WO2019093074A1 - Electrical angle acquisition system, electrical angle acquisition method, electrical angle acquisition program, electrical angle acquisition characteristic measurement system, electrical angle acquisition characteristic measurement method, and electrical angle acquisition characteristic measurement program - Google Patents
Electrical angle acquisition system, electrical angle acquisition method, electrical angle acquisition program, electrical angle acquisition characteristic measurement system, electrical angle acquisition characteristic measurement method, and electrical angle acquisition characteristic measurement program Download PDFInfo
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- WO2019093074A1 WO2019093074A1 PCT/JP2018/038316 JP2018038316W WO2019093074A1 WO 2019093074 A1 WO2019093074 A1 WO 2019093074A1 JP 2018038316 W JP2018038316 W JP 2018038316W WO 2019093074 A1 WO2019093074 A1 WO 2019093074A1
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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
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- the present invention relates to a technique for acquiring an electrical angle based on an output signal of a rotation detector.
- a resolver / digital converter which outputs digital data indicating the electrical angle of a resolver based on an output signal of the resolver.
- Patent Document 1 discloses a tracking loop digital angle converter.
- various methods are known for resolvers, and a phase modulation method is known other than the amplitude modulation method as disclosed in Patent Document 1.
- Patent Document 2 is known as a phase modulation type resolver.
- Patent No. 4226044 Japanese Patent Application Laid-Open No. 4-16712
- the electrical angle acquisition system comprises an excitation signal acquisition unit for acquiring excitation frequency components of an excitation signal of a rotation detector of one-phase excitation two-phase output by Fourier transformation, and a two-phase rotation detector.
- An excitation signal and a two-phase output signal based on an output signal acquisition unit that acquires an excitation frequency component of the output signal of the second signal by Fourier transform, an excitation frequency component of the excitation signal, and an excitation frequency component of the two-phase output signal
- an amplitude acquisition unit for acquiring the amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal, the phase relation and the two-phase output signal
- an electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the amplitude of
- the excitation signal and the output signal of the rotation detector are taken, and the electrical angle is acquired based on these signals.
- the phase relationship between the excitation signal and the output signal and the output An electrical angle is obtained based on the amplitude of the signal.
- the excitation frequency component is extracted from the excitation signal and the output signal by Fourier transform, and the electrical angle is acquired based on the extracted signal. According to this configuration, the influence of noise or the like can be reduced, and the electrical angle can be accurately acquired.
- FIG. 2A shows an ideal example of the excitation signal, SIN signal and COS signal
- FIG. 2B shows the relationship between the phase of the excitation signal and the output signal
- FIG. 2C shows the relationship between amplitude and electrical angle. is there. It is a figure for demonstrating analog-to-digital conversion and sampling.
- FIG. 4A is a diagram showing rotation of coordinate axes of a complex plane
- FIG. 4B is a flowchart of an electrical angle calculation process.
- It is a block diagram showing a 2nd embodiment of an electrical angle acquisition system. It is a figure which shows the example of acquisition of the relationship of a phase.
- FIG. 1 is a block diagram showing the configuration of an electrical angle acquisition system 10 according to an embodiment of the present invention.
- the electrical angle acquisition system 10 includes an excitation signal acquisition unit 20, an output signal acquisition unit 30, a phase relationship acquisition unit 40, an amplitude acquisition unit 50, an electrical angle acquisition unit 60, and a parameter setting unit 70.
- the electrical angle acquisition system 10 also includes an excitation signal generator 13 and amplifiers 13a to 13c.
- the excitation signal generator 13 and the amplifiers 13a to 13c may be provided outside the electrical angle acquisition system 10.
- a state in which the excitation signal generator 13 exists outside the electrical angle acquisition system 10 is indicated by a broken line.
- the electrical angle acquisition system 10 is a system for acquiring the electrical angle of the resolver 11 which is an example of a rotation detector, and is connected to the resolver 11. That is, the excitation signal generated by the excitation signal generation unit 13 is input to the amplifier 12, and the excitation signal after amplification is input to the resolver 11. Further, the signal output from the resolver 11 is taken into the electrical angle acquisition system 10. In the present embodiment, the excitation signal amplified by the amplifier 12 is also taken into the electrical angle acquisition system 10. Of course, the amplifier 12 may not be provided when the load of excitation of the resolver 11 is small.
- the resolver 11 is a resolver of one-phase excitation two-phase output, and in the present embodiment, the resolver 11 is an amplitude modulation type. That is, the resolver 11 includes a one-phase excitation winding, a two-phase output winding, and a rotor. The excitation winding and the output winding are arranged in a predetermined relationship, and when the excitation signal amplified by the amplifier 12 is supplied to the excitation winding, it corresponds to the mechanical angle and shaft double angle (number of poles) of the rotor. The modulated output signal is output from the two-phase output winding.
- the ideal correspondence between the mechanical angle and the electrical angle is determined by the configuration of the resolver 11. If the shaft double angle of the rotor is 2 or more, the electrical angle rotates an angle of 0 ° to 360 ° by the same number as the shaft double angle while the mechanical angle makes one revolution of the angle of 0 ° to 360 °.
- the present embodiment is applicable to any axis double angle, but in the following, for the sake of simplicity, the axis double angle is 1, that is, a configuration in which the electrical angle also makes one round in the process of making one mechanical angle makes a description.
- the two-phase output windings are arranged such that the output signals of the respective windings are orthogonal to each other.
- one of the signals output from the two-phase output winding is also referred to as a SIN signal, and the other is also referred to as a COS signal.
- the excitation signal is a sinusoidal signal, and is taken into the electrical angle acquisition system 10 as R1-R2 shown in FIG. 1 in this embodiment.
- the output signals from the output windings are taken into the electrical angle acquisition system 10 as S2-S4 and S1-S3 shown in FIG.
- S2-S4 is a SIN signal
- S1-S3 is a COS signal.
- the excitation signal taken into the electrical angle acquisition system 10 is amplified by the amplifier 13a.
- the excitation signal amplified by the amplifier 13a is denoted as E sin (2 ⁇ f r t).
- E is the amplitude of the excitation signal after amplification
- f r is the frequency (excitation frequency) of the excitation signal
- t is time (seconds).
- the signal after the SIN signal when the excitation signal is Esin (2 ⁇ f r t) is amplified by the amplifier 13b is represented as Ksin ⁇ e ⁇ sin (2 ⁇ f r t)
- the COS signal is amplified by the amplifier 13c Is expressed as K cos ⁇ e ⁇ sin (2 ⁇ f r t).
- K is the amplitude of the amplified output signal
- ⁇ e is the electrical angle
- f r is the excitation frequency
- t is time.
- FIG. 2A is a diagram showing an ideal example of the excitation signal, the SIN signal and the COS signal.
- the excitation signal, the SIN signal, and the COS signal are shown side by side.
- FIG. 2A shows an example of a signal in the case where the rotor is fixed and the electrical angle ⁇ e is a specific value (135 °).
- the excitation signal and the SIN signal and the COS signal and includes a component that both sin (2 ⁇ f r t).
- the excitation signal with respect to sin (2 ⁇ f r t) of the component of amplitude E that is a constant value, SIN signal and the COS signal amplitude component of sin (2 ⁇ f r t) is varied in accordance sin ⁇ e or Cosshitai.
- the amplitudes of the SIN signal and the COS signal as shown in FIG. 2A change at the excitation frequency f r and also change at the frequency of the electrical angle ⁇ e.
- the excitation frequency f r eg, 10 kHz
- the frequency of the electrical angle ⁇ e eg, several Hz to several hundreds Hz
- the amplitudes of the SIN signal and the COS signal are While changing frequently with f r , it also changes slowly even with the frequency of the electrical angle ⁇ e, resulting in a signal in which sin ⁇ e or cos ⁇ e of the electrical angle ⁇ e appears in the envelope.
- the current electrical angle ⁇ e is obtained based on the signal within a predetermined period before the current time. For example, in the example shown in FIG. 2A, if the current time t 0, to obtain the electrical angle ⁇ e of the time t 0 based on the signal period T.
- the relationship between the phase of the excitation signal and the output signal at a certain electrical angle ⁇ e, and the relationship between the amplitude of the output signal depend on the characteristics of the resolver 11 (such as the configuration of the winding). Therefore, when using a specific resolver 11, if the combination of the relationship between the phase of the excitation signal and the output signal and the amplitude of the two-phase output signal is associated with the electrical angle ⁇ e, the relationship of the phase is The electrical angle ⁇ e can be obtained based on the relationship between the combination of the amplitudes and the electrical angle ⁇ e.
- an example shown in FIG. 2A is an excitation signal, a SIN signal, and a COS signal when the electrical angle ⁇ e in a certain resolver 11 is 135 °.
- sin ⁇ e contained in the SIN signal is 1/2 1/2
- cos ⁇ e contained in the COS signal is -1/2 1/2 .
- SIN signal becomes sin which changes at excitation frequency f r and (2 ⁇ f r t) and phase of the waveform.
- COS signal becomes sin (2 ⁇ f r t) that varies with the excitation frequency f r and the waveform of opposite phase.
- FIG. 2B is a diagram showing a change in the phase relationship between the excitation signal and the output signal according to the electrical angle ⁇ e in the resolver 11 according to the present embodiment.
- FIG. 2B shows the relationship between the phases of the excitation signal and the COS signal and the relationship between the phases of the excitation signal and the SIN signal when the electrical angle ⁇ e of the resolver changes from 0 ° to 360 °. For example, focusing on the range where the electrical angle ⁇ e is 135 °, the excitation signal and the COS signal are in opposite phase, and the excitation signal and the SIN signal are in phase. This situation is consistent with FIG. 2A.
- FIG. 2C is a diagram showing a change in amplitude of the SIN signal and the COS signal according to the electrical angle ⁇ e in the resolver 11 according to the present embodiment.
- the amplitudes of the SIN signal and the COS signal are positive when in phase with the excitation signal and negative when out of phase.
- the horizontal axis represents the amplitude of the COS signal and the vertical axis represents the amplitude of the SIN signal, and the coordinates represented by (the amplitude of the COS signal, the amplitude of the SIN signal) are plotted on the plane defined by the axis.
- the points are indicated by alternate long and short dashed lines.
- the plot on the plane shown in FIG. 2C is circular as shown by a dashed dotted line.
- the electrical angle ⁇ e is an angle between the COS axis positive direction and a line extending from the origin to the coordinates on the circle.
- sin ⁇ e is 1/2 1/2 and cos ⁇ e is ⁇ 1/2 1/2 . Therefore, the amplitude of the SIN signal is K / 2 1/2 and the amplitude of the COS signal is ⁇ It becomes K / 2 1/2 . Therefore, when the coordinates represented by (the amplitude of the COS signal, the amplitude of the SIN signal) are specified, the electrical angle ⁇ e can be specified.
- a configuration for acquiring the amplitude (absolute value) of the two-phase output signal is employed, and four candidates for the electrical angle ⁇ e are generated in the state where the absolute value of the amplitude is acquired.
- the absolute value of the amplitude of the SIN signal is K / 2 1/2
- the absolute value of the amplitude of the COS signal is K / 2 1/2 . , 225 °, 315 °).
- the range of the electrical angle ⁇ e is specified based on the relationship between the phases of the excitation signal and the COS signal and the relationship between the phases of the excitation signal and the SIN signal (four quadrants shown in FIG. 2C).
- the electrical angle ⁇ e is identified by identifying which one is.
- the excitation signal, SIN signal and COS signal to be analyzed in the electrical angle acquisition system 10 are signals after amplification by the amplifiers (amplifier 12 and amplifiers 13a to 13c).
- These amplifiers are analog amplification circuits and generally include a resistance element, a capacitor element, an inductance element and the like, so that the phase and the like of the amplified signal may change.
- noise due to various factors is included.
- the relationship does not necessarily have an ideal relationship as shown in FIG. 2A, but the excitation signal may have a phase shift with respect to the excitation signal as shown in FIG.
- frequency components other than the frequency f r are included. Therefore, when the electrical angle ⁇ e is acquired based on the analog signal output from the amplifiers 13a to 13c, an error occurs in the electrical angle ⁇ e. Therefore, in the present embodiment, a configuration is employed in which the excitation frequency component is extracted and analyzed by performing Fourier transform on the excitation signal, SIN signal, and COS signal output from the amplifiers 13a to 13c.
- the excitation signal acquisition unit 20 includes a circuit for acquiring the excitation frequency component of the excitation signal by Fourier transform.
- the excitation signal acquisition unit 20 includes an analog-to-digital converter 21a and a Fourier transform unit 22a.
- the analog-to-digital converter 21a is a circuit that converts an analog excitation signal output from the amplifier 13a into digital data. That is, the analog-to-digital conversion unit 21a is the excitation signal of the analog sampled by a sampling frequency f s, and has a function of outputting a digital data stream.
- FIG. 3 is a diagram for explaining analog-to-digital conversion and sampling, and illustrates analog-to-digital conversion and sampling by taking the signal shown in FIG. 2A as an example.
- the sampling period (1 / f s ) defined by the sampling frequency f s is indicated by a broken line.
- an analog excitation signal is converted to a digital value for each sampling period (1 / f s ) to generate a digital data string.
- FIG. 3 the example of the data sampled by the white circle is shown.
- the Fourier transform unit 22a is a circuit that performs Fourier transform on the digital data string output from the analog-to-digital converter 21a.
- the Fourier transform can be performed by, for example, FFT (Fast Fourier Transform) or the like. That is, the Fourier transform unit 22a has a function of receiving the digital data sequence output from the analog-to-digital conversion unit 21a, performing Fourier transform based on the sampling number N of digital data sequences, and outputting the digital data sequence as a digital data sequence.
- the excitation signal after the Fourier transform is called an excitation Fourier signal.
- digital data sequences to be subjected to Fourier transform are p (0) to p (15).
- FIG. 3 shows the beginning and the end (p (0), p (15)) of the digital data string when the sampling number N is 16.
- the Fourier transform unit 22a Fourier transforms the N digital data sampled in this manner according to equation (1).
- the Fourier transform unit 22a in the present embodiment k k ⁇ f 0 is the excitation frequency f r or k ⁇ f 0, obtains the excitation frequency components by selecting the closest k to the excitation frequency f r .
- the excitation frequency component can be obtained from the Fourier transformed excitation Fourier signal, and various modes can be adopted for the selection of k.
- f s > 2f r .
- m N ⁇ f r / f s is thus set to be an integer, and the Fourier transform unit 22 a selects m in which m ⁇ f 0 is the excitation frequency f r.
- Pr is a real part obtained by Fourier transform
- Pi is an imaginary part obtained by Fourier transform
- i before Pi is an imaginary unit.
- the output signal acquisition unit 30 includes a circuit for acquiring excitation frequency components of two-phase output signals by Fourier transform.
- the output signal acquisition unit 30 includes analog-to-digital converters 31 b and 31 c and Fourier transform units 32 b and 32 c.
- the analog-to-digital converters 31 b and 31 c are circuits for converting analog SIN signals and COS signals output from the amplifiers 13 b and 13 c into digital data. That is, the analog-to-digital converters 31 b and 31 c have a function of sampling an analog output signal at the sampling frequency f s and outputting it as a digital data string.
- a white circle shows how an analog output signal sampled at each sampling cycle (1 / f s ) is converted to a digital value by the analog-to-digital converters 31b and 31c. There is.
- the Fourier transform units 32 b and 32 c are circuits that perform Fourier transform on the digital data strings output from the analog-to-digital conversion units 31 b and 31 c. That is, the Fourier transform units 32b and 32c receive digital data sequences output from the analog-to-digital conversion units 31b and 31c, perform Fourier transform based on the sampling number N of digital data sequences, and output the digital data sequences as digital data sequences. Have. Here, the output signal after Fourier transform is referred to as an output Fourier signal. Also, let s (0) to s (15) be digital data strings of the SIN signal to be subjected to Fourier transform when the sampling number N is 16. Further, when the sampling number N is 16, digital data strings of the COS signal to be subjected to the Fourier transform are c (0) to c (15).
- the Fourier transform units 32 b and 32 c perform Fourier transform on the N digital data thus sampled according to the above-mentioned equation (1).
