108 and a vector.
- a length calculation unit 106 and an excitation signal generation unit 909 are further provided.
- the reference signal generator 108 generates a reference signal given to the resolver 101 and outputs the generated reference signal.
- the vector length calculation unit 106 outputs the first analog-to-digital converter 103 output in response to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the AD conversion value and the second AD conversion value output from the second analog-digital converter 104 are input.
- the vector length calculation unit 106 calculates a vector length indicating the magnitude of the vector based on the input first AD conversion value and second AD conversion value, and outputs the calculated vector length.
- the excitation signal generation unit 909 includes a vector length storage unit 1011, a vector length difference calculation unit 1001, and a rectangular wave pulse generation unit 1002.
- the vector length storage unit 1011 includes a vector length calculation unit according to the sampling command output from the sampling command signal generation unit 107 in the third phase or the fourth phase.
- the vector length output by 106 is stored as the first vector length.
- the vector length storage unit 1011 responds to the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the vector length newly output by the vector length calculation unit 106 is stored as a new first vector length instead of the stored first vector length.
- the vector length difference calculation unit 1001 receives the sampling command output from the sampling command signal generation unit 107 in the fourth phase that occurs immediately after the third phase or the third phase that occurs immediately after the fourth phase.
- the first sampling command is input.
- the vector length difference calculation unit 1001 receives the vector length output from the vector length calculation unit 106 in response to the first sampling command as the second vector length.
- the vector length difference calculation unit 1001 receives the first vector length stored in the vector length storage unit 1011 and receives a vector length difference that is a difference generated between the first vector length and the second vector length. The signal is calculated, and the calculated vector length difference signal is output.
- the rectangular wave pulse generation unit 1002 receives the vector length difference signal output from the vector length difference calculation unit 1001 and the reference signal output from the reference signal generation unit 108.
- the rectangular wave pulse generation unit 1002 generates a rectangular wave pulse so that the difference between the first vector length and the second vector length becomes zero according to the vector length difference signal and the reference signal, and generates the generated rectangular wave. A wave pulse is output.
- the angular position detection device 902 according to Embodiment 4 of the present invention may be configured to further include an amplitude adjustment unit 1003.
- the amplitude adjustment unit 1003 receives the first rectangular wave pulse, and adjusts the amplitude of the excitation signal for exciting the resolver according to the input first rectangular wave pulse. Output.
- the angular position detection device 902 may be configured to further include a sine wave conversion unit 1004.
- the sine wave conversion unit 1004 receives the second rectangular wave pulse, converts the input second rectangular wave pulse into a sine wave having the same frequency as that of the second rectangular wave pulse, and converts the second rectangular wave pulse. Outputs a sine wave.
- the sine wave conversion unit 1004 may be a low-pass filter.
- the angular position detection device 902 of the resolver 101 has a characteristic feature of the excitation signal generation unit 909 compared to the angular position detection device described in the first embodiment.
- the excitation signal generation unit 909 receives the vector length value output from the vector length calculation unit 106 and the reference signal output from the reference signal generation unit 108.
- the excitation signal generation unit 909 generates an excitation signal based on each input signal and the like.
- the excitation signal generation unit 909 outputs the generated excitation signal.
- the vector length difference calculation unit 1001 receives the vector length signal output from the vector length calculation unit 106 and the sampling command signal output from the sampling command signal generation unit 107. .
- the vector length difference calculation unit 1001 calculates the difference between the vector length value and the value stored until one sampling.
- the vector length difference calculation unit 1001 outputs the calculated result.
- the rectangular wave pulse generator 1002 outputs a rectangular wave pulse based on the reference signal.
- the rectangular wave pulse generation unit 1002 has a function of adjusting the phase of the rectangular wave pulse output from the rectangular wave pulse generation unit 1002 by reflecting the value of the vector length difference output from the vector length difference calculation unit 1001.