- each of the Fourier transform units 32b and 32c Such selection is performed in each of the Fourier transform units 32b and 32c, whereby the excitation frequency component of the SIN signal as the output signal and the excitation frequency component of the COS signal as the output signal are acquired.
- Sr is a real part obtained by Fourier transform
- Si is an imaginary part obtained by Fourier transform
- i in front of Si is an imaginary unit.
- Cr is a real part obtained by Fourier transform
- Ci is an imaginary part obtained by Fourier transform
- i before Ci is an imaginary unit.
- the timing for sampling the COS signal is simultaneous. That is, as shown in FIG. 1, in the electrical angle acquisition system 10 according to the present embodiment, the analog-to-digital converters 21a, 31b, and 31c are provided in parallel, and excitation signals, SIN signals, and COS are supplied to the respective converters. A signal is input. Then, as shown in FIG. 3, sampling is simultaneously performed at the sampling frequency f s in each conversion unit.
- the sampling timings coincide with each other to such an extent that it is not necessary to consider the phase shift, and the sampling timings may be shifted within this range.
- Fourier transform units 22a, 32b, and 32c for Fourier transforming each of the excitation signal, the SIN signal, and the COS signal are provided, and the three types of signals are Fourier transformed in parallel.
- one or two Fourier transform units are provided, and at least two kinds of signals of excitation signal, SIN signal, and COS signal are one Fourier.
- the configuration may be such that the transform unit performs Fourier transform (hereinafter, the same applies to other embodiments).
- the phase relationship acquiring unit 40 includes a circuit for acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal. ing. That is, the phase relationship acquisition unit 40 identifies whether the excitation signal and the SIN signal are in phase or out of phase, and identifies whether the excitation signal and the COS signal are in phase or out of phase.
- the acquisition of the phase relationship may be performed in various manners, and in the present embodiment, the phase relationship is acquired using rotation of the coordinate axis of the complex plane capable of plotting real part and imaginary part after Fourier transform.
- FIG. 4A shows a complex plane, in which the horizontal axis is a real axis Re and the vertical axis is an imaginary axis Im.
- the phase relationship acquisition unit 40 acquires the phase angle ⁇ of the excitation frequency component P (m) of the excitation signal as the rotation angle of the coordinate axis.
- the phase angle ⁇ is arctan (Pi / Pr)
- it is calculated by a method (for example, atan 2 (Pi, Pr), etc.) which is not undefined even if Pr is 0. It is preferable to do.
- the atan 2 (y, x) function generally used in the science and engineering fields is used.
- the phase relationship between the excitation signal and the SIN signal can be identified by comparing the signs of Pr ′ and Sr ′, and the signs of Pr ′ and Cr ′ should be compared.
- the phase relationship between the excitation signal and the COS signal can be identified. Therefore, the phase relationship acquisition unit 40 compares the signs of Pr ′ and Sr ′, and determines that the excitation signal and the SIN signal are in phase if they are the same sign, and that the excitation signal and SIN signal are in the opposite phase if they are the different signs. Do.
- the phase relationship acquisition unit 40 compares the signs of Pr ′ and Cr ′, and determines that the excitation signal and the COS signal are in phase if they have the same sign, and that the excitation signal and the COS signal are in antiphase if they have the same sign.
- the phase relationship acquisition method as in the present embodiment, it may be determined whether the phase is the in-phase or the anti-phase. Therefore, if the phase shift of the SIN signal and the COS signal with respect to the excitation signal is smaller than ⁇ 90 °, the phase relationship can be accurately acquired.
- the tolerance of the deviation is wider in each stage as compared with the conventional tracking loop digital angle converter (tolerance is ⁇ 10 ° or ⁇ 45 °).
- the phase relationship acquisition unit 40 When the phase relationship acquisition unit 40 performs the above determination, the phase relationship acquisition unit 40 outputs a signal indicating the determination result.
- the phase relationship acquisition unit 40 outputs a DirSin signal indicating the relationship between the phases of the excitation signal and the SIN signal, and a DirCos signal indicating the relationship between the phases of the excitation signal and the COS signal.
- when the excitation signal is out of phase a
- the electrical angle acquisition unit 60 is a circuit for acquiring the electrical angle ⁇ e of the resolver 11 based on the relationship between the phases and the amplitudes of the two-phase output signals. That is, the electrical angle acquisition unit 60 acquires the electrical angle ⁇ e based on DirSin and DirCos indicating the phase relationship and PwrSin and PwrCos indicating the amplitude.
- the electrical angle ⁇ e may be acquired by various methods, and in the present embodiment, the electrical angle acquisition unit 60 acquires the electrical angle by executing the electrical angle calculation process shown in FIG. 4B.
- the description will be made with reference to the relationship between the phase of the excitation signal and the output signal shown in FIG. 2B and the electrical angle ⁇ e for each amplitude shown in FIG. 2C.
- the range of the electrical angle ⁇ e is divided every 90 °, the range of 0 ° to 90 ° is the first quadrant Z1, and the range of 90 ° to 180 ° is the second quadrant Z2, 180 ° to 270 °.
- the range is described as the third quadrant Z3, and the range of 270 ° to 360 ° as the fourth quadrant Z4.
- the electrical angle acquisition unit 60 determines whether DirCos indicating the phase relationship between the excitation signal and the COS signal is 1 or not, that is, whether the excitation signal and the COS signal are in phase. (Step S100).
- the electrical angle ⁇ e is 0 ° to 90 ° or 270 ° to 360 ° as shown in FIG. 2B. Therefore, the electrical angle ⁇ e is included in either the first quadrant Z1 or the fourth quadrant Z4 shown in FIG. 2C.
- step S100 When it is determined in step S100 that DirCos is 1, the electrical angle acquisition unit 60 determines whether DirSin indicating the relationship between the phase of the excitation signal and the phase of the SIN signal is 1, that is, the excitation signal and the SIN signal. It is determined whether or not is in phase (step S105).
- step S105 When it is determined in step S105 that DirSin is 1 (the excitation signal and the SIN signal are in phase), the electrical angle ⁇ e is 0 ° to 90 ° or 90 ° to 180 °, as shown in FIG. 2B. Therefore, the electrical angle ⁇ e is included in the first quadrant Z1 shown in FIG. 2C. Therefore, when it is determined in step S105 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle ⁇ e by atan 2 (PwrSin, PwrCos) using the above-described atan 2 function (step S110).
- step S105 when it is not determined in step S105 that DirSin is 1, the excitation signal and the SIN signal are in reverse phase. Therefore, as shown in FIG. 2B, the electrical angle ⁇ e is 180 ° to 270 ° or 270 ° to 360 °. Therefore, the electrical angle ⁇ e is included in the fourth quadrant Z4 shown in FIG. 2C. Therefore, if it is not determined in step S105 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle ⁇ e by atan 2 ( ⁇ PwrSin, PwrCos) (step S115).
- the electrical angle ⁇ e can be calculated by calculating a tan 2 while specifying the positive / negative relationship based on the phase relationship. get.
- step S100 when it is not determined that DirCos is 1, since the excitation signal and the COS signal are in reverse phase, the electrical angle ⁇ e is 90 ° to 180 ° or 180 ° to 270 ° as shown in FIG. 2B. is there. Therefore, the electrical angle ⁇ e is included in either the second quadrant Z2 or the third quadrant Z3 shown in FIG. 2C.
- step S100 when it is not determined that DirCos is 1, the electrical angle acquisition unit 60 determines whether DirSin indicating the phase relationship between the excitation signal and the SIN signal is 1, that is, the excitation signal and the SIN signal. It is determined whether or not is in phase (step S120). If it is determined in step S120 that DirSin is 1 (the excitation signal and the SIN signal are in phase), the electrical angle ⁇ e is 0 ° to 90 ° or 90 ° to 180 °, as shown in FIG. 2B. Therefore, the electrical angle ⁇ e is included in the second quadrant Z2 shown in FIG. 2C. Therefore, if it is determined in step S120 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle ⁇ e by atan 2 (PwrSin, -PwrCos) (step S125).
- step S120 when it is not determined in step S120 that DirSin is 1, the excitation signal and the SIN signal are in reverse phase. Therefore, as shown in FIG. 2B, the electrical angle ⁇ e is 180 ° to 270 ° or 270 ° to 360 °. Therefore, the electrical angle ⁇ e is included in the third quadrant Z3 shown in FIG. 2C. Therefore, when it is not determined that DirSin is 1 in step S120, the electrical angle acquisition unit 60 calculates the electrical angle ⁇ e by atan 2 (-PwrSin, -PwrCos) (step S130).
- the electrical angle acquisition unit 60 When the electrical angle ⁇ e is calculated by the above processing, the electrical angle acquisition unit 60 outputs a signal indicating the electrical angle ⁇ e. Therefore, by acquiring the output signal of the electrical angle acquisition unit 60 outside the electrical angle acquisition system 10, it becomes possible to specify the electrical angle.
- the phases of the excitation signal and the SIN signal are compared, and the phases of the excitation signal and the COS signal are compared.
- the phases of the SIN signal and the COS signal are in a fixed relationship. The determination may be made using this relationship. That is, the excitation signal may be compared with the phase of the SIN signal to compare the phases of the SIN signal and the COS signal, or the phases of the excitation signal and the COS signal may be compared. It may be configured to compare phases, and these examples are substantially equivalent to the example shown in FIG. 4B described above.
- the parameter setting unit 70 is a circuit for inputting at least one of the sampling frequency f s , the sampling number N, and the excitation frequency f r . That is, the parameter setting unit 70 has an interface to which the signal line can be connected from the outside of the electrical angle acquisition system 10, and the user can set the sampling frequency f s , the sampling number N, and the excitation frequency f r via the interface. It can be input.
- the interface may have various specifications, and for example, a specification including at least one of an input by serial communication, an input by an I / O terminal, and an input by a voltage value can be adopted.
- serial communication for example, various standards such as an IIC bus can be assumed.
- the input by an I / O terminal applies the voltage of a different voltage value with respect to a terminal, and the aspect etc. which input information in the code
- the input by a voltage value can assume the aspect etc. which designate input information by the level of applied voltage. In addition, it may be adjustable by a switch, a knob or the like.
- the parameter setting unit 70 can receive information indicating at least one of the sampling frequency f s , the sampling number N, and the excitation frequency f r , and can operate each unit according to the received parameter. . That is, the parameter setting unit 70 is connected to the excitation signal generating section 13 via the signal line or the like, and outputs the excitation frequency f r the user inputs the excitation signal generator 13.
- the excitation signal generation unit 13 can generate a sine wave at a frequency input through a signal line or the like. Therefore, the excitation signal is a sine wave of the excitation frequency f r input by the user.
- the parameter setting unit 70 may be capable of inputting all of the sampling frequency f s , the number of samplings N, and the excitation frequency f r , or may be capable of inputting a part. When part can be input, parameters that are not input are predetermined.
- the parameter setting unit 70 is connected to the excitation signal acquisition unit 20 and the output signal acquisition unit 30 via a signal line or the like.
- the sampling frequency f s input by the user is supplied to the analog-to-digital converter 21 a of the excitation signal acquisition unit 20 via a signal line or the like, and is supplied to the analog-to-digital converters 31 b and 31 c of the output signal acquisition unit 30.
- the analog-to-digital converters 21a, 31b, and 31c can sample an analog signal at a frequency input through a signal line or the like to generate a digital data string.
- the analog-to-digital conversion unit 21a, 31b, 31c generates digital data sequence obtained by sampling the analog signal inputted from the amplifier 13a ⁇ 13c at the sampling frequency f s, and outputs.
- the sampling number N input by the user is supplied to the Fourier transform unit 22 a of the excitation signal acquisition unit 20 via a signal line or the like, and is supplied to the Fourier transform units 32 b and 32 c of the output signal acquisition unit 30.
- the Fourier transform units 22a, 32b, and 32c can perform Fourier transform by acquiring digital data of the sampling number input via a signal line or the like. Therefore, the Fourier transform units 22a, 32b, and 32c sample the digital data strings generated by the analog-to-digital converters 21a, 31b, and 31c by sampling number N, and perform Fourier transform to generate excited Fourier signals and output Fourier signals. Can.
- each unit constituting the electrical angle acquisition system 10 may be configured by a dedicated circuit (for example, an IC chip or the like), or a general-purpose circuit (for example, a program execution environment such as a CPU, RAM, or ROM) by a program. It may be realized by operating, and various configurations can be adopted. Of course, one or more functions may be configured by one chip, or may be configured by a plurality of chips. In addition, a field programmable gate array (FPGA) that can be programmed after manufacturing, or a reconfigurable processor that can reconfigure connection and setting of internal circuit cells may be used. Further, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out function block integration using this technology.
- FPGA field programmable gate array
- the excitation frequency component is extracted by Fourier transform, and the relationship between the phase of the excitation signal and the output signal and the amplitude of the output signal are analyzed. Therefore, the electrical angle ⁇ e can be accurately obtained as compared with the configuration in which the phase relationship and the amplitude are analyzed without performing the Fourier transform. In particular, even if the phase is different from the ideal signal by amplifying the excitation signal or the output signal by the amplifiers 13a to 13c as in the present embodiment or the noise is included, the electrical angle ⁇ e is accurately determined. It can be acquired.
- sin ( ⁇ e ⁇ ) sin is obtained from the sum of the obtained signals by multiplying cos ⁇ or sin ⁇ with the SIN signal or COS signal. generate (2 ⁇ f r t), synchronous detection to extract the control deviation sin ( ⁇ e- ⁇ ), ⁇ by feedback control such that the control deviation becomes zero produces a situation which can be regarded as an electrical angle .theta.e . Therefore, it includes complex analog circuits such as a circuit for multiplying cos ⁇ and sin ⁇ , a circuit for performing synchronous detection, and a circuit for feedback control (a voltage controlled oscillator or a counter).
- a complicated analog circuit is not necessary, and a simple amplifier may be provided as the analog circuit.
- signal processing after the analog-to-digital converters 21a, 31b, and 31c is digital signal processing, the Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 It is realizable by the circuit of simple composition. Further, the circuit area of the analog circuit is larger than that of the digital circuit, and the chip area becomes larger at the time of IC integration, resulting in an increase in cost. Therefore, this embodiment can be realized at low cost as compared with the prior art.
- the function configured by the analog circuit is small, and the process for calculating the electrical angle ⁇ e is a digital circuit or It is realized by digital signal processing. Therefore, a temperature correction circuit is unnecessary, and a configuration for obtaining the electrical angle ⁇ e with high reliability can be easily realized.
- the electrical angle acquisition system is configured by a complicated analog circuit, it is necessary to adjust and make circuit characteristics in order to improve the acquisition accuracy of the electrical angle ⁇ e. For this reason, the change of the circuit constant is extremely limited.
- the excitation frequency of the resolver is limited to 10 kHz, which makes it suitable for specific applications.
- the excitation frequency and the like can be adjusted, and the present invention is not limited to a specific application.
- the electrical angle ⁇ e can be obtained immediately if N samplings are performed. Therefore, it is possible to provide a system that outputs the electrical angle ⁇ e at high speed.
- the prior art it is necessary to reduce noise such as an excitation signal, an SIN signal, or a COS signal which is an input signal, and it is necessary to consider adding an analog noise filter circuit according to the degree of noise.
- the excitation frequency component is acquired by Fourier transform
- the electrical angle ⁇ e can be acquired in a state in which the influence of noise other than the excitation frequency component is small. Therefore, it is resistant to noise, and the need for noise countermeasures is low compared to the prior art. For this reason, in the present embodiment, in a situation where noise such as leakage magnetic flux may be included, the electrical angle ⁇ e can be obtained with high accuracy without taking advanced measures against noise.
- the phase shift between the excitation signal, the SIN signal and the COS signal leads to the deterioration of the accuracy of the output angle and the reduction of the response speed, so the phase shift must be reduced.
- ⁇ 10 degrees or ⁇ 45 degrees or less is required.
- the phase shift between the excitation signal and the SIN signal or COS signal may be smaller than ⁇ 90 °. Therefore, in the present embodiment, the electrical angle ⁇ e can be acquired with high accuracy without taking a high countermeasure against the phase shift.
- FIG. 5 is a diagram showing an example of a configuration for acquiring a phase relationship based on a digital data string not subjected to Fourier transform.
- the electrical angle acquisition system 100 illustrated in FIG. 5 does not include the excitation signal acquisition unit 20 that acquires an excitation frequency component by Fourier transform.
- the excitation signal may be input to the electrical angle acquisition system 100 for purposes other than the calculation of the electrical angle ⁇ e (for example, detection of disconnection or the like).
- the excitation signal generation unit 130 has a function of generating a sine wave signal at the excitation frequency f r set by the parameter setting unit 70, generates digital data of a sine wave signal of the excitation frequency f r , and It has a function of outputting an analog signal of a wave signal to the amplifier 12.
- the excitation signal generation unit 130 can output the amplitude at an arbitrary timing of the sine wave signal output as the excitation signal based on the digital data of the sine wave signal. Therefore, excitation signal generator 130 can output the same digital data sequence in the case of sampling a sinusoidal signal at a sampling frequency f s in phase relation acquisition section 400.
- the phase relationship acquisition unit 400 can acquire a digital data string of the excitation signal based on the output.
- the output signal acquisition unit 300 has functions (analog-to-digital converters 31 b and 31 c and Fourier transform units 32 b and 32 c) equivalent to the output signal acquisition unit 30 in the first embodiment described above, but the signal wiring is different. There is. That is, the outputs of the analog-to-digital converters 31 b and 31 c are supplied to the Fourier transform units 32 b and 32 c and also to the phase relationship acquisition unit 400.
- the phase relationship acquisition unit 400 is a circuit that acquires the relationship between the phase of the excitation signal and the phase of the output signal (SIN signal and COS signal), but acquires the relationship of the phase by an arithmetic method different from that of the first embodiment described above. . That is, the phase relation acquisition unit 400 acquires the phase relation by the product of the value indicating the positive / negative of the excitation signal and the output signal.
- n is 0 to N-1.
- FIG. 6 is a diagram showing an example of processing by the phase relationship acquisition unit 400, and the excitation signal p (n) similar to the excitation signal shown in FIG. 3 is shown at the top.
- the digital data string at the sampling timing is indicated by a white circle.
- p '(n) after conversion is also shown below the excitation signal p (n).
- p '(n) after conversion is a digital data string which takes either 1, -1, 0 depending on whether the value of the excitation signal is positive or negative or 0. According to such conversion, it is possible to evaluate the phase relationship by excluding the influence of the amplitude of the excitation signal.
- p ′ (n) may be generated by a circuit instead of being converted from p (n).
- the phase relationship acquisition unit 400 acquires the relationship between the phase of the excitation signal and the phase of the SIN signal based on the sum of the products of p ′ (n) and the SIN signal s (n) thus obtained. That is, the phase relationship acquisition unit 400 calculates the determination index Dis based on the following equation (2). Then, the phase relationship acquisition unit 400 determines that the excitation signal and the SIN signal are in phase if the determination index Dis is positive, and if the determination index Dis is negative, the excitation signal and the SIN signal are out of phase. It is determined that
- s (n) is a digital data string supplied from the analog-to-digital converter 31 b to the phase relationship acquiring unit 400.
- FIG. 6 an example of the SIN signal s (n) is also shown, and the product of the SIN signal s (n) and p ′ (n) is also shown.
- the determination index Dis is also positive, and it is determined that they are in phase.
- This determination result matches the phase relationship between the excitation signal and the SIN signal shown in FIG.
- the phase relationship acquisition unit 400 acquires the relationship between the phase of the excitation signal and the COS signal based on the sum of the products of p ′ (n) and the COS signal c (n). That is, the phase relationship acquisition unit 400 calculates the determination index Dic based on the following equation (3). Then, the phase relationship acquisition unit 400 determines that the excitation signal and the COS signal are in phase if the determination index Dic is positive, and the excitation signal and the COS signal are in antiphase if the determination index Dic is negative. It is determined that
- c (n) is a digital data string supplied from the analog-to-digital converter 31 c to the phase relationship acquisition unit 400.
- FIG. 6 an example of the COS signal c (n) is also shown, and the product of the COS signal c (n) and p ′ (n) is also shown.
- the determination index Dic is also negative and it is determined that the phases are opposite. This determination result matches the phase relationship between the excitation signal and the COS signal shown in FIG.
- s (n) or c (n) can be multiplied by p (n) instead of p ′ (n) in equation (2) and equation (3). Also good.
- the signals (DirSin, Dircos) output from the phase relationship acquisition unit 400 are the same as in the first embodiment described above, and the amplitude acquisition unit 50 in the present embodiment is the same as the first embodiment. . Therefore, based on the output signal of the phase relationship acquisition unit 400 and the output signal of the amplitude acquisition unit 50, the electrical angle acquisition unit 60 in the present embodiment can acquire the electrical angle by the same process as in the first embodiment. it can. Also in the above configuration, since the excitation frequency component of the output signal is acquired by Fourier transformation, the electrical angle ⁇ e can be acquired with the influence of the signals other than the excitation frequency component excluded, noise, phase shift, etc. Even if the error occurs, the electrical angle ⁇ e can be accurately obtained.
- FIG. 7 is a diagram showing a configuration example in which sampling timings of an excitation signal and an output signal of two phases are different.
- FIG. 7 the same components as in FIG. 1 are denoted by the same reference numerals as in FIG. Here, the configuration different from that of FIG. 1 will be described, and the description of the same configuration as that of FIG. 1 will be omitted.
- the electrical angle acquisition system 110 shown in FIG. 7 is realized by the excitation signal acquisition unit and the output signal acquisition unit sharing a part of functions. In this sense, in FIG. 7, the excitation signal acquisition unit and the output signal acquisition unit are shown in one rectangle and indicated by one symbol 310.
- the excitation signal acquisition unit and the output signal acquisition unit denoted by reference numeral 310 include a multiplexer 211a, an analog-to-digital converter 210a, and Fourier transform units 22a, 32b, and 32c.
- the configuration of the Fourier transform units 22a, 32b and 32c is the same as that of the first embodiment.
- the multiplexer 211a is a 3-input 1-output multiplexer, to which the outputs of the amplifiers 13a to 13c are connected. That is, the multiplexer 211a is a circuit that switches the relationship between the input and the output at a fixed timing.
- the multiplexer 211a specifies the sampling period 1 / f s from the sampling frequency f s set by the parameter setting unit 70, and the input and output at a period of 1/3 of the sampling period 1 / f s It has a function to switch the relationship.
- the multiplexer 211a is configured to output the excitation signal, the SIN signal, and the COS signal in this order, and outputs the excitation signal again after the COS signal. Therefore, the multiplexer 211a repeats the operation of outputting the excitation signal, the SIN signal, and the COS signal in order.
- the order of each signal is an example, and the order is arbitrary.
- the analog-to-digital converter 210 a is a circuit for generating a digital data string obtained by sampling each of the excitation signal, the SIN signal, and the COS signal at the sampling frequency f s . That is, the analog-to-digital converter 210a specifies the sampling period 1 / f s from the sampling frequency f s set by the parameter setting unit 70, and the analog signal input to the analog-to-digital converter 210a is the sampling period 1 / f. Convert to a digital data string in a cycle of 1/3 of s .
- FIG. 8 is a diagram for explaining how the excitation signal, the SIN signal, and the COS signal are sampled.
- Each signal shown in FIG. 8 is equivalent to each signal shown in FIG.
- the analog-to-digital converter 210a samples the excitation signal, the SIN signal, and the COS signal in order of 1/3 of the sampling period 1 / f s , but in FIG. An example is shown, and sampling generates digital data c (0) of the COS signal.
- the excitation signal is input to the analog-to-digital converter 210a by the multiplexer 211a. Therefore, when the analog-to-digital converter 210a performs the next sampling, digital data p (0) of the excitation signal is generated.
- the SIN signal is input to the analog-to-digital converter 210 a by the multiplexer 211 a. Therefore, when the analog-to-digital converter 210a performs the next sampling, digital data s (0) of the SIN signal is generated. Since the analog-to-digital converter 210a performs sampling at a period of 1/3 of the sampling period 1 / f s thereafter, N ⁇ 3 digital conversions are performed to obtain COS signals c (0) to c (7). , Excitation signals p (0) to p (7), and SIN signals s (0) to s (7).
- the analog-to-digital conversion unit 210a includes a Fourier transform unit 22a, 32 b, are connected to 32c, switches the output destination at a period of 1/3 of the sampling period 1 / f s. That is, when the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the excitation signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 22a. When the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the SIN signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 32b.
- the analog-to-digital converter 210a When the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the COS signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 32c.
- the analog-to-digital converter 210a performs this switching in a cycle of 1/3 of the sampling period 1 / f s and repeats it, thereby exciting the Fourier transform unit 22a as in the first embodiment.
- a digital data string p (n) indicating a signal is input.
- a digital data string s (n) indicating a SIN signal is input to the Fourier transform unit 32b as in the first embodiment.
- a digital data string c (n) indicating a COS signal is input to the Fourier transform unit 32c.
- the signals (p (n), s (n), c (n)) input to the Fourier transform units 22a, 32b, 32c as described above are the same as in the first embodiment described above, and the present embodiment
- the Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 in the second embodiment are the same as those in the first embodiment. Therefore, when the Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 perform the same operations as in the first embodiment, the electrical angle can be acquired.
- the electrical angle ⁇ e can be acquired with the influence of the signals other than the excitation frequency component excluded, noise and phase Even if a deviation or the like occurs, the electrical angle ⁇ e can be accurately obtained.
- the multiplexer 211a and the analog-to-digital converter 210a sequentially perform digital conversion of the excitation signal, the SIN signal, and the COS signal, digital data at different timings of the respective signals are captured. Therefore, the phase of the signal indicated by each digital data is shifted. Therefore, in the present embodiment, a configuration may be provided to compensate for the phase shift.
- ⁇ is a phase shift, that is, 2 ⁇ / (3 f s ).
- the phase shift of the SIN signal and the COS signal is smaller than ⁇ 90 °, it is possible to accurately identify the phase relationship between the excitation signal and the SIN signal, the COS signal.
- the configuration using the multiplexer as in the third embodiment for example, the number of analog-to-digital converters can be reduced as compared with the first embodiment and the like. Therefore, the electrical angle acquisition system can be configured at lower cost.
- the multiplexer 221a has a 2-input 1-output configuration, and one analog-to-digital converter 220a digitizes each of the SIN signal and the COS signal in order. Since the multiplexer 221a has two inputs, the sampling period of the analog-to-digital converter 220a is 1 / (2 f s ).
- the digital data string of the SIN signal and the COS signal thus converted into the digital data string and the excitation signal output from the excitation signal generator 130 is input to the phase relationship acquisition unit 400.
- the SIN signal and the COS signal digitized by the analog-to-digital converter 220a are Fourier-transformed by the Fourier transformers 32b and 32c, respectively, to obtain excitation frequency components.
- the 10 omits from the first embodiment shown in FIG. 1 the amplifier 13a for amplifying and taking in the excitation signal and the excitation signal acquisition unit 20, and instead the excitation signal generation unit as in the second embodiment shown in FIG.
- the excitation signal is supplied to the phase relationship acquisition unit 40 from 130.
- the digital data of the excitation signal output from the excitation signal generator 130 is configured to be Fourier transformed by the Fourier transform unit 240 a.
- the excited Fourier signal subjected to the Fourier transform by the Fourier transform unit 240a is supplied to the phase relationship acquisition unit 40, and the phase relationship is acquired by the same processing as that of the first embodiment.
- FIG. 11 shows a configuration obtained by omitting the configuration for performing Fourier transform to obtain the phase relationship from the first embodiment shown in FIG.
- the excitation signal is converted into digital data by the analog-to-digital converter 250a in order to take in the signal amplified by the amplifier 13a.
- the excitation signal converted into digital data by the analog-to-digital converter 250 a is input to the phase relationship acquiring unit 400.
- the SIN signal and the COS signal converted into digital data by the analog-to-digital converters 31 b and 31 c are input to the phase relationship acquiring unit 400.
- the phase relationship acquiring unit 400 acquires the phase relationship by the same processing as that of the second embodiment.
- a Fourier transform unit 360a is provided in order to Fourier transform digital data of the excitation signal output from the excitation signal generation unit 130.
- FIG. 13 is a diagram showing an eighth embodiment configured to acquire a phase relationship from a digital data string not subjected to Fourier transform in the third embodiment shown in FIG. That is, in the third embodiment, the Fourier transform unit 22a is omitted, and the phase relationship acquisition unit 40 is replaced with the phase relationship acquisition unit 400.
- the eighth embodiment can be configured by supplying the output signal of the analog-to-digital converter 210a to the phase relationship acquisition unit 400.
- the electrical angle acquisition system can be used for various purposes other than the configuration in which the electrical angle of the resolver is measured in the operation process of the resolver 11.
- FIG. 14 is a diagram showing a configuration example of an electrical angle acquisition characteristic measurement system 190 that measures the acquisition characteristic of the electrical angle acquired by the resolver 11. That is, in the manufacturing process of the resolver 11, etc., it is often shipped after the acquisition characteristic of the electrical angle in the resolver 11 is specified. In such a case, the electrical angle acquisition system can also be used when measuring the characteristics of the resolver 11.
- the excitation signal acquisition unit 20 and the output signal acquisition unit 30 acquire the analog excitation signal and the output signal, but acquire the excitation signal and the output signal that are already converted into digital data. May be configured.
- the electrical angle acquisition characteristic measurement system 190 of FIG. 14 has a configuration for acquiring the digitized data of the excitation signal and the output signal.
- the excitation signal and the output signal are digitized by the data acquisition system 200.
- the data acquisition system 200 includes amplifiers 13a to 13c similar to those of the first embodiment described above, and analog-to-digital converters 21a, 31b, and 31c. These functions are the same as in the first embodiment. Therefore, the excitation signal amplified by the amplifier 12 is further amplified by the amplifier 13a, and is converted into a digital data string by the analog-to-digital converter 21a. Further, the SIN signal which is an output signal from the resolver 11 is amplified by the amplifier 13 b and converted into a digital data string by the analog-to-digital converter 31 b. The COS signal, which is an output signal from the resolver 11, is amplified by the amplifier 13c, and is converted into a digital data string by the analog-to-digital converter 31c.
- the data acquisition system 200 includes a FIFO memory 201.
- the data acquisition system 200 is also connected to the electrical angle acquisition characteristic measurement system 190 by a communication cable.
- the FIFO memory 201 records digital data strings output from the analog-to-digital converters 21a, 31b, and 31c, and outputs the digital data strings to the electrical angle acquisition characteristic measurement system 190 in a first-in first-out format.
- the communication cable connecting the data acquisition system 200 and the electrical angle acquisition characteristic measurement system 190 may be various cables, and for example, a USB cable or the like can be adopted.
- the rotor of the resolver 11 and the encoder 15c are attached to the shaft of the motor 15a (or the part that rotates in conjunction with the shaft).
- the motor 15a rotates the shaft by the power supplied from the motor driver 15b.
- the encoder 15c outputs a signal (ABZ signal) according to the rotation angle of the rotor.
- the output mode of the encoder 15 c is an example, and may be a configuration in which an absolute angle is obtained.
- the output signal of the encoder 15c is input to the data acquisition system 200 and sampled simultaneously with the other signals.
- the data acquisition system 200 includes a mechanical angle conversion unit 202 that takes in the output signal of the encoder 15c.
- the mechanical angle conversion unit 202 is a circuit having a function of converting an output signal of the encoder 15 c into a mechanical angle. That is, the mechanical angle conversion unit 202 generates data indicating the mechanical angle (0 ° to 360 °) of the rotor based on the output signal of the encoder 15 c and stores the data in the FIFO memory 201. Data indicating the mechanical angle is also output to the electrical angle acquisition characteristic measurement system 190 in a first-in first-out manner. In the present embodiment, the mechanical angle obtained from the output signal of the encoder 15c is a reference.
- the electrical angle acquisition characteristic measurement system 190 is a general-purpose computer, and includes a control unit (not shown) including a CPU and the like.
- the control unit can execute a program (not shown), and can execute various functions similar to those of the first embodiment by appropriately using the memory 191 by the program. That is, the control unit functions as an excitation signal acquisition unit 290, an output signal acquisition unit 390, a phase relationship acquisition unit 40, an amplitude acquisition unit 50, an electrical angle acquisition unit 60, and a parameter setting unit 700.