- the amplitude adjusting unit 1003 adjusts the amplitude of the rectangular wave pulse output from the rectangular wave pulse generating unit 1002 and outputs the adjusted result.
- the sine wave conversion unit 1004 converts the rectangular wave pulse output from the amplitude adjustment unit 1003 into a sine wave having the same frequency, and outputs the converted result.
- the result of this conversion is an excitation signal output from the excitation signal generation unit 909.
- the sine wave conversion unit 1004 can use a switched capacitor filter having a steep low-pass cutoff characteristic. If a switched capacitor filter is used as the sine wave conversion unit 1004, the sine wave conversion unit 1004 can be easily realized.
- FIG. 14 shows an A-phase signal 7a1 and a B-phase signal 7a2 output from the resolver 101.
- FIG. 14 also shows a vector length value 7 b output from the vector length calculation unit 106 and a reference signal 7 c output from the reference signal generation unit 108. Similar to the third embodiment of the present invention described above, these signals are also common in the angular position detection device 902 of the resolver 101 in the fourth embodiment of the present invention.
- the sampling command signal generator 107 outputs four sampling command signals at regular intervals. This corresponds to a phase difference of 90 degrees.
- the sampling command signal generator 107 outputs a sampling command signal at times t1, t2, t3, and t4.
- the vector length at time t1 and the vector length at time t2 are values that are greatly different from each other.
- the vector length at time t3 and the vector length at time t4 are values that are greatly different from each other.
- the times t1, t2, t3, and t4 are from the time corresponding to the phase in which the magnitude of the A-phase signal and the magnitude of the B-phase signal are located approximately in the middle between the maximum phase and the minimum phase. It's off.
- the excitation signal (sin ⁇ t) is generated by the excitation signal generation unit 909 based on the reference signal 7 c and then input to the resolver 101 via the buffer circuit 111.
- the phase relationship among the reference signal 7c, the A-phase signal 7a1, and the B-phase signal 7a2 is as follows. That is, (1) an excitation signal is generated from the reference signal 7c. (2) The generated excitation signal is transmitted to the first AD converter 103 and the second AD converter 104 via the resolver 101. (3) Based on the transmitted excitation signal, the A-phase signal 7a1 and the B-phase signal 7a2 are affected by the phase delay, delay, etc. that occur in the transmission process from (1) to (3). receive.
- each component arranged in the transmission path described above may also be affected by temperature changes and changes over time. Therefore, as with the third embodiment, it is necessary to adjust the timing for the sampling command signal.
- FIG. 21 shows the reference signal 11a.
- FIG. 21 shows a rectangular wave pulse signal 11b output from the rectangular wave pulse generation unit 1002 in the initial state.
- FIG. 21 shows a signal output from the sine wave conversion unit 1004 in the initial state, that is, the excitation signal 11d output from the excitation signal generation unit 909.
- the vector lengths are greatly different from each other at times t1, t2, t3, and t4 shown in FIG. That is, the vector length difference value output by the vector length difference calculation unit 1001 is deviated from zero.
- the phase of the rectangular wave pulse output by the rectangular wave pulse generation unit 1002 is changed so that the value of the vector length difference becomes zero.
- the signal 11c output from the rectangular wave pulse generator is a signal whose phase is shifted forward. Therefore, based on the signal 11c output from the rectangular wave pulse generation unit, the signal output from the sine wave conversion unit 1004, that is, the excitation signal 11e output from the excitation signal generation unit 909 is also a signal whose phase is shifted forward. .
- FIG. 22 shows an A-phase signal 12a1 output from the resolver 101, a B-phase signal 12a2, a vector length value 12b output from the vector length calculation unit 106, and a reference signal 12c output from the reference signal generation unit 108. Is shown.
- the A-phase signals 7a1 and 12a1 output from the resolver 101, the B-phase signals 7a2 and 12a2, and the vector length values 7b and 12b output from the vector length calculation unit 106 are the reference output from the reference signal generation unit 108.
- the signals 7c and 12c are signals whose phases are shifted forward.