- the same functions as in the first embodiment are denoted by the same reference numerals.
- the control unit functions as an accuracy acquisition unit 800 in addition to these functions.
- the electrical angle acquisition characteristic measurement system 190 can start or stop the acquisition of data in the memory 191 according to a trigger or the like given by the user.
- acquisition is started, digital data of the excitation signal and output signal output from the data acquisition system 200 and data indicating the mechanical angle are recorded in the memory 191.
- the excitation signal acquisition unit 290 has a Fourier transform unit 22a, and can perform the same Fourier transform as that of the first embodiment. That is, the excitation signal acquisition unit 290 acquires an excitation signal converted into digital data with reference to the memory 191, acquires the excitation frequency component P (m) of the excitation signal by the function of the Fourier transform unit 22a, and outputs it.
- the output signal acquisition unit 390 includes Fourier transform units 32 b and 32 c, and can perform the same Fourier transform as that of the first embodiment. That is, the output signal acquisition unit 390 acquires the SIN signal converted into digital data with reference to the memory 191, acquires the excitation frequency component S (m) of the SIN signal by the function of the Fourier transform unit 32b, and outputs it. Further, the output signal acquisition unit 390 acquires the COS signal converted into digital data with reference to the memory 191, acquires the excitation frequency component C (m) of the COS signal by the function of the Fourier transform unit 32c, and outputs it.
- the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 have the same functions as in the first embodiment. However, in the present embodiment, these functions are realized by software.
- the electrical angle acquisition unit 60 acquires the electrical angle ⁇ e
- the accuracy acquisition unit 800 acquires and outputs information indicating the deviation between the acquired electrical angle ⁇ e and the reference.
- the accuracy acquisition unit 800 has a function of acquiring the accuracy of the electrical angle acquired by the electrical angle acquisition unit 60 based on the mechanical angle of the rotor. That is, in the data acquisition system 200, since the mechanical angle conversion unit 202 acquires the mechanical angle of the rotor based on the output signal of the encoder 15c and uses it as a reference, in the present embodiment, the accuracy of the electrical angle is calculated based on the reference. get.
- the accuracy acquisition unit 800 acquires the mechanical angle error based on the mechanical angle obtained from the output signal of the encoder 15c, the electrical angle ⁇ e acquired by the electrical angle acquisition unit 60, and the shaft double angle.
- the shaft double angle is 2 or more, the shaft double angle ⁇ mechanical angle may be larger than 360 °. Therefore, when the shaft double angle ⁇ mechanical angle is larger than 360 °, the shaft double angle ⁇ mechanical angle is less than 360 °. Repeat the process to reduce 360 °.
- the accuracy acquisition unit 800 When the mechanical angle error is acquired, the accuracy acquisition unit 800 outputs the mechanical angle error.
- the output mode may be various modes, for example, a graph in which the mechanical angle is taken on the horizontal axis and the mechanical angle error is taken on the vertical axis, or a statistical value of the mechanical angle error, etc. Also, various aspects are conceivable.
- the accuracy of the electrical angle may be evaluated based on the mechanical angle of the rotor, and the mechanical angle is converted into an electrical angle, and the electrical angle after conversion and the electrical angle ⁇ e acquired by the electrical angle acquiring unit 60 The accuracy may be evaluated by a difference or the like, and various configurations can be adopted.
- the output destination is not limited, and in addition to the display (not shown), the output destination may be a database (not shown) for recording measurement data, a printer (not shown) or the like.
- the parameter setting unit 700 can receive parameter input based on the user's input from the input unit such as a keyboard.
- the parameter setting unit 700 can receive the sampling number N as in the first embodiment described above, and can cause the Fourier transform units 22a, 32b, and 32c to perform Fourier transform using the received parameters.
- the excitation frequency f r of the excitation signal in the excitation signal generating unit 13 is 10 kHz and the sampling frequency f s in the analog-to-digital converters 21 a, 31 b, and 31 c is set to 320 kHz
- the parameter setting unit 700 may receive the sampling frequency f s and the excitation frequency f r, and may control the sampling frequency of analog-to-digital conversion in the data acquisition system 200.
- the excitation signal generator 13 may excite the excitation signal.
- the frequency may be controllable.
- the parameter setting unit 700 can further receive an input of a parameter for controlling the motor 15a, and can control the motor 15a with the parameter.
- the parameter setting unit 700 functions as a motor control unit. That is, the parameter setting unit 700 can set parameters for operating the motor 15a, for example, a rotational speed, a period and an angle when rotating by a fixed angle every fixed period, and the like.
- the parameter setting unit 700 When a parameter for operating the motor 15a is input, the parameter setting unit 700 outputs a control signal according to the parameter to the motor driver 15b. As a result, the motor driver 15b controls the motor 15a to drive the motor 15a in the operation indicated by the parameter.
- the parameter setting unit 700 functions as a motor control unit, and outputs a control signal according to the operation parameter of the motor 15a to the motor driver 15b.
- the motor driver 15b rotationally drives the motor 15a to perform rotation according to the parameters.
- the electrical angle acquisition characteristic measurement system 190 starts acquisition to the memory 191 in response to the measurement start trigger. As a result, digital data of the excitation signal and the output signal and data indicating the mechanical angle are recorded in the memory 191. Thereafter, the electrical angle acquisition characteristic measurement system 190 periodically fetches data in the FIFO memory 201 so that the FIFO memory 201 does not overflow.
- the parameter setting unit 700 When a digital data string corresponding to a mechanical angle of 0 ° to 360 ° is taken into the memory 191, the parameter setting unit 700 outputs a control signal to the motor driver 15b to stop the rotation of the motor 15a. Furthermore, the excitation signal acquisition unit 290 and the output signal acquisition unit 390 start Fourier transform processing.
- the data included in the Fourier transform when calculating the electrical angle at the time when the mechanical angle is obtained based on the output signal of the encoder 15c may be specified by various methods. For example, it is possible to employ a configuration in which N sampling numbers of data of approximately the same number before and after the time point are collected to be included in the Fourier transform. The collection of the samples may be any configuration as long as N samples are collected in the period before and after the point in time.
- the Fourier transform units 22a, 32b, and 32c perform Fourier transform, and based on the results, the phase relationship acquisition unit 40 acquires phase relationships and acquires amplitudes.
- the unit 50 acquires the amplitude.
- the electrical angle acquisition unit 60 acquires the electrical angle ⁇ e
- the accuracy acquisition unit 800 acquires the mechanical angle error.
- Such processing is performed for a plurality of mechanical angles specified by the output signal of the encoder 15c, and mechanical angle errors at each of the plurality of mechanical angles are obtained. According to the above configuration, the mechanical angle error for each mechanical angle can be acquired in several seconds.
- the structure for acquiring an electrical angle in the electrical angle acquisition characteristic measurement system 190 can employ
- the configuration for acquiring the electrical angle may be any configuration of the second to eighth embodiments. Therefore, for example, the relationship between the phase of the excitation signal and the phase of the output signal may be obtained based on the excitation signal not subjected to Fourier transform and digital data of the output signal. Also, for example, when acquiring the excitation signal and the output signal in the data acquisition system 200, a multiplexer may be used. Furthermore, the rotor may be rotationally driven by power other than the motor 15a.
- a configuration may be employed in which the rotor is rotationally driven by manual operation, an air pressure, an oil pressure, an elastic force such as a spring, or the like. Furthermore, the rotation of the motor 15a may be transmitted to the rotor via a gear or the like, or the shaft of the motor 15a may be rotated via a gear.
- the electrical angle acquisition system or the electrical angle acquisition characteristic measurement system may include a filter for noise reduction.
- the filter can be arranged at each place, for example, when filtering with respect to a digital data string, it is between the respective analog-to-digital converters 21a, 31b, 31c and each of the Fourier transformers 22a, 32b, 32c.
- a configuration in which a digital filter is arranged can be employed.
- the digital filter may be in various forms, and it is possible to employ a finite impulse response (FIR), an infinite impulse response (IIR), a low pass filter of a Butterworth type, a band pass filter, or the like.
- FIR finite impulse response
- IIR infinite impulse response
- a low pass filter of a Butterworth type a low pass filter of a Butterworth type
- band pass filter or the like.
- the electric angle ⁇ e may be acquired, and another value such as the rotational speed of the rotor may be acquired.
- the configuration may be such that elliptic correction is performed based on the SIN signal and the COS signal whose maximum values of amplitude do not match. That is, in the above-described embodiment, since the amplitude of the SIN signal is K sin ⁇ e and the amplitude of the COS signal is K cos ⁇ e, the maximum values of the amplitudes coincide with each other. However, when it becomes necessary to adjust in detail the amplification factors of the amplifiers 13b and 13c and the number of turns of the output winding in order to completely match the maximum values of the amplitudes of both signals, in order to obtain the electrical angle ⁇ e The preparation of may be complicated.
- the measurement may be performed in a state in which the maximum values of the amplitudes in the SIN signal and the COS signal do not match. That, SIN signal after amplification by the amplifier 13b is b ⁇ sin ⁇ e ⁇ sin (2 ⁇ f r t), COS signal after amplification by the amplifier 13c is assumed that it is a ⁇ cos ⁇ e ⁇ sin (2 ⁇ f r t). However, it is b ⁇ a.
- FIG. 15 is a diagram showing a change in the amplitude of the SIN signal and the COS signal according to the electrical angle ⁇ e when a> b.
- the plot of the amplitude value is shown by a two-dot chain line, and as shown in FIG. 15, the plot result is an ellipse.
- the plot of the amplitude value in the case where the maximum values of the amplitudes of the SIN signal and the COS signal are equal is circular as shown by a dashed dotted line.
- the amplitude acquiring unit 50 corrects the amplitude of the SIN signal which is one output signal to a / b times, or the COS signal which is the other output signal.
- a configuration that corrects the amplitude to b / a can be employed.
- the amplitude acquisition unit 50 corrects the above-mentioned PwrSin to (a / b) PwrSin, a configuration in which the PwrCos is corrected to (b / a) PwrCos, and the like.
- the correction may be performed once at the stage of obtaining the electrical angle ⁇ e, and the amount of calculation can be reduced.
- s (n) is given by (a / b) s (n)
- a configuration that corrects c (n) is given by (a / b) s (n)
- the correction is performed for each sampling.
- a configuration in which the maximum value of the amplitude in the output signals of the amplifiers 13b and 13c is measured and acquired, a configuration set by the parameter setting unit 70, and the like can be adopted, and various configurations can be adopted. It is. In the former case, more accurate values can be obtained by rotating the rotor a plurality of times and measuring the maximum value of the amplitude.
- a configuration for correcting such an error may be employed. For example, if the period required for collecting the sampling number N is calculated from the rotational speed of the rotor, or the characteristics of the error with respect to the rotational speed of the rotor are calculated in advance by calculation, statistics or the like, the error characteristics can be specified. . Therefore, a configuration may be employed in which a value obtained by subtracting an error specified based on the characteristic from the electrical angle ⁇ e is acquired as the electrical angle ⁇ e.
- the characteristic of the error can be specified, for example, by a function or the like that indicates the relationship of the error to the rotational speed.
- the relationship between the rotational speed of the rotor and the error is set by the parameter setting unit 70, the error is specified according to the rotational speed of the rotor, and the electrical angle ⁇ e is corrected.
- the parameter setting units 70 and 700 may be configured to be able to set various parameters other than the sampling frequency f s , the sampling number N, and the excitation frequency f r described above.
- the sampling frequency f s the sampling frequency
- N the sampling number
- f r the excitation frequency
- 2C can be changed by connection), amplitude E of excitation signal, center voltage of amplitude of excitation signal or output signal (for example, , Available for abnormality detection), the amplitudes a and b of the above-mentioned output signal, characteristics of noise filter (for example, specification of filtering characteristics by parameters etc.), form of electrical angle output (serial, parallel, voltage, A BZ, U V W, etc.) SIN signal to excitation signal, phase shift of COS signal (makes it possible to correct known shift), mechanical angle, home position shift of electrical angle (eg resolver 11 at any angle to device) Fixed at a position where the mechanical angle 0 degree position and the electrical angle 0 degree position can be adjusted, etc.), and the deviation of the electrical angle ⁇ e between N samplings (error due to the rotational speed of the rotor) A correction value of the difference) or the like may be input.
- characteristics of noise filter for example, specification of filtering characteristics by parameters etc.
- form of electrical angle output serial, parallel, voltage, A B
- the rotation detector may be configured as a one-phase excitation two-phase output, in which one excitation winding exists, two output windings exist, and an excitation signal is input to the excitation winding.
- the output signal may be output from two-phase output windings. That is, the output signal may be modulated according to the rotation of the rotor, and the electrical angle may be specified based on the output signal and the excitation signal.
- the modes of the excitation winding, the output winding, and the rotor may be various modes.
- the excitation signal acquisition part should just acquire the excitation frequency component of an excitation signal by Fourier-transform. That is, the excitation signal acquisition unit has only to be capable of taking in the excitation signal and extracting an excitation frequency component that is a component necessary for acquiring the electrical angle.
- the excitation frequency component of the excitation signal may be acquired, and the aspect of the excitation signal acquired by the excitation signal acquisition unit may be various modes.
- an analog excitation signal may be input to the excitation signal acquisition unit, or a digital excitation signal may be input to the excitation signal acquisition unit.
- digital-to-analog conversion is performed in the excitation signal acquisition unit.
- the excitation signal acquisition unit can capture the excitation signal as digital data, and the excitation signal as digital data may be a signal generated based on a parameter or may be supplied to the rotation detector.
- the excitation signal may be a signal obtained by digital-to-analog conversion, and various configurations can be adopted.
- the generation source of the excitation signal may be provided in the electrical angle acquisition system, or may be provided outside the electrical angle acquisition system.
- the excitation frequency is the frequency of the excitation signal, and various signals oscillating at the excitation frequency can be used as the excitation signal.
- the excitation signal is typically a signal represented by a trigonometric function such as a sine wave, and has a single frequency component at the stage when the excitation signal is generated.
- the Fourier transform only needs to be capable of converting an excitation signal, which is a time space signal, into a frequency space signal, and may be performed so as to extract an excitation frequency component of the excitation signal. Therefore, a digital data string representing a plurality of frequency components may be generated, an excitation frequency component may be selected from among the digital data strings, or data corresponding to the excitation frequency component may be calculated. .
- Extraction of excitation frequency components may be performed in various manners. For example, when a frequency component equal to the excitation frequency is obtained in the Fourier transform, the frequency component is acquired as the excitation frequency component. In addition, when a frequency component equal to the excitation frequency is not obtained, among the data of a plurality of frequency components obtained by Fourier transform, the component of the frequency closest to the excitation frequency or the component of the frequency within a predetermined range from the excitation frequency Is selected and may be regarded as an excitation frequency component.
- the characteristics of such Fourier transform are the same as in the output signal acquisition unit. Therefore, the excitation signal acquisition unit and the output signal acquisition unit may be realized by the same Fourier transform unit. In this case, Fourier transformation is performed on each of the excitation signal and the output signal in order.
- the output signal acquisition part should just acquire the excitation frequency component of the two-phase output signal by Fourier-transform. That is, the output signal is output in a modulated state according to the rotation of the rotor of the rotation detector. Since the output signal is a signal excited by the excitation signal, even if the amplitude or the like is modulated, the output signal is output as a signal that changes at a frequency equivalent to the frequency of the excitation signal. Since the reference for identifying how the output signal is modulated is the excitation signal, and the excitation signal is a signal of the excitation frequency, the component necessary to obtain the electrical angle in the output signal is the excitation frequency component. Then, the output signal acquisition part should just take in an output signal and can extract the excitation frequency component which is a component required in order to acquire an electrical angle.
- the two-phase output signal is a signal output from the rotation detector, and it is sufficient if an electrical angle can be obtained based on these two-phase output signals.
- the aspect of the output signal which an output signal acquisition part takes in may be various aspects. For example, an analog output signal may be input to the output signal acquisition unit, or a digital output signal may be input to the output signal acquisition unit. In the former case, digital-to-analog conversion is performed in the output signal acquisition unit. In the latter case, the output signal is subjected to digital-to-analog conversion outside the output signal acquisition unit.