- the vector length at time t1 and the vector length at time t2 are substantially the same by the process of adjusting the phase of the excitation signal. Value.
- the vector length at time t3 and the vector length at time t4 are substantially the same value.
- the time interval at which the sampling command signal is output corresponds to a phase difference of 90 degrees. Therefore, the times t1, t2, t3, and t4 naturally correspond to phases in which the magnitude of the A-phase signal and the magnitude of the B-phase signal are located approximately in the middle between the maximum phase and the minimum phase. It is time.
- the sampling command signal has a phase shift amount ⁇ from a phase located approximately in the middle.
- the difference between the value of the vector length and the value of the vector length stored until one sampling is a curve 15 of a sine wave function via the origin zero. Therefore, by forming a negative feedback loop in a region where the phase shift amount ⁇ is relatively small, the timing at which the sampling command signal is output can be adjusted so that the phase shift amount ⁇ automatically becomes zero. it can.
- the excitation signal generator 909 adjusts the phase of the excitation signal for exciting the resolver through the following process. That is, the vector length calculation unit 106 uses the output value of the first AD converter 103 and the output value of the second AD converter 104, which are output according to the timing at which the sampling command signal is output, Calculate the magnitude of the vector.
- the excitation signal generation unit 909 stores the output value of the vector length calculation unit 106 output before one sampling.
- the excitation signal generator 909 compares the output values before and after one sampling output from the vector length calculator 106 and adjusts the phase of the excitation signal for exciting the resolver so that the difference becomes zero.
- the timing at which the sampling command signal is output coincides with a phase in which the magnitude of the A-phase signal and the magnitude of the B-phase signal are located approximately in the middle between the maximum phase and the minimum phase. Therefore, for example, with the configuration shown in FIG. 19, the angular position detection device 902 according to the fourth embodiment can always detect the angle of the resolver 101 stably and with high accuracy.
- the excitation signal generation unit 909 includes the amplitude adjustment unit 1003
- the amplitude of the excitation signal can be adjusted.
- the amplitude of the excitation signal can be adjusted using the vector length value as described above.
- initial adjustment of the amplitude of the excitation signal can be performed.
- the amplitude of the excitation signal can be continuously adjusted while executing the operation of detecting the angular position of the resolver. Therefore, the angular position detection device 902 according to the fourth embodiment can cope with an amplitude shift caused by a factor such as a temperature change.
- the angular position detection device 902 starts adjusting the amplitude of the excitation signal at time t0. Thereafter, the vector length value 23 gradually increases from the initial value at time t0, and reaches the target value at time t1. Thus, the angular position detection device 902 completes the initial adjustment of the amplitude of the excitation signal. In order to perform such initial adjustment of the amplitude of the excitation signal with high accuracy and stability, it is desirable to perform the adjustment after performing the phase adjustment of the excitation signal as described above. By adjusting the amplitude of the excitation signal, the amplitude of the signal of the resolver 101 input to the first AD converter 103 and the second AD converter 104 is adjusted to an appropriate value. Therefore, if the angular position detection device 902 according to the fourth embodiment is used, the angle of the resolver 101 can be detected more stably and with high accuracy.
- the processing performed by the angular position detection device 902 in the fourth embodiment can be performed by obtaining the vector length four times in one cycle of the excitation signal. Therefore, the angular position detection device 902 according to the fourth embodiment can adjust the phase of the excitation signal and the amplitude of the excitation signal in a shorter period than before.
- the vector length is calculated using a square root operation.
- the calculation of the vector length need not be constrained by the square root operation.
- the calculation of the vector length may omit the square root calculation.
- the angular position detection device of the resolver in the present invention has good responsiveness and can detect the angular position with high accuracy.
- the angular position detection device of the present invention can adjust the timing of the sampling command signal output to the AD converter and the phase of the excitation signal, including resolver characteristic variations, temperature changes, changes with time, and the like. Therefore, the angular position detection device of the present invention can stably and accurately detect the angular position of the resolver. Therefore, the present invention can also be applied to industrial FA servo motors.