- the phase relationship acquisition unit only needs to acquire the phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal. That is, if the characteristics of the rotation detector (wire connections and the like) do not change, the relationship between the phases of the excitation signal and the two-phase output signal is fixed. Therefore, if the phase relationship is known, the quadrant of the electrical angle (the angular range to which the electrical angle belongs) is identified. The phase relationship acquiring unit only needs to be able to acquire the phase relationship as information that is the basis of such acquisition of the electrical angle.
- the configuration for acquiring the phase relationship various configurations can be adopted, and various methods other than the rotation of the coordinate axes as described above can be adopted.
- the amplitude acquiring unit only needs to acquire the amplitudes of the two-phase output signal based on the excitation frequency components of the two-phase output signal. That is, if the characteristics of the rotation detector do not change, candidates for the electrical angle are identified by the amplitudes of the two-phase output signal.
- the amplitude acquiring unit only needs to acquire the amplitude as information on which such an electrical angle is to be acquired.
- Various configurations can be adopted as the configuration for acquiring the amplitude, and the acquisition may be performed by a method other than the square root of the square of the real part and the imaginary part as described above. For example, a configuration in which the real part after the above-mentioned coordinate axis rotation is performed may be considered as an amplitude may be employed.
- the electrical angle acquisition unit only needs to be able to acquire the electrical angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal. That is, the electrical angle acquisition unit may select an angle included in the quadrant of the electrical angle specified based on the phase relationship from the candidate of the angle identified by the ratio of the amplitudes and set the angle as the electrical angle. .
- each means described in the claims are realized by hardware resources whose functions are specified by the configuration itself, hardware resources whose functions are specified by a program, or a combination thereof. Also, the functions of these means are not limited to those realized by hardware resources that are physically independent of each other. Furthermore, the present invention is realized as a method, a computer program, and a computer program recording medium. Of course, the recording medium of the computer program may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium developed in the future.
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Abstract
[Problem] To provide a technique for acquiring an accurate electrical angle. [Solution] An electrical angle acquisition system that acquires an electrical angle of a one-phase excitation two-phase output rotation detector on the basis of an excitation signal and an output signal of the rotation detector, the electrical angle acquisition system comprising: an excitation signal acquisition unit that acquires, by Fourier transformation, an excitation frequency component of the excitation signal; an output signal acquisition unit that acquires, by Fourier transformation, an excitation frequency component of the two-phase output signal; a phase relationship acquisition unit that acquires, on the basis of the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal, the relationship of the phases of the excitation signal and the two-phase output signal; an amplitude acquisition unit that acquires, on the basis of the excitation frequency component of the two-phase output signal, the amplitude of the two-phase output signal; and an electrical angle acquisition unit that acquires, on the basis of the relationship of the phases and the amplitude of the two-phase output signal, the electrical angle of the rotation detector.
Description
本発明は、回転検出器の出力信号に基づいて電気角を取得する技術に関する。
The present invention relates to a technique for acquiring an electrical angle based on an output signal of a rotation detector.
従来、レゾルバの出力信号に基づいて、レゾルバの電気角を示すデジタルデータを出力するレゾルバ/デジタル変換器が知られている。例えば、特許文献1には、トラッキングループ型デジタル角度変換器が開示されている。
また、レゾルバには各種方式が知られており、特許文献1のような振幅変調方式以外にも位相変調方式が知られている。位相変調方式のレゾルバとしては、例えば、特許文献2が知られている。 Conventionally, a resolver / digital converter is known which outputs digital data indicating the electrical angle of a resolver based on an output signal of the resolver. For example,Patent Document 1 discloses a tracking loop digital angle converter.
In addition, various methods are known for resolvers, and a phase modulation method is known other than the amplitude modulation method as disclosed inPatent Document 1. For example, Patent Document 2 is known as a phase modulation type resolver.
また、レゾルバには各種方式が知られており、特許文献1のような振幅変調方式以外にも位相変調方式が知られている。位相変調方式のレゾルバとしては、例えば、特許文献2が知られている。 Conventionally, a resolver / digital converter is known which outputs digital data indicating the electrical angle of a resolver based on an output signal of the resolver. For example,
In addition, various methods are known for resolvers, and a phase modulation method is known other than the amplitude modulation method as disclosed in
上述の特許文献1のような従来技術においては、多くのアナログ回路によって複雑な信号処理を行っており、正確な電気角を取得することが困難であった。また、特許文献2のような位相変調方式のレゾルバの解析法は、出力信号の振幅を解析する振幅変調方式に対して適用することはできない。
本発明は、前記課題にかんがみてなされたもので、正確な電気角を取得することを目的とする。 In the prior art like the above-mentionedpatent documents 1, complicated signal processing was performed by many analog circuits, and it was difficult to acquire an exact electrical angle. Further, the analysis method of the phase modulation type resolver as in Patent Document 2 can not be applied to an amplitude modulation type that analyzes the amplitude of the output signal.
The present invention has been made in view of the above problems, and aims to obtain an accurate electrical angle.
本発明は、前記課題にかんがみてなされたもので、正確な電気角を取得することを目的とする。 In the prior art like the above-mentioned
The present invention has been made in view of the above problems, and aims to obtain an accurate electrical angle.
上記の目的を達成するために、電気角取得システムは、1相励磁2相出力の回転検出器の励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部と、回転検出器の2相の出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、励磁信号の励磁周波数成分と、2相の出力信号の励磁周波数成分とに基づいて、励磁信号と2相の出力信号との位相の関係を取得する位相関係取得部と、2相の出力信号の励磁周波数成分に基づいて、2相の出力信号の振幅を取得する振幅取得部と、位相の関係と2相の出力信号の振幅とに基づいて、回転検出器の電気角を取得する電気角取得部と、を備える。
In order to achieve the above object, the electrical angle acquisition system comprises an excitation signal acquisition unit for acquiring excitation frequency components of an excitation signal of a rotation detector of one-phase excitation two-phase output by Fourier transformation, and a two-phase rotation detector. An excitation signal and a two-phase output signal based on an output signal acquisition unit that acquires an excitation frequency component of the output signal of the second signal by Fourier transform, an excitation frequency component of the excitation signal, and an excitation frequency component of the two-phase output signal And an amplitude acquisition unit for acquiring the amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal, the phase relation and the two-phase output signal And an electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the amplitude of
すなわち、電気角取得システムにおいては、回転検出器の励磁信号と出力信号とを取り込み、これらの信号に基づいて電気角を取得するが、この際、励磁信号と出力信号との位相の関係および出力信号の振幅に基づいて電気角が取得される。そして、電気角取得システムにおいては、励磁周波数成分を、フーリエ変換によって励磁信号および出力信号から抽出し、抽出した信号に基づいて電気角を取得する。この構成によれば、ノイズ等による影響を低減することができ、電気角を正確に取得することが可能である。
That is, in the electrical angle acquisition system, the excitation signal and the output signal of the rotation detector are taken, and the electrical angle is acquired based on these signals. At this time, the phase relationship between the excitation signal and the output signal and the output An electrical angle is obtained based on the amplitude of the signal. Then, in the electrical angle acquisition system, the excitation frequency component is extracted from the excitation signal and the output signal by Fourier transform, and the electrical angle is acquired based on the extracted signal. According to this configuration, the influence of noise or the like can be reduced, and the electrical angle can be accurately acquired.
ここでは、下記の順序に従って本発明の実施の形態について説明する。
(1)電気角取得システムの構成:
(2)第2実施形態:
(3)第3実施形態:
(4)第4~第8実施形態:
(5)第9実施形態:
(6)他の実施形態: Here, embodiments of the present invention will be described in the following order.
(1) Configuration of electrical angle acquisition system:
(2) Second embodiment:
(3) Third Embodiment:
(4) Fourth to eighth embodiments:
(5) Ninth embodiment:
(6) Other embodiments:
(1)電気角取得システムの構成:
(2)第2実施形態:
(3)第3実施形態:
(4)第4~第8実施形態:
(5)第9実施形態:
(6)他の実施形態: Here, embodiments of the present invention will be described in the following order.
(1) Configuration of electrical angle acquisition system:
(2) Second embodiment:
(3) Third Embodiment:
(4) Fourth to eighth embodiments:
(5) Ninth embodiment:
(6) Other embodiments:
(1)電気角取得システムの構成:
図1は、本発明の一実施形態にかかる電気角取得システム10の構成を示すブロック図である。本実施形態において、電気角取得システム10は、励磁信号取得部20と出力信号取得部30と位相関係取得部40と振幅取得部50と電気角取得部60とパラメータ設定部70とを備えている。また、電気角取得システム10は、励磁信号発生部13と増幅器13a~13cを備えている。これらの励磁信号発生部13と増幅器13a~13cは、電気角取得システム10の外部に備えられていてもよい。図1においては、励磁信号発生部13が電気角取得システム10の外部に存在する状態が破線によって示されている。 (1) Configuration of electrical angle acquisition system:
FIG. 1 is a block diagram showing the configuration of an electricalangle acquisition system 10 according to an embodiment of the present invention. In the present embodiment, the electrical angle acquisition system 10 includes an excitation signal acquisition unit 20, an output signal acquisition unit 30, a phase relationship acquisition unit 40, an amplitude acquisition unit 50, an electrical angle acquisition unit 60, and a parameter setting unit 70. . The electrical angle acquisition system 10 also includes an excitation signal generator 13 and amplifiers 13a to 13c. The excitation signal generator 13 and the amplifiers 13a to 13c may be provided outside the electrical angle acquisition system 10. In FIG. 1, a state in which the excitation signal generator 13 exists outside the electrical angle acquisition system 10 is indicated by a broken line.
図1は、本発明の一実施形態にかかる電気角取得システム10の構成を示すブロック図である。本実施形態において、電気角取得システム10は、励磁信号取得部20と出力信号取得部30と位相関係取得部40と振幅取得部50と電気角取得部60とパラメータ設定部70とを備えている。また、電気角取得システム10は、励磁信号発生部13と増幅器13a~13cを備えている。これらの励磁信号発生部13と増幅器13a~13cは、電気角取得システム10の外部に備えられていてもよい。図1においては、励磁信号発生部13が電気角取得システム10の外部に存在する状態が破線によって示されている。 (1) Configuration of electrical angle acquisition system:
FIG. 1 is a block diagram showing the configuration of an electrical
電気角取得システム10は、回転検出器の例であるレゾルバ11の電気角を取得するシステムであり、レゾルバ11に接続されている。すなわち、励磁信号発生部13が発生させた励磁信号は、増幅器12に入力され、増幅後の励磁信号がレゾルバ11に入力される。また、レゾルバ11から出力された信号は電気角取得システム10に取り込まれる。なお、本実施形態においては、増幅器12によって増幅された励磁信号も電気角取得システム10に取り込まれる。むろん、レゾルバ11の励磁の負荷が小さい場合などにおいて増幅器12が設けられない構成であっても良い。
The electrical angle acquisition system 10 is a system for acquiring the electrical angle of the resolver 11 which is an example of a rotation detector, and is connected to the resolver 11. That is, the excitation signal generated by the excitation signal generation unit 13 is input to the amplifier 12, and the excitation signal after amplification is input to the resolver 11. Further, the signal output from the resolver 11 is taken into the electrical angle acquisition system 10. In the present embodiment, the excitation signal amplified by the amplifier 12 is also taken into the electrical angle acquisition system 10. Of course, the amplifier 12 may not be provided when the load of excitation of the resolver 11 is small.
レゾルバ11は、1相励磁2相出力のレゾルバであり、本実施形態においてレゾルバ11は振幅変調型である。すなわち、レゾルバ11は、1相の励磁巻線と2相の出力巻線とロータとを備えている。励磁巻線と出力巻線とは、既定の関係で配置されており、増幅器12で増幅された励磁信号が励磁巻線に供給されると、ロータの機械角および軸倍角(極対数)に応じて変調された出力信号が2相の出力巻線から出力される。
The resolver 11 is a resolver of one-phase excitation two-phase output, and in the present embodiment, the resolver 11 is an amplitude modulation type. That is, the resolver 11 includes a one-phase excitation winding, a two-phase output winding, and a rotor. The excitation winding and the output winding are arranged in a predetermined relationship, and when the excitation signal amplified by the amplifier 12 is supplied to the excitation winding, it corresponds to the mechanical angle and shaft double angle (number of poles) of the rotor. The modulated output signal is output from the two-phase output winding.
機械角と電気角との理想的な対応関係はレゾルバ11の構成によって決まる。ロータの軸倍角が2以上であれば、機械角が0°~360°の角度を1周する過程において電気角が0°~360°の角度を軸倍角と同数だけ回転する。本実施形態は任意の軸倍角について適用可能であるが、以下、簡単のために軸倍角は1、すなわち、機械角が1周する過程で電気角も1周する構成を例に説明を行う。
The ideal correspondence between the mechanical angle and the electrical angle is determined by the configuration of the resolver 11. If the shaft double angle of the rotor is 2 or more, the electrical angle rotates an angle of 0 ° to 360 ° by the same number as the shaft double angle while the mechanical angle makes one revolution of the angle of 0 ° to 360 °. The present embodiment is applicable to any axis double angle, but in the following, for the sake of simplicity, the axis double angle is 1, that is, a configuration in which the electrical angle also makes one round in the process of making one mechanical angle makes a description.
本実施形態において、2相の出力巻線は各巻線の出力信号が直交するように配置されている。本実施形態においては、2相の出力巻線から出力される信号の一方をSIN信号、他方をCOS信号とも呼ぶ。励磁信号は正弦波形の信号であり、本実施形態においては図1に示すR1-R2として電気角取得システム10に取り込まれる。出力巻線からの出力信号は図1に示すS2-S4およびS1-S3として電気角取得システム10に取り込まれる。ここでは、S2-S4をSIN信号、S1-S3をCOS信号とする。
In this embodiment, the two-phase output windings are arranged such that the output signals of the respective windings are orthogonal to each other. In the present embodiment, one of the signals output from the two-phase output winding is also referred to as a SIN signal, and the other is also referred to as a COS signal. The excitation signal is a sinusoidal signal, and is taken into the electrical angle acquisition system 10 as R1-R2 shown in FIG. 1 in this embodiment. The output signals from the output windings are taken into the electrical angle acquisition system 10 as S2-S4 and S1-S3 shown in FIG. Here, S2-S4 is a SIN signal, and S1-S3 is a COS signal.
電気角取得システム10に取り込まれた励磁信号は、増幅器13aによって増幅される。本実施形態においては増幅器13aによって増幅された後の励磁信号をEsin(2πfrt)と表記する。ここで、Eは増幅後の励磁信号の振幅、frは励磁信号の周波数(励磁周波数)、tは時間(秒)である。また、励磁信号がEsin(2πfrt)である場合のSIN信号が増幅器13bで増幅された後の信号をKsinθe・sin(2πfrt)と表記し、COS信号が増幅器13cで増幅された後の信号をKcosθe・sin(2πfrt)と表記する。ここで、Kは増幅後の出力信号の振幅であり、θeは電気角、frは励磁周波数、tは時間である。
The excitation signal taken into the electrical angle acquisition system 10 is amplified by the amplifier 13a. In the present embodiment, the excitation signal amplified by the amplifier 13a is denoted as E sin (2πf r t). Here, E is the amplitude of the excitation signal after amplification, f r is the frequency (excitation frequency) of the excitation signal, and t is time (seconds). Further, the signal after the SIN signal when the excitation signal is Esin (2πf r t) is amplified by the amplifier 13b is represented as Ksinθe · sin (2πf r t) , after the COS signal is amplified by the amplifier 13c Is expressed as K cos θe · sin (2πf r t). Here, K is the amplitude of the amplified output signal, θ e is the electrical angle, f r is the excitation frequency, and t is time.
図2Aは、励磁信号とSIN信号とCOS信号の理想的な例を示す図である。図2Aにおいては、励磁信号とSIN信号とCOS信号とを並べて示している。また、図2Aにおいては、ロータが固定されており、電気角θeが特定の値(135°)である場合についての信号の例を示している。励磁信号とSIN信号とCOS信号とは、ともにsin(2πfrt)という成分を含んでいる。そして、励磁信号はsin(2πfrt)という成分の振幅Eが一定値であるのに対し、SIN信号とCOS信号はsin(2πfrt)という成分の振幅がsinθeまたはcosθeに従って変化する。
FIG. 2A is a diagram showing an ideal example of the excitation signal, the SIN signal and the COS signal. In FIG. 2A, the excitation signal, the SIN signal, and the COS signal are shown side by side. Further, FIG. 2A shows an example of a signal in the case where the rotor is fixed and the electrical angle θe is a specific value (135 °). The excitation signal and the SIN signal and the COS signal, and includes a component that both sin (2πf r t). Then, the excitation signal with respect to sin (2πf r t) of the component of amplitude E that is a constant value, SIN signal and the COS signal amplitude component of sin (2πf r t) is varied in accordance sinθe or Cosshitai.
このため、ロータが回転する場合、図2Aに示すようなSIN信号とCOS信号の振幅は励磁周波数frで変化するとともに、電気角θeの周波数でも変化する。実際のレゾルバにおいて、励磁周波数fr(例えば、10kHz)は、電気角θeの周波数(例えば、数Hz~数百Hz)より大きいため、多くの場合、SIN信号とCOS信号の振幅は、励磁周波数frで頻繁に変化しつつ、電気角θeの周波数でもゆっくりと変化し、包落線に電気角θeのsinθeやcosθeが現れたような信号となる。本実施形態においては、電気角θeの周波数が励磁周波数frよりも小さいことを利用し、現在以前の所定期間内の信号に基づいて現在の電気角θeを取得する。例えば、図2Aに示す例において、現在時刻t0である場合、期間Tの信号に基づいて時刻t0の電気角θeを取得する。
Therefore, when the rotor rotates, the amplitudes of the SIN signal and the COS signal as shown in FIG. 2A change at the excitation frequency f r and also change at the frequency of the electrical angle θ e. In an actual resolver, since the excitation frequency f r (eg, 10 kHz) is larger than the frequency of the electrical angle θe (eg, several Hz to several hundreds Hz), in most cases, the amplitudes of the SIN signal and the COS signal are While changing frequently with f r , it also changes slowly even with the frequency of the electrical angle θe, resulting in a signal in which sin θe or cos θe of the electrical angle θe appears in the envelope. In the present embodiment, using the fact that the frequency of the electrical angle θe is smaller than the excitation frequency f r , the current electrical angle θe is obtained based on the signal within a predetermined period before the current time. For example, in the example shown in FIG. 2A, if the current time t 0, to obtain the electrical angle θe of the time t 0 based on the signal period T.
すなわち、ある電気角θeにおける励磁信号と出力信号との位相の関係や、出力信号の振幅の関係は、レゾルバ11の特性(巻線の構成等)に依存する。従って、特定のレゾルバ11を利用する場合に、励磁信号と出力信号との位相の関係と、2相の出力信号の振幅との組み合わせを、電気角θeに対応づけておけば、当該位相の関係および振幅の組み合わせと電気角θeとの関係に基づいて、電気角θeを取得することができる。
That is, the relationship between the phase of the excitation signal and the output signal at a certain electrical angle θe, and the relationship between the amplitude of the output signal depend on the characteristics of the resolver 11 (such as the configuration of the winding). Therefore, when using a specific resolver 11, if the combination of the relationship between the phase of the excitation signal and the output signal and the amplitude of the two-phase output signal is associated with the electrical angle θe, the relationship of the phase is The electrical angle θe can be obtained based on the relationship between the combination of the amplitudes and the electrical angle θe.
例えば、図2Aに示す例は、あるレゾルバ11における電気角θeが135°である場合の励磁信号とSIN信号とCOS信号である。電気角θeが135°である場合、SIN信号に含まれるsinθeは1/21/2,COS信号に含まれるcosθeは-1/21/2である。従って、SIN信号は、励磁周波数frで変化するsin(2πfrt)と同相の波形となる。一方、COS信号は、励磁周波数frで変化するsin(2πfrt)と逆相の波形となる。さらに、sinθeは1/21/2,cosθeは-1/21/2であるため、絶対値は等しく、SIN信号とCOS信号の振幅が等しい。このように、励磁信号とSIN信号との位相の関係および励磁信号とCOS信号との位相の関係を特定し、SIN信号とCOS信号の振幅を特定すれば、これらの組み合わせから電気角θeを特定することが可能になる。
For example, an example shown in FIG. 2A is an excitation signal, a SIN signal, and a COS signal when the electrical angle θe in a certain resolver 11 is 135 °. When the electrical angle θe is 135 °, sin θe contained in the SIN signal is 1/2 1/2 , and cos θe contained in the COS signal is -1/2 1/2 . Thus, SIN signal becomes sin which changes at excitation frequency f r and (2πf r t) and phase of the waveform. On the other hand, COS signal becomes sin (2πf r t) that varies with the excitation frequency f r and the waveform of opposite phase. Furthermore, since sin θe is 1/2 1/2 and cos θe is −1/2 1/2 , the absolute values are equal, and the amplitudes of the SIN signal and the COS signal are equal. Thus, if the relationship between the phase of the excitation signal and the SIN signal and the relationship between the phase of the excitation signal and the COS signal are specified and the amplitudes of the SIN signal and the COS signal are specified, the electrical angle θe is specified from these combinations. It will be possible to
図2Bは、本実施形態にかかるレゾルバ11における、電気角θeによる励磁信号と出力信号との位相の関係の変化を示す図である。図2Bにおいては、レゾルバの電気角θeが0°~360°に変化した場合における、励磁信号とCOS信号との位相の関係と、励磁信号とSIN信号との位相の関係とを示している。例えば、電気角θeが135°である範囲に着目すると、励磁信号とCOS信号とが逆相であり、励磁信号とSIN信号とが同相である。この状況は、図2Aと整合している。
FIG. 2B is a diagram showing a change in the phase relationship between the excitation signal and the output signal according to the electrical angle θe in the resolver 11 according to the present embodiment. FIG. 2B shows the relationship between the phases of the excitation signal and the COS signal and the relationship between the phases of the excitation signal and the SIN signal when the electrical angle θe of the resolver changes from 0 ° to 360 °. For example, focusing on the range where the electrical angle θe is 135 °, the excitation signal and the COS signal are in opposite phase, and the excitation signal and the SIN signal are in phase. This situation is consistent with FIG. 2A.
図2Cは、本実施形態にかかるレゾルバ11における、電気角θeによるSIN信号とCOS信号との振幅の変化を示す図である。なお、SIN信号、COS信号の振幅は、励磁信号と同相の時に正、逆相の時に負としている。図2Cにおいては、COS信号の振幅を横軸、SIN信号の振幅を縦軸とし、当該軸で規定される平面上に(COS信号の振幅,SIN信号の振幅)で表される座標をプロットした点を一点鎖線で示している。COS信号の振幅はKcosθe、SIN信号の振幅はKsinθeであるため、図2Cに示す平面上のプロットは、一点鎖線で示されるように円形となる。また、電気角θeは、図2Cに示すように、COS軸正方向と、原点から円上の座標に延びる線との間の角度である。電気角θeが135°である場合、sinθeは1/21/2,cosθeは-1/21/2であるため、SIN信号の振幅はK/21/2、COS信号の振幅は-K/21/2となる。従って、(COS信号の振幅,SIN信号の振幅)で表される座標が特定されると、電気角θeを特定することができる。
FIG. 2C is a diagram showing a change in amplitude of the SIN signal and the COS signal according to the electrical angle θe in the resolver 11 according to the present embodiment. The amplitudes of the SIN signal and the COS signal are positive when in phase with the excitation signal and negative when out of phase. In FIG. 2C, the horizontal axis represents the amplitude of the COS signal and the vertical axis represents the amplitude of the SIN signal, and the coordinates represented by (the amplitude of the COS signal, the amplitude of the SIN signal) are plotted on the plane defined by the axis. The points are indicated by alternate long and short dashed lines. Since the amplitude of the COS signal is K cos θ e and the amplitude of the SIN signal is K sin θ e, the plot on the plane shown in FIG. 2C is circular as shown by a dashed dotted line. Further, as shown in FIG. 2C, the electrical angle θe is an angle between the COS axis positive direction and a line extending from the origin to the coordinates on the circle. When the electrical angle θe is 135 °, sin θe is 1/2 1/2 and cos θe is −1/2 1/2 . Therefore, the amplitude of the SIN signal is K / 2 1/2 and the amplitude of the COS signal is − It becomes K / 2 1/2 . Therefore, when the coordinates represented by (the amplitude of the COS signal, the amplitude of the SIN signal) are specified, the electrical angle θe can be specified.
本実施形態においては、2相の出力信号の振幅(絶対値)を取得する構成を採用しており、振幅の絶対値が取得された状態においては電気角θeの候補が4点発生する。例えば、図2Cに示す例において、SIN信号の振幅の絶対値がK/21/2、COS信号の振幅の絶対値がK/21/2となる点は4カ所(45°、135°、225°、315°)存在する。そこで、本実施形態においては、励磁信号とCOS信号との位相の関係および励磁信号とSIN信号との位相の関係に基づいて電気角θeの範囲を特定する(図2Cに示す4個の象限のいずれであるのかを特定する)ことで、電気角θeを特定する。
In this embodiment, a configuration for acquiring the amplitude (absolute value) of the two-phase output signal is employed, and four candidates for the electrical angle θe are generated in the state where the absolute value of the amplitude is acquired. For example, in the example shown in FIG. 2C, there are four points (45 ° and 135 °) where the absolute value of the amplitude of the SIN signal is K / 2 1/2 and the absolute value of the amplitude of the COS signal is K / 2 1/2 . , 225 °, 315 °). Therefore, in the present embodiment, the range of the electrical angle θe is specified based on the relationship between the phases of the excitation signal and the COS signal and the relationship between the phases of the excitation signal and the SIN signal (four quadrants shown in FIG. 2C). The electrical angle θe is identified by identifying which one is.
以上のように、励磁信号と出力信号を解析すれば、レゾルバ11の電気角θeを取得することが可能である。ただし、上述の図2Aのような信号の関係は、理想化された状態であり、実際の信号はより複雑に変化し得る。例えば、電気角取得システム10において解析対象とする励磁信号、SIN信号およびCOS信号は、増幅器(増幅器12や増幅器13a~13c)による増幅後の信号である。これらの増幅器はアナログ増幅回路であり、一般的に抵抗素子、コンデンサ素子、インダクタンス素子等を含むため、増幅後の信号は位相等が変化し得る。また、各種の要因によるノイズが含まれる。
As described above, it is possible to obtain the electrical angle θe of the resolver 11 by analyzing the excitation signal and the output signal. However, the relationship of signals as shown in FIG. 2A described above is an idealized state, and actual signals may change more complicatedly. For example, the excitation signal, SIN signal and COS signal to be analyzed in the electrical angle acquisition system 10 are signals after amplification by the amplifiers (amplifier 12 and amplifiers 13a to 13c). These amplifiers are analog amplification circuits and generally include a resistance element, a capacitor element, an inductance element and the like, so that the phase and the like of the amplified signal may change. In addition, noise due to various factors is included.
このため、図2Aのような理想的な関係になるとは限らず、図2Aのような励磁信号に対して出力信号の位相がずれた状態となる場合や、振幅が複雑に変化することで励磁周波数fr以外の周波数成分が含まれている場合がある。従って、増幅器13a~13cから出力されるアナログの信号に基づいて電気角θeを取得すると、電気角θeに誤差が生じてしまう。そこで、本実施形態においては、増幅器13a~13cから出力される励磁信号、SIN信号、COS信号に対してフーリエ変換を行い、励磁周波数成分を抽出して解析を行う構成が採用されている。
For this reason, the relationship does not necessarily have an ideal relationship as shown in FIG. 2A, but the excitation signal may have a phase shift with respect to the excitation signal as shown in FIG. There may be cases where frequency components other than the frequency f r are included. Therefore, when the electrical angle θe is acquired based on the analog signal output from the amplifiers 13a to 13c, an error occurs in the electrical angle θe. Therefore, in the present embodiment, a configuration is employed in which the excitation frequency component is extracted and analyzed by performing Fourier transform on the excitation signal, SIN signal, and COS signal output from the amplifiers 13a to 13c.
励磁信号取得部20は、励磁信号の励磁周波数成分をフーリエ変換によって取得するための回路を備えている。具体的には、励磁信号取得部20は、アナログデジタル変換部21aとフーリエ変換部22aとを備えている。アナログデジタル変換部21aは、増幅器13aが出力したアナログの励磁信号をデジタルデータに変換する回路である。すなわち、アナログデジタル変換部21aは、アナログの励磁信号をサンプリング周波数fsによってサンプリングし、デジタルデータ列として出力する機能を有している。
The excitation signal acquisition unit 20 includes a circuit for acquiring the excitation frequency component of the excitation signal by Fourier transform. Specifically, the excitation signal acquisition unit 20 includes an analog-to-digital converter 21a and a Fourier transform unit 22a. The analog-to-digital converter 21a is a circuit that converts an analog excitation signal output from the amplifier 13a into digital data. That is, the analog-to-digital conversion unit 21a is the excitation signal of the analog sampled by a sampling frequency f s, and has a function of outputting a digital data stream.
図3は、アナログデジタル変換とサンプリングとを説明するための図であり、図2Aに示す信号を例にしてアナログデジタル変換およびサンプリングを示している。図3においてはサンプリング周波数fsで規定されるサンプリング周期(1/fs)が破線によって示されている。アナログデジタル変換部21aにおいては、図3に示すように、サンプリング周期(1/fs)毎にアナログの励磁信号をデジタル値に変換してデジタルデータ列を生成する。図3においては、白丸によってサンプリングされたデータの例を示している。
FIG. 3 is a diagram for explaining analog-to-digital conversion and sampling, and illustrates analog-to-digital conversion and sampling by taking the signal shown in FIG. 2A as an example. In FIG. 3, the sampling period (1 / f s ) defined by the sampling frequency f s is indicated by a broken line. In the analog-to-digital converter 21a, as shown in FIG. 3, an analog excitation signal is converted to a digital value for each sampling period (1 / f s ) to generate a digital data string. In FIG. 3, the example of the data sampled by the white circle is shown.
フーリエ変換部22aは、アナログデジタル変換部21aが出力したデジタルデータ列をフーリエ変換する回路である。フーリエ変換は例えば、FFT(Fast Fourier Transform)等で実施可能である。すなわち、フーリエ変換部22aは、アナログデジタル変換部21aが出力するデジタルデータ列を受け取り、サンプリング数N個のデジタルデータ列に基づいてフーリエ変換を行い、デジタルデータ列として出力する機能を有している。ここでは、フーリエ変換後の励磁信号を励磁フーリエ信号と呼ぶ。また、サンプリング数Nが16である場合にフーリエ変換の対象となるデジタルデータ列をp(0)~p(15)とする。図3においては、サンプリング数Nが16の場合におけるデジタルデータ列の最初と最後(p(0)、p(15))を示している。
The Fourier transform unit 22a is a circuit that performs Fourier transform on the digital data string output from the analog-to-digital converter 21a. The Fourier transform can be performed by, for example, FFT (Fast Fourier Transform) or the like. That is, the Fourier transform unit 22a has a function of receiving the digital data sequence output from the analog-to-digital conversion unit 21a, performing Fourier transform based on the sampling number N of digital data sequences, and outputting the digital data sequence as a digital data sequence. . Here, the excitation signal after the Fourier transform is called an excitation Fourier signal. Further, when the sampling number N is 16, digital data sequences to be subjected to Fourier transform are p (0) to p (15). FIG. 3 shows the beginning and the end (p (0), p (15)) of the digital data string when the sampling number N is 16.
フーリエ変換部22aは、このようにしてサンプリングしたN個のデジタルデータを式(1)によってフーリエ変換する。
The Fourier transform unit 22a Fourier transforms the N digital data sampled in this manner according to equation (1).
以上の式(1)によって励磁フーリエ信号が生成されると、フーリエ変換部22aは、当該励磁フーリエ信号から励磁周波数成分を選択して出力する。すなわち、式(1)による変換が行われて励磁フーリエ信号が得られると、kが0~N-1個のそれぞれについてX(k)が得られた状態になる。そして、フーリエ変換の周波数分解能をf0(f0=fs/N)とするとk×f0が周波数に相当するため、X(k)は周波数k×f0の信号と見なすことができる。
When the excitation Fourier signal is generated by the above equation (1), the Fourier transform unit 22a selects and outputs an excitation frequency component from the excitation Fourier signal. That is, when the transformation according to the equation (1) is performed to obtain an excited Fourier signal, X (k) is obtained for each of k 0 to N− 1. Then, assuming that the frequency resolution of the Fourier transform is f 0 (f 0 = f s / N), k × f 0 corresponds to a frequency, so X (k) can be regarded as a signal of frequency k × f 0 .