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Abstract
Description
図1は、本発明の実施の形態1におけるレゾルバの角度検出装置を説明するブロック図である。図2は、本発明の実施の形態1における各信号を示す波形図である。
図3は、本発明の実施の形態2におけるレゾルバの角度検出装置を説明するブロック図である。
図4は、本発明の実施の形態2における平均値演算部を説明するブロック図である。図5は、本発明の実施の形態2における各信号を示す波形図である。
図6は、本発明の実施の形態2におけるレゾルバの角度検出装置の具体例を説明するブロック図である。図7は、本発明の実施の形態2における平均値演算部を説明するブロック図である。
図8は、本発明の実施の形態2におけるレゾルバの角度検出装置の他の具体例を説明するブロック図である。図9は、本発明の実施の形態2で比較する比較例であるRD変換部のブロック図である。図10は、本発明の実施の形態2におけるRD変換部のブロック図である。図11は、本発明の実施の形態2における他の平均値演算部を説明するブロック図である。
図12は、本発明の実施の形態3におけるレゾルバの角度検出装置を説明するブロック図である。図13は、本発明の実施の形態3におけるサンプリング指令信号生成部のブロック図である。図14は、本発明の実施の形態3における各信号を示す波形図である。図15は、本発明の実施の形態3におけるベクトル長差の変化を示す波形図である。
図16は、本発明の実施の形態4におけるレゾルバの角度検出装置を説明するブロック図である。図17は、本発明の実施の形態4における励磁信号生成部を説明するブロック図である。図18は、本発明の実施の形態4における他の励磁信号生成部を説明するブロック図である。図19は、本発明の実施の形態4における他のレゾルバの角度検出装置を説明するブロック図である。図20は、本発明の実施の形態4におけるさらに他の励磁信号生成部を説明するブロック図である。図21は、本発明の実施の形態4における各信号を示す波形図である。図22は、本発明の実施の形態4における他の各信号を示す波形図である。図23は、本発明の実施の形態4におけるベクトル長の値23の変化を示す波形図である。
2a2,5a2,5a3,7a2,12a2,15a2 B相の信号
2b,5b,7c,11a,12c,15b 基準信号
5c1 RD変換部の出力値
5c2 平均RD変換部の出力値
7b,12b ベクトル長の値
11b 矩形波パルス信号
11c 矩形波パルス生成部が出力する信号
11e 励磁信号
15 曲線
23 ベクトル長の値
101 レゾルバ
102,302,502,602,702,902,1102 角度位置検出装置
103 第1のアナログデジタル変換器(第1のAD変換器)
104 第2のアナログデジタル変換器(第2のAD変換器)
105,705,1815 レゾルバデジタル変換部(RD変換部)
106 ベクトル長演算部
107,607,1107 サンプリング指令信号生成部
108 基準信号生成部
109 励磁信号生成部
110 インターフェイス処理部(IF処理部)
111 バッファー回路
112 サーボアンプ
113 モータ
114,514,714 平均値演算部
300 平均レゾルバデジタル変換部(平均RD変換部)
401 角度データ記憶部
402 角度データ平均部
503 A相の平均値演算部
504 B相の平均値演算部
511 第1のAD変換値の記憶部
512 第1のAD変換値の平均部
521 第2のAD変換値の記憶部
522 第2のAD変換値の平均部
611,911,1011 ベクトル長記憶部
612 タイミング調整部
711 偏差信号記憶部
712 偏差信号平均部
707 トラッキングループ
909 励磁信号生成部
912 位相調整部
1001 ベクトル長差演算部
1002 矩形波パルス生成部
1003 振幅調整部
1004 正弦波変換部
1801 第1の乗算部
1802 第2の乗算部
1803 差分部
1804 比例積分制御器(PI制御器)
1805 余弦波テーブル
1806 正弦波テーブル
Claims (26)
- 振幅が変調されたA相の信号と、前記A相の信号とは90度の位相差を有して、振幅が変調されたB相の信号と、を出力するレゾルバと、
前記A相の信号と前記B相の信号とのうち、少なくともいずれか一方の信号において、前記A相の信号の大きさまたは前記B相の信号の大きさが、最小となるときを第1の位相、前記A相の信号の大きさまたは前記B相の信号の大きさが、最大となるときを第2の位相、前記第1の位相から前記第2の位相へと変化する中間のときを第3の位相、前記第2の位相から前記第1の位相へと変化する中間のときを第4の位相とする場合、前記第3の位相と前記第4の位相とにおいて、各々サンプリング指令信号を出力するサンプリング指令信号生成部と、
前記サンプリング指令信号が入力されたときに、前記A相の信号が入力され、入力された前記A相の信号の大きさをデジタル値に変換して第1のAD変換値を生成し、生成した前記第1のAD変換値を出力する第1のアナログデジタル変換器と、