そこで、本実施形態においてフーリエ変換部22aは、k×f0が励磁周波数frであるk、またはk×f0が励磁周波数frに最も近いkを選択することで励磁周波数成分を取得する。ここでは、フーリエ変換された励磁フーリエ信号から励磁周波数成分を取得することができればよく、kの選択には種々の態様が採用可能である。本実施形態においては、k×f0が、励磁周波数frと等しいkが必ず存在するように、後述のパラメータ設定部70によってN,fr,fsが予め決められる。すなわち、本実施形態においては、m=N×fr/fsとしたとき、mが整数になるようにN,fr,fsが予め決められる。
Therefore, the Fourier transform unit 22a in the present embodiment, k k × f 0 is the excitation frequency f r or k × f 0, obtains the excitation frequency components by selecting the closest k to the excitation frequency f r . Here, it is sufficient that the excitation frequency component can be obtained from the Fourier transformed excitation Fourier signal, and various modes can be adopted for the selection of k. In the present embodiment, N, f r and f s are determined in advance by the parameter setting unit 70 described later such that k equal to k × f 0 is always present at the excitation frequency f r . That is, in the present embodiment, when m = N × f r / f s , N, f r and f s are determined in advance such that m is an integer.
このようにN,fr,fsが決められている場合、m×fs/N=fr(すなわち、m×f0=fr)とすることができ、m×f0が励磁周波数frであるmを選択することが可能になる。ただし、フーリエ変換のサンプリング定理により、fs>2frである。本実施形態においては、このように、m=N×fr/fsが整数になるように設定されており、フーリエ変換部22aは、m×f0が励磁周波数frであるmを選択し、フーリエ変換によって得られた励磁フーリエ信号X(k)(k=0~N-1)からX(m)を選択することにより、励磁信号の励磁周波数成分を取得する。
Thus, when N, f r and f s are determined, m × f s / N = f r (ie, m × f 0 = f r ) can be obtained, and m × f 0 is the excitation frequency It is possible to select m which is f r . However, according to the sampling theorem of Fourier transform, f s > 2f r . In the present embodiment, m = N × f r / f s is thus set to be an integer, and the Fourier transform unit 22 a selects m in which m × f 0 is the excitation frequency f r. The excitation frequency component of the excitation signal is acquired by selecting X (m) from the excitation Fourier signals X (k) (k = 0 to N-1) obtained by Fourier transformation.
以後、フーリエ変換によって得られた励磁フーリエ信号から抽出された励磁周波数成分をP(m)=Pr+iPiと表記する。ここで、Prはフーリエ変換によって得られた実数部であり、Piはフーリエ変換によって得られた虚数部であり、Piの前のiは虚数単位である。
Hereinafter, the excitation frequency component extracted from the excitation Fourier signal obtained by Fourier transformation is expressed as P (m) = Pr + iPi. Here, Pr is a real part obtained by Fourier transform, Pi is an imaginary part obtained by Fourier transform, and i before Pi is an imaginary unit.
出力信号取得部30は、2相の出力信号の励磁周波数成分をフーリエ変換によって取得するための回路を備えている。具体的には、出力信号取得部30は、アナログデジタル変換部31b,31cとフーリエ変換部32b,32cとを備えている。アナログデジタル変換部31b,31cは、増幅器13b,13cが出力したアナログのSIN信号,COS信号をデジタルデータに変換する回路である。すなわち、アナログデジタル変換部31b,31cは、アナログの出力信号をサンプリング周波数fsによってサンプリングし、デジタルデータ列として出力する機能を有している。図3に示す例においては、アナログデジタル変換部31b,31cによって、サンプリング周期(1/fs)毎にサンプリングが行われたアナログの出力信号がデジタル値に変換された様子が白丸によって示されている。
The output signal acquisition unit 30 includes a circuit for acquiring excitation frequency components of two-phase output signals by Fourier transform. Specifically, the output signal acquisition unit 30 includes analog-to- digital converters 31 b and 31 c and Fourier transform units 32 b and 32 c. The analog-to- digital converters 31 b and 31 c are circuits for converting analog SIN signals and COS signals output from the amplifiers 13 b and 13 c into digital data. That is, the analog-to- digital converters 31 b and 31 c have a function of sampling an analog output signal at the sampling frequency f s and outputting it as a digital data string. In the example shown in FIG. 3, a white circle shows how an analog output signal sampled at each sampling cycle (1 / f s ) is converted to a digital value by the analog-to- digital converters 31b and 31c. There is.
フーリエ変換部32b,32cは、アナログデジタル変換部31b,31cが出力したデジタルデータ列をフーリエ変換する回路である。すなわち、フーリエ変換部32b,32cは、アナログデジタル変換部31b,31cが出力するデジタルデータ列を受け取り、サンプリング数N個のデジタルデータ列に基づいてフーリエ変換を行い、デジタルデータ列として出力する機能を有している。ここでは、フーリエ変換後の出力信号を出力フーリエ信号と呼ぶ。また、サンプリング数Nが16である場合にフーリエ変換の対象となるSIN信号のデジタルデータ列をs(0)~s(15)とする。また、サンプリング数Nが16である場合にフーリエ変換の対象となるCOS信号のデジタルデータ列をc(0)~c(15)とする。
The Fourier transform units 32 b and 32 c are circuits that perform Fourier transform on the digital data strings output from the analog-to- digital conversion units 31 b and 31 c. That is, the Fourier transform units 32b and 32c receive digital data sequences output from the analog-to- digital conversion units 31b and 31c, perform Fourier transform based on the sampling number N of digital data sequences, and output the digital data sequences as digital data sequences. Have. Here, the output signal after Fourier transform is referred to as an output Fourier signal. Also, let s (0) to s (15) be digital data strings of the SIN signal to be subjected to Fourier transform when the sampling number N is 16. Further, when the sampling number N is 16, digital data strings of the COS signal to be subjected to the Fourier transform are c (0) to c (15).
フーリエ変換部32b,32cは、このようにしてサンプリングしたN個のデジタルデータを上述の式(1)によってフーリエ変換する。以上の式(1)によって出力フーリエ信号が生成されると、フーリエ変換部32b,32cは、当該出力フーリエ信号から励磁周波数成分を選択して出力する。すなわち、式(1)による変換が行われて出力フーリエ信号が得られると、kが0~N-1個のそれぞれについてX(k)が得られた状態になる。また、上述のように、m=N×fr/fsとしたとき、mが整数になるようにN,fr,fsが予め決められている。そこで、フーリエ変換部32b,32cは、m×f0が励磁周波数frであるmを選択し、フーリエ変換によって得られた出力フーリエ信号X(k)(k=0~N-1)からX(m)を選択する。
The Fourier transform units 32 b and 32 c perform Fourier transform on the N digital data thus sampled according to the above-mentioned equation (1). When the output Fourier signal is generated by the above equation (1), the Fourier transform units 32 b and 32 c select and output excitation frequency components from the output Fourier signal. That is, when the conversion according to equation (1) is performed to obtain the output Fourier signal, X (k) is obtained for each of k 0 to N− 1. Also, as described above, when m = N × f r / f s , N, f r and f s are determined in advance so that m is an integer. Therefore, the Fourier transform units 32 b and 32 c select m whose m × f 0 is the excitation frequency f r , and output Fourier signals X (k) (k = 0 to N−1) obtained by the Fourier transform. Select (m).
このような選択がフーリエ変換部32b,32cのそれぞれで行われることにより、出力信号としてのSIN信号の励磁周波数成分と、出力信号としてのCOS信号の励磁周波数成分とが取得される。以後、フーリエ変換によって得られた出力フーリエ信号であるSIN信号から抽出された励磁周波数成分をS(m)=Sr+iSiと表記する。ここで、Srはフーリエ変換によって得られた実数部であり、Siはフーリエ変換によって得られた虚数部であり、Siの前のiは虚数単位である。また、フーリエ変換によって得られた出力フーリエ信号であるCOS信号から抽出された励磁周波数成分をC(m)=Cr+iCiと表記する。ここで、Crはフーリエ変換によって得られた実数部であり、Ciはフーリエ変換によって得られた虚数部であり、Ciの前のiは虚数単位である。
Such selection is performed in each of the Fourier transform units 32b and 32c, whereby the excitation frequency component of the SIN signal as the output signal and the excitation frequency component of the COS signal as the output signal are acquired. Hereinafter, the excitation frequency component extracted from the SIN signal which is an output Fourier signal obtained by the Fourier transform is expressed as S (m) = Sr + iSi. Here, Sr is a real part obtained by Fourier transform, Si is an imaginary part obtained by Fourier transform, and i in front of Si is an imaginary unit. Further, the excitation frequency component extracted from the COS signal which is the output Fourier signal obtained by the Fourier transform is expressed as C (m) = Cr + iCi. Here, Cr is a real part obtained by Fourier transform, Ci is an imaginary part obtained by Fourier transform, and i before Ci is an imaginary unit.
なお、本実施形態においては、励磁信号取得部20のアナログデジタル変換部21aがアナログの励磁信号をサンプリングするタイミングと、出力信号取得部30のアナログデジタル変換部31b,31cが出力信号(SIN信号,COS信号)をサンプリングするタイミングは同時である。すなわち、本実施形態にかかる電気角取得システム10は、図1に示すように、アナログデジタル変換部21a,31b,31cが並列に設けられており、それぞれの変換部に励磁信号、SIN信号、COS信号が入力される。そして、図3に示すように、各変換部においてサンプリング周波数fsで同時にサンプリングが行われる。以上の構成によれば、サンプリングタイミングのずれによる位相のずれを考慮することなく、励磁信号と出力信号との関係を解析することができる。なお、ここでは、位相のずれを考慮する必要がない程度にサンプリングタイミングが一致していれば良く、この範囲でサンプリングタイミングがずれることは許容される。
In the present embodiment, the timing at which the analog-to-digital converter 21a of the excitation signal acquisition unit 20 samples an analog excitation signal, and the output signals (SIN signal,) of the analog-to- digital converters 31b and 31c of the output signal acquisition unit 30. The timing for sampling the COS signal is simultaneous. That is, as shown in FIG. 1, in the electrical angle acquisition system 10 according to the present embodiment, the analog-to- digital converters 21a, 31b, and 31c are provided in parallel, and excitation signals, SIN signals, and COS are supplied to the respective converters. A signal is input. Then, as shown in FIG. 3, sampling is simultaneously performed at the sampling frequency f s in each conversion unit. According to the above configuration, it is possible to analyze the relationship between the excitation signal and the output signal without considering the phase shift due to the sampling timing shift. Here, it is sufficient that the sampling timings coincide with each other to such an extent that it is not necessary to consider the phase shift, and the sampling timings may be shifted within this range.
さらに、本実施形態においては、励磁信号、SIN信号、COS信号のそれぞれをフーリエ変換するためのフーリエ変換部22a,32b,32cを設け、3種の信号を並列的にフーリエ変換している。しかし、フーリエ変換に時間がかかることを許容できる状態であれば、1個または2個のフーリエ変換部を設ける構成とし、励磁信号、SIN信号、COS信号の少なくとも2種の信号が1個のフーリエ変換部でフーリエ変換される構成であってもよい(以下、他の実施形態においても同様)。
Furthermore, in the present embodiment, Fourier transform units 22a, 32b, and 32c for Fourier transforming each of the excitation signal, the SIN signal, and the COS signal are provided, and the three types of signals are Fourier transformed in parallel. However, if it is possible to allow time for the Fourier transform to take time, one or two Fourier transform units are provided, and at least two kinds of signals of excitation signal, SIN signal, and COS signal are one Fourier. The configuration may be such that the transform unit performs Fourier transform (hereinafter, the same applies to other embodiments).
位相関係取得部40は、励磁信号の励磁周波数成分と、2相の出力信号の励磁周波数成分とに基づいて、励磁信号と2相の出力信号との位相の関係を取得するための回路を備えている。すなわち、位相関係取得部40は、励磁信号とSIN信号とが同相または逆相のいずれであるのか特定し、励磁信号とCOS信号とが同相または逆相のいずれであるのかを特定する。
The phase relationship acquiring unit 40 includes a circuit for acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal. ing. That is, the phase relationship acquisition unit 40 identifies whether the excitation signal and the SIN signal are in phase or out of phase, and identifies whether the excitation signal and the COS signal are in phase or out of phase.
位相の関係の取得は、種々の手法で実施されて良く、本実施形態においては、フーリエ変換後の実数部および虚数部をプロット可能な複素平面の座標軸の回転を利用して位相の関係を取得する。図4Aは、複素平面を示しており、横軸が実軸Re、縦軸が虚軸Imである。本実施形態において、位相関係取得部40は、励磁信号の励磁周波数成分P(m)=Pr+iPiの当該複素平面上へのプロット位置に基づいて座標軸の回転角を特定する。
The acquisition of the phase relationship may be performed in various manners, and in the present embodiment, the phase relationship is acquired using rotation of the coordinate axis of the complex plane capable of plotting real part and imaginary part after Fourier transform. Do. FIG. 4A shows a complex plane, in which the horizontal axis is a real axis Re and the vertical axis is an imaginary axis Im. In the present embodiment, the phase relationship acquisition unit 40 specifies the rotation angle of the coordinate axis based on the plot position of the excitation frequency component P (m) = Pr + iPi of the excitation signal on the complex plane.
すなわち、位相関係取得部40は、励磁信号の励磁周波数成分P(m)の位相角αを座標軸の回転角として取得する。なお、位相角αは、arctan(Pi/Pr)であるが、位相角αの演算の際にはPrが0であっても不定とならない手法(例えば、atan2(Pi,Pr)等)で算出することが好ましい。以下、説明を簡略化するため、科学や工学の分野において一般的に用いられているatan2(y,x)関数を使用する。なお、標準的なarctan(y/x)とは以下の関係がある。
x>0の場合、 atan2(y、x)=arctan(y/x)
y≧0、x<0の場合、atan2(y、x)=arctan(y/x)+π
y<0、x<0の場合、atan2(y、x)=arctan(y/x)-π
y>0、x=0の場合、atan2(y、x)=π/2
y<0、x=0の場合、atan2(y、x)=-π/2
y=0、x=0の場合、atan2(y、x)=未定義
座標軸を位相角αだけ回転させた場合、図4Aにおいて一点鎖線で示すように座標軸が回転し、実軸Reは実軸Re'となり、虚軸Imは虚軸Im'となる。この結果、回転後の実軸Re'、虚軸Im'において、励磁信号の励磁周波数成分P(m)は実数部のみが残り(これをPr'と表記する)、虚数部は0になる。なお、Pr'=Pr×cosα+Pi×sinαである。 That is, the phaserelationship acquisition unit 40 acquires the phase angle α of the excitation frequency component P (m) of the excitation signal as the rotation angle of the coordinate axis. Although the phase angle α is arctan (Pi / Pr), when calculating the phase angle α, it is calculated by a method (for example, atan 2 (Pi, Pr), etc.) which is not undefined even if Pr is 0. It is preferable to do. In the following, in order to simplify the explanation, the atan 2 (y, x) function generally used in the science and engineering fields is used. In addition, there is the following relation with standard arctan (y / x).