前記サンプリング指令信号が入力されたときに、前記B相の信号が入力され、入力された前記B相の信号の大きさをデジタル値に変換して第2のAD変換値を生成し、生成した前記第2のAD変換値を出力する第2のアナログデジタル変換器と、
前記第1のAD変換値と前記第2のAD変換値とが入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出して、算出した前記角度データを出力するレゾルバデジタル変換部と、
を備える角度位置検出装置。 - 前記レゾルバデジタル変換部に代えて、
前記第1のアナログデジタル変換器が出力する前記第1のAD変換値を過去の第1のAD変換値とし、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第1のアナログデジタル変換器から新たに出力される前記第1のAD変換値を新たな第1のAD変換値とし、
前記第2のアナログデジタル変換器が出力する前記第2のAD変換値を過去の第2のAD変換値とし、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第2のアナログデジタル変換器から新たに出力される前記第2のAD変換値を新たな第2のAD変換値とするとき、
前記過去の第1のAD変換値と、前記新たな第1のAD変換値と、前記過去の第2のAD変換値と、前記新たな第2のAD変換値と、を用いて、前記レゾルバの角度位置を示す角度データを算出する過程において、
前記過去の第1のAD変換値、前記新たな第1のAD変換値、前記過去の第2のAD変換値、および、前記新たな第2のAD変換値、のうち少なくとも2以上の値に基いて平均処理を行う平均値演算部と、
前記過去の第1のAD変換値、前記新たな第1のAD変換値、前記過去の第2のAD変換値、および、前記新たな第2のAD変換値、のうち少なくとも2以上の値に基いて前記角度データを算出し、算出した前記角度データを出力するレゾルバデジタル変換部と、
を有する、平均レゾルバデジタル変換部を備える請求項1に記載の角度位置検出装置。 - 前記平均レゾルバデジタル変換部において、
前記レゾルバデジタル変換部は、前記第1のAD変換値と前記第2のAD変換値とが入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出して、算出した前記角度データを出力し、
前記平均値演算部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記レゾルバデジタル変換部から出力される前記角度データを記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記レゾルバデジタル変換部から新たに出力される前記角度データを、記憶されていた前記角度データに代えて、新たな角度データとして記憶する、角度データ記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記レゾルバデジタル変換部から出力される前記角度データが前記新たな角度データとして入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記角度データ記憶部で記憶されていた前記角度データが過去の角度データとして入力されて、前記過去の角度データと前記新たな角度データとの平均値を算出し、算出した前記平均値を出力する、角度データ平均部と、
を有する、
請求項2に記載の角度位置検出装置。 - 前記平均レゾルバデジタル変換部において、
前記平均値演算部は、A相の平均値演算部と、B相の平均値演算部と、を有し、
前記A相の平均値演算部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器から出力された前記第1のAD変換値を記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第1のアナログデジタル変換器から新たに出力される前記第1のAD変換値を、記憶されていた前記第1のAD変換値に代えて、新たな第1のAD変換値として記憶する、第1のAD変換値の記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第1のアナログデジタル変換器から出力される前記第1のAD変換値が前記新たな第1のAD変換値として入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記第1のAD変換値の記憶部で記憶されていた前記第1のAD変換値が過去の第1のAD変換値として入力されて、前記過去の第1のAD変換値と前記新たな第1のAD変換値との平均値を算出し、算出した前記平均値を平均化された第1のAD変換値として出力する、第1のAD変換値の平均部と、
を有し、
前記B相の平均値演算部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第2のアナログデジタル変換器から出力された前記第2のAD変換値を記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第2のアナログデジタル変換器から新たに出力される前記第2のAD変換値を、記憶されていた前記第2のAD変換値に代えて、新たな第2のAD変換値として記憶する、第2のAD変換値の記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記第2のアナログデジタル変換器から出力される前記第2のAD変換値が前記新たな第2のAD変換値として入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記第2のAD変換値の記憶部で記憶されていた前記第2のAD変換値が過去の第2のAD変換値として入力されて、前記過去の第2のAD変換値と前記新たな第2のAD変換値との平均値を算出し、算出した前記平均値を平均化された第2のAD変換値として出力する、第2のAD変換値の平均部と、
を有し、
前記レゾルバデジタル変換部は、前記平均化された第1のAD変換値と、前記平均化された第2のAD変換値とが入力され、入力された前記平均化された第1のAD変換値と前記平均化された第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出して、算出した前記角度データを出力する、
請求項2に記載の角度位置検出装置。 - 前記平均レゾルバデジタル変換部において、
前記レゾルバデジタル変換部は、前記第1のAD変換値と前記第2のAD変換値とが入力されたとき、入力された前記第1のAD変換値と入力された前記第2のAD変換値に基いて、前記レゾルバの回転角θから前記レゾルバの角度位置φを算出する場合、入力された前記第1のAD変換値と入力された前記第2のAD変換値とから、偏差信号sin(θ-φ)を算出し、算出した偏差信号sin(θ-φ)をゼロに収束して前記レゾルバの角度位置φを算出するトラッキングループを有して、算出された前記角度位置φから前記角度データを出力し、
前記平均値演算部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記トラッキングループで算出される前記偏差信号を記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記トラッキングループで新たに算出される前記偏差信号を、記憶されていた前記偏差信号に代えて、新たな偏差信号として記憶する、偏差信号記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記トラッキングループで算出される前記偏差信号が前記新たな偏差信号として入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記偏差信号記憶部で記憶されていた前記偏差信号が過去の偏差信号として入力されて、前記過去の偏差信号と前記新たな偏差信号との平均値を算出し、算出した前記平均値を出力する、偏差信号平均部と、
を有する、
請求項2に記載の角度位置検出装置。 - 前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部をさらに備え、
前記サンプリング指令信号生成部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第4の位相、または、前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第4の位相、または、前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記サンプリング指令信号を出力するタイミングを調整するタイミング調整部と、
を有する請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部をさらに備え、
前記サンプリング指令信号生成部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記サンプリング指令信号を出力するタイミングを調整するタイミング調整部と、
を有する請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部をさらに備え、
前記サンプリング指令信号生成部は、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記サンプリング指令信号を出力するタイミングを調整するタイミング調整部と、
を有する請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部と、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第4の位相、または、前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第4の位相、または、前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記レゾルバを励磁するための励磁信号の位相を調整する、位相調整部と、
を有する励磁信号生成部と、
をさらに備える請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部と、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記第3の位相以前または前記第4の位相以前において、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記レゾルバを励磁するための励磁信号の位相を調整する、位相調整部と、
を有する励磁信号生成部と、
をさらに備える請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記励磁信号生成部は、
前記位相調整部の調整結果に基いて第1の矩形波パルスを出力する矩形波パルス生成部と、
前記第1の矩形波パルスが入力され、入力された前記第1の矩形波パルスに応じて、前記レゾルバを励磁するための前記励磁信号の振幅を調整する、第2の矩形波パルスを出力する振幅調整部と、
をさらに備える請求項9または10のいずれか一項に記載の角度位置検出装置。 - 前記第2の矩形波パルスが入力され、入力された前記第2の矩形波パルスを、前記第2の矩形波パルスが有する周波数と同じ周波数を有する正弦波に変換し、変換した前記正弦波を出力する正弦波変換部をさらに備える請求項11に記載の角度位置検出装置。
- 前記正弦波変換部は、ローパスフィルタである、請求項12に記載の角度位置検出装置。
- 前記レゾルバに付与される基準信号を生成して、生成した前記基準信号を出力する基準信号生成部と、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部と、
前記第3の位相、または、前記第4の位相において、前記サンプリング指令信号生成部から出力された前記サンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長を第1のベクトル長として記憶し、かつ、前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令に応じて、前記ベクトル長演算部が新たに出力する前記ベクトル長を、記憶されていた前記第1のベクトル長に代えて、新たな第1のベクトル長として記憶する、ベクトル長記憶部と、
前記第3の位相の直後に生じる前記第4の位相、または、前記第4の位相の直後に生じる前記第3の位相において、前記サンプリング指令信号生成部から出力される前記サンプリング指令が、第1のサンプリング指令として入力され、かつ、前記第1のサンプリング指令に応じて、前記ベクトル長演算部が出力した前記ベクトル長が、第2のベクトル長として入力されるとともに、前記ベクトル長記憶部で記憶された前記第1のベクトル長が入力されて、前記第1のベクトル長と前記第2のベクトル長との間に生じた差であるベクトル長差信号を算出し、算出した前記ベクトル長差信号を出力するベクトル長差演算部と、
前記ベクトル長差演算部から出力された前記ベクトル長差信号と、前記基準信号生成部から出力された前記基準信号と、が入力されて、前記ベクトル長差信号と前記基準信号とに応じて、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように矩形波パルスを生成し、生成した前記矩形波パルスを出力する矩形波パルス生成部と、
を有する励磁信号生成部と、
をさらに備える請求項1または2のいずれか一項に記載の角度位置検出装置。 - 前記第1の矩形波パルスが入力され、入力された前記第1の矩形波パルスに応じて、前記レゾルバを励磁するための前記励磁信号の振幅を調整する、第2の矩形波パルスを出力する振幅調整部をさらに備える請求項14に記載の角度位置検出装置。
- 前記第2の矩形波パルスが入力され、入力された前記第2の矩形波パルスを、前記第2の矩形波パルスが有する周波数と同じ周波数を有する正弦波に変換し、変換した前記正弦波を出力する正弦波変換部をさらに備える請求項15に記載の角度位置検出装置。
- 前記正弦波変換部は、ローパスフィルタである、請求項16に記載の角度位置検出装置。
- 前記レゾルバデジタル変換部に代えて、
前記第3の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値および前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出した結果と、前記第4の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値および前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出した結果と、を順次、均等に平均して出力されるように処理する平均値演算部を含む、平均レゾルバデジタル変換部を備える請求項1に記載の角度位置検出装置。 - 前記第3の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値および前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出した結果と、前記第4の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値および前記第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出した結果と、を順次、均等に平均して新たな角度データとして出力する平均値演算部を備えた請求項18に記載の角度位置検出装置。
- 前記平均レゾルバデジタル変換部において、
前記平均値演算部は、A相の平均値演算部と、B相の平均値演算部と、を有し、
前記A相の平均値演算部は、前記第3の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値と、前記第4の位相における前記サンプリング指令信号に従って得られた前記第1のAD変換値と、を順次、均等に平均して新たな第1のAD変換値として出力し、
前記B相の平均値演算部は、前記第3の位相における前記サンプリング指令信号に従って得られた前記第2のAD変換値と、前記第4の位相における前記サンプリング指令信号に従って得られた前記第2のAD変換値と、を順次、均等に平均して新たな第2のAD変換値として出力し、
前記レゾルバデジタル変換部は、前記平均化された新たな第1のAD変換値と、前記平均化された新たな第2のAD変換値とが入力され、入力された前記平均化された新たな第1のAD変換値と前記平均化された新たな第2のAD変換値とに基いて、前記レゾルバの角度位置を示す角度データを算出して、算出した前記角度データを出力する、
請求項18に記載の角度位置検出装置。 - 前記平均レゾルバデジタル変換部において、
前記レゾルバデジタル変換部は、前記第1のAD変換値と前記第2のAD変換値とが入力されたとき、入力された前記第1のAD変換値と入力された前記第2のAD変換値に基いて、前記レゾルバの回転角θから前記レゾルバの角度位置φを算出する場合、入力された前記第1のAD変換値と入力された前記第2のAD変換値とから、偏差信号sin(θ-φ)を算出し、算出した偏差信号sin(θ-φ)をゼロに収束して前記レゾルバの角度位置φを算出するトラッキングループを有して、算出された前記角度位置φから前記角度データを出力し、
前記第3の位相における前記サンプリング指令信号のタイミングにおける前記偏差信号と、前記第4の位相における前記サンプリング指令信号のタイミングにおける前記偏差信号と、を順次、均等に平均して新たな偏差信号として出力する前記平均値演算部を備えた請求項18に記載の角度位置検出装置。 - 前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部をさらに備え、
前記第3の位相における前記サンプリング指令信号のタイミングにおける前記ベクトル長を第1のベクトル長とし、前記第4の位相における前記サンプリング指令信号のタイミングにおける前記ベクトル長を第2のベクトル長としたとき、
前記レゾルバを励磁するための励磁信号を出力する励磁信号生成部と、
前記励磁信号の位相に対して、前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように、前記サンプリング指令信号を出力するタイミングを調整するタイミング調整部と、
を有する請求項1または18のいずれか一項に記載の角度位置検出装置。 - 前記第1のアナログデジタル変換器が出力する前記第1のAD変換値と、前記第2のアナログデジタル変換器が出力する前記第2のAD変換値と、が入力され、入力された前記第1のAD変換値と前記第2のAD変換値とに基いて、ベクトルの大きさを示すベクトル長を算出して、算出した前記ベクトル長を出力するベクトル長演算部をさらに備え、
前記第3の位相における前記サンプリング指令信号のタイミングにおける前記ベクトル長を第1のベクトル長とし、前記第4の位相における前記サンプリング指令信号のタイミングにおける前記ベクトル長を第2のベクトル長としたとき、
前記レゾルバを励磁するための励磁信号を出力し、かつ、前記励磁信号の位相を前記第1のベクトル長と前記第2のベクトル長との差がゼロとなるように調整する位相調整部を含む励磁信号生成部と、
をさらに備える請求項1または18のいずれか一項に記載の角度位置検出装置。 - 前記励磁信号生成部は、
前記位相調整部の調整結果に基いて第1の矩形波パルスを出力する矩形波パルス生成部と、
前記第1の矩形波パルスが入力され、入力された前記第1の矩形波パルスに応じて、前記レゾルバを励磁するための前記励磁信号の振幅を調整する、第2の矩形波パルスを出力する振幅調整部と、
をさらに備える請求項22または23のいずれか一項に記載の角度位置検出装置。 - 前記第2の矩形波パルスが入力され、入力された前記第2の矩形波パルスを、前記第2の矩形波パルスが有する周波数と同じ周波数を有する正弦波に変換し、変換した前記正弦波を出力する正弦波変換部をさらに備える請求項24に記載の角度位置検出装置。
- 前記正弦波変換部は、ローパスフィルタである、請求項25に記載の角度位置検出装置。
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