If x> 0, then a tan 2 (y, x) = arc tan (y / x)
If y ≧ 0 and x <0, a tan 2 (y, x) = arc tan (y / x) + π
For y <0 and x <0, a tan 2 (y, x) = arc tan (y / x) -π
If y> 0 and x = 0, a tan 2 (y, x) = π / 2
If y <0, x = 0, then a tan 2 (y, x) =-π / 2
When y = 0, x = 0, when atan 2 (y, x) = undefined coordinate axis is rotated by the phase angle α, the coordinate axis rotates as shown by a dashed dotted line in FIG. 4A, and the real axis Re is the real axis It becomes Re 'and imaginary axis Im becomes imaginary axis Im'. As a result, in the real axis Re ′ and imaginary axis Im ′ after rotation, only the real part of the excitation frequency component P (m) of the excitation signal remains (this is written as Pr ′), and the imaginary part becomes zero. Note that Pr '= Pr × cos α + Pi × sin α.
x>0の場合、 atan2(y、x)=arctan(y/x)
y≧0、x<0の場合、atan2(y、x)=arctan(y/x)+π
y<0、x<0の場合、atan2(y、x)=arctan(y/x)-π
y>0、x=0の場合、atan2(y、x)=π/2
y<0、x=0の場合、atan2(y、x)=-π/2
y=0、x=0の場合、atan2(y、x)=未定義
座標軸を位相角αだけ回転させた場合、図4Aにおいて一点鎖線で示すように座標軸が回転し、実軸Reは実軸Re'となり、虚軸Imは虚軸Im'となる。この結果、回転後の実軸Re'、虚軸Im'において、励磁信号の励磁周波数成分P(m)は実数部のみが残り(これをPr'と表記する)、虚数部は0になる。なお、Pr'=Pr×cosα+Pi×sinαである。 That is, the phase
If x> 0, then a tan 2 (y, x) = arc tan (y / x)
If y ≧ 0 and x <0, a tan 2 (y, x) = arc tan (y / x) + π
For y <0 and x <0, a tan 2 (y, x) = arc tan (y / x) -π
If y> 0 and x = 0, a tan 2 (y, x) = π / 2
If y <0, x = 0, then a tan 2 (y, x) =-π / 2
When y = 0, x = 0, when atan 2 (y, x) = undefined coordinate axis is rotated by the phase angle α, the coordinate axis rotates as shown by a dashed dotted line in FIG. 4A, and the real axis Re is the real axis It becomes Re 'and imaginary axis Im becomes imaginary axis Im'. As a result, in the real axis Re ′ and imaginary axis Im ′ after rotation, only the real part of the excitation frequency component P (m) of the excitation signal remains (this is written as Pr ′), and the imaginary part becomes zero. Note that Pr '= Pr × cos α + Pi × sin α.
座標軸が回転されたとしても励磁信号と2相の出力信号との位相の関係は不変である。従って、回転後の実軸Re'、虚軸Im'に基づいてSIN信号およびCOS信号の励磁周波数成分を表現し、Pr'との関係を特定することで位相の関係を特定することができる。そこで、位相関係取得部40は、SIN信号の励磁周波数成分を回転後の座標軸で表現した場合の実数部Sr'をSr'=Sr×cosα+Si×sinαとして取得する。なお、SIN信号の励磁周波数成分は、本来、励磁信号の励磁周波数成分と同期しており、位相のずれは小さいはずであるため、虚数部Si'を無視することができる。
Even if the coordinate axes are rotated, the phase relationship between the excitation signal and the two-phase output signal remains unchanged. Therefore, the excitation frequency components of the SIN signal and the COS signal are expressed based on the real axis Re ′ after rotation and the imaginary axis Im ′, and the phase relationship can be specified by specifying the relationship with Pr ′. Therefore, the phase relationship acquisition unit 40 acquires the real part Sr ′ when the excitation frequency component of the SIN signal is expressed by the coordinate axis after rotation as Sr ′ = Sr × cos α + Si × sin α. Since the excitation frequency component of the SIN signal is originally synchronized with the excitation frequency component of the excitation signal and the phase shift should be small, the imaginary part Si ′ can be ignored.
また、位相関係取得部40は、COS信号の励磁周波数成分を回転後の座標軸で表現した場合の実数部Cr'をCr'=Cr×cosα+Ci×sinαとして取得する。なお、COS信号の励磁周波数成分も、本来、励磁信号の励磁周波数成分と同期しており、位相のずれは小さいはずであるため、虚数部Ci'を無視することができる。
Further, the phase relationship acquiring unit 40 acquires the real part Cr ′ when the excitation frequency component of the COS signal is expressed by the coordinate axis after rotation as Cr ′ = Cr × cos α + Ci × sin α. Since the excitation frequency component of the COS signal is also basically synchronized with the excitation frequency component of the excitation signal and the phase shift should be small, the imaginary part Ci ′ can be ignored.
以上の座標軸変換が行われると、Pr'とSr'の符号を比較することで、励磁信号とSIN信号との位相の関係を特定することができ、Pr'とCr'の符号を比較することで、励磁信号とCOS信号との位相の関係を特定することができる。そこで、位相関係取得部40は、Pr'とSr'の符号を比較し、同符号であれば励磁信号とSIN信号とが同相、異符号なら励磁信号とSIN信号とが逆相であると判定する。位相関係取得部40は、Pr'とCr'の符号を比較し、同符号であれば励磁信号とCOS信号とが同相、異符号なら励磁信号とCOS信号とが逆相であると判定する。
When the above coordinate axis conversion is performed, the phase relationship between the excitation signal and the SIN signal can be identified by comparing the signs of Pr ′ and Sr ′, and the signs of Pr ′ and Cr ′ should be compared. The phase relationship between the excitation signal and the COS signal can be identified. Therefore, the phase relationship acquisition unit 40 compares the signs of Pr ′ and Sr ′, and determines that the excitation signal and the SIN signal are in phase if they are the same sign, and that the excitation signal and SIN signal are in the opposite phase if they are the different signs. Do. The phase relationship acquisition unit 40 compares the signs of Pr ′ and Cr ′, and determines that the excitation signal and the COS signal are in phase if they have the same sign, and that the excitation signal and the COS signal are in antiphase if they have the same sign.
以上のように、複素平面の座標軸を回転して位相の関係を取得する構成によれば、SIN信号およびCOS信号における虚数部を演算する必要がなく、演算量を低減することが可能である。むろん、演算量を重視しないのであれば、虚数部を演算する構成であっても良い。さらに、本実施形態のような位相の関係の取得法においては、位相が同相または逆相のいずれであるのかを判定することができればよい。従って、励磁信号に対するSIN信号およびCOS信号の位相のずれが±90°より小さければ、正確に位相の関係を取得することができる。当該ずれの許容範囲は、従来のトラッキングループ型デジタル角度変換器(許容範囲は±10°や±45°)と比較して各段に広い。なお、ここでは実軸ReをP(m)と重なるように回転させたが、虚軸ImをP(m)と重なるように回転させ、虚数部で判定してもよい
As described above, according to the configuration of acquiring the phase relationship by rotating the coordinate axis of the complex plane, it is not necessary to calculate the imaginary part in the SIN signal and the COS signal, and the amount of calculation can be reduced. Of course, as long as the calculation amount is not important, the imaginary part may be calculated. Furthermore, in the phase relationship acquisition method as in the present embodiment, it may be determined whether the phase is the in-phase or the anti-phase. Therefore, if the phase shift of the SIN signal and the COS signal with respect to the excitation signal is smaller than ± 90 °, the phase relationship can be accurately acquired. The tolerance of the deviation is wider in each stage as compared with the conventional tracking loop digital angle converter (tolerance is ± 10 ° or ± 45 °). Although the real axis Re is rotated so as to overlap with P (m) here, the imaginary axis Im may be rotated so as to overlap with P (m), and the determination may be made using the imaginary part
位相関係取得部40は、以上のような判定を行うと、判定結果を示す信号を出力する。本実施形態において位相関係取得部40は、励磁信号とSIN信号との位相の関係を示すDirSin信号と、励磁信号とCOS信号との位相の関係を示すDirCos信号とを出力する。なお、励磁信号とSIN信号とが同相の場合DirSin=1を示す信号が出力され、逆相の場合DirSin=-1を示す信号が出力される。また、励磁信号とCOS信号とが同相の場合DirCos=1を示す信号が出力され、逆相の場合DirCos=-1を示す信号が出力される。
When the phase relationship acquisition unit 40 performs the above determination, the phase relationship acquisition unit 40 outputs a signal indicating the determination result. In the present embodiment, the phase relationship acquisition unit 40 outputs a DirSin signal indicating the relationship between the phases of the excitation signal and the SIN signal, and a DirCos signal indicating the relationship between the phases of the excitation signal and the COS signal. A signal indicating DirSin = 1 is output when the excitation signal and the SIN signal are in phase, and a signal indicating DirSin = −1 is output when the excitation signal and the SIN signal are out of phase. Further, when the excitation signal and the COS signal are in phase, a signal indicating DirCos = 1 is output, and when the excitation signal is out of phase, a signal indicating DirCos = −1 is output.
振幅取得部50は、2相の出力信号(SIN信号およびCOS信号)の励磁周波数成分に基づいて、2相の出力信号の振幅を取得するための回路である。すなわち、振幅取得部50は、SIN信号の励磁周波数成分S(m)を取得し、実数部Srと虚数部Siとに基づいて振幅PwrSin=(Sr2+Si2)1/2を取得する。そして、振幅取得部50は、SIN信号の振幅を示す信号PwrSinを出力する。また、振幅取得部50は、COS信号の励磁周波数成分C(m)を取得し、実数部Crと虚数部Ciとに基づいて振幅PwrCos=(Cr2+Ci2)1/2を取得する。そして、振幅取得部50は、COS信号の振幅を示す信号PwrCosを出力する。
The amplitude acquisition unit 50 is a circuit for acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal (SIN signal and COS signal). That is, the amplitude acquiring unit 50 acquires the excitation frequency component S (m) of the SIN signal, and acquires the amplitude PwrSin = (Sr 2 + Si 2 ) 1/2 based on the real part Sr and the imaginary part Si. Then, the amplitude acquisition unit 50 outputs a signal PwrSin indicating the amplitude of the SIN signal. Further, the amplitude acquiring unit 50 acquires the excitation frequency component C (m) of the COS signal, and acquires the amplitude PwrCos = (Cr 2 + Ci 2 ) 1/2 based on the real part Cr and the imaginary part Ci. Then, the amplitude acquisition unit 50 outputs a signal PwrCos indicating the amplitude of the COS signal.
電気角取得部60は、位相の関係と2相の出力信号の振幅とに基づいて、レゾルバ11の電気角θeを取得するための回路である。すなわち、電気角取得部60は、位相の関係を示すDirSinおよびDirCosと、振幅を示すPwrSinおよびPwrCosに基づいて電気角θeを取得する。電気角θeは、種々の手法で取得されて良く、本実施形態においては、電気角取得部60が図4Bに示す電気角演算処理を実行することによって電気角を取得する。なお、ここでは、図2Bに示した励磁信号と出力信号との位相の関係と、図2Cに示した振幅毎の電気角θeを適宜参照して説明を行う。図2Cにおいては、電気角θeの範囲を90°毎に分割し、0°~90°の範囲を第1象限Z1、90°~180°の範囲を第2象限Z2、180°~270°の範囲を第3象限Z3、270°~360°の範囲を第4象限Z4として説明する。
The electrical angle acquisition unit 60 is a circuit for acquiring the electrical angle θe of the resolver 11 based on the relationship between the phases and the amplitudes of the two-phase output signals. That is, the electrical angle acquisition unit 60 acquires the electrical angle θe based on DirSin and DirCos indicating the phase relationship and PwrSin and PwrCos indicating the amplitude. The electrical angle θe may be acquired by various methods, and in the present embodiment, the electrical angle acquisition unit 60 acquires the electrical angle by executing the electrical angle calculation process shown in FIG. 4B. Here, the description will be made with reference to the relationship between the phase of the excitation signal and the output signal shown in FIG. 2B and the electrical angle θe for each amplitude shown in FIG. 2C. In FIG. 2C, the range of the electrical angle θe is divided every 90 °, the range of 0 ° to 90 ° is the first quadrant Z1, and the range of 90 ° to 180 ° is the second quadrant Z2, 180 ° to 270 °. The range is described as the third quadrant Z3, and the range of 270 ° to 360 ° as the fourth quadrant Z4.
具体的には、電気角取得部60は、励磁信号とCOS信号との位相の関係を示すDirCosが1であるか否か、すなわち、励磁信号とCOS信号とが同相であるか否かを判定する(ステップS100)。ステップS100において、DirCosが1(励磁信号とCOS信号とが同相)であると判定された場合、図2Bに示されるように電気角θeは0°~90°または270°~360°である。従って、電気角θeは図2Cに示す第1象限Z1または第4象限Z4のいずれかに含まれる。
Specifically, the electrical angle acquisition unit 60 determines whether DirCos indicating the phase relationship between the excitation signal and the COS signal is 1 or not, that is, whether the excitation signal and the COS signal are in phase. (Step S100). When it is determined in step S100 that DirCos is 1 (the excitation signal and the COS signal are in phase), the electrical angle θe is 0 ° to 90 ° or 270 ° to 360 ° as shown in FIG. 2B. Therefore, the electrical angle θe is included in either the first quadrant Z1 or the fourth quadrant Z4 shown in FIG. 2C.
ステップS100において、DirCosが1であると判定された場合、電気角取得部60は、励磁信号とSIN信号との位相の関係を示すDirSinが1であるか否か、すなわち、励磁信号とSIN信号とが同相であるか否かを判定する(ステップS105)。ステップS105において、DirSinが1(励磁信号とSIN信号とが同相)であると判定された場合、図2Bに示されるように電気角θeは0°~90°または90°~180°である。従って、電気角θeは図2Cに示す第1象限Z1に含まれる。そこで、ステップS105において、DirSinが1であると判定された場合、電気角取得部60は、上述のatan2関数を利用し、電気角θeをatan2(PwrSin,PwrCos)によって算出する(ステップS110)。
When it is determined in step S100 that DirCos is 1, the electrical angle acquisition unit 60 determines whether DirSin indicating the relationship between the phase of the excitation signal and the phase of the SIN signal is 1, that is, the excitation signal and the SIN signal. It is determined whether or not is in phase (step S105). When it is determined in step S105 that DirSin is 1 (the excitation signal and the SIN signal are in phase), the electrical angle θe is 0 ° to 90 ° or 90 ° to 180 °, as shown in FIG. 2B. Therefore, the electrical angle θe is included in the first quadrant Z1 shown in FIG. 2C. Therefore, when it is determined in step S105 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle θe by atan 2 (PwrSin, PwrCos) using the above-described atan 2 function (step S110).
一方、ステップS105において、DirSinが1であると判定されない場合、励磁信号とSIN信号とが逆相である。従って、図2Bに示されるように電気角θeは180°~270°または270°~360°である。このため、電気角θeは図2Cに示す第4象限Z4に含まれる。そこで、ステップS105において、DirSinが1であると判定されない場合、電気角取得部60は、電気角θeをatan2(-PwrSin,PwrCos)によって算出する(ステップS115)。以上のように、本実施形態においては、振幅PwrSin,PwrCosが正の値として取得されているため、位相の関係に基づいて正負の関係を特定した状態でatan2を算出することで電気角θeを取得する。
On the other hand, when it is not determined in step S105 that DirSin is 1, the excitation signal and the SIN signal are in reverse phase. Therefore, as shown in FIG. 2B, the electrical angle θe is 180 ° to 270 ° or 270 ° to 360 °. Therefore, the electrical angle θe is included in the fourth quadrant Z4 shown in FIG. 2C. Therefore, if it is not determined in step S105 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle θe by atan 2 (−PwrSin, PwrCos) (step S115). As described above, in the present embodiment, since the amplitudes PwrSin and PwrCos are acquired as positive values, the electrical angle θe can be calculated by calculating a tan 2 while specifying the positive / negative relationship based on the phase relationship. get.
ステップS100において、DirCosが1であると判定されない場合、励磁信号とCOS信号とが逆相であるため、図2Bに示されるように電気角θeは90°~180°または180°~270°である。従って、電気角θeは図2Cに示す第2象限Z2または第3象限Z3のいずれかに含まれる。
In step S100, when it is not determined that DirCos is 1, since the excitation signal and the COS signal are in reverse phase, the electrical angle θe is 90 ° to 180 ° or 180 ° to 270 ° as shown in FIG. 2B. is there. Therefore, the electrical angle θe is included in either the second quadrant Z2 or the third quadrant Z3 shown in FIG. 2C.
ステップS100において、DirCosが1であると判定されない場合、電気角取得部60は、励磁信号とSIN信号との位相の関係を示すDirSinが1であるか否か、すなわち、励磁信号とSIN信号とが同相であるか否かを判定する(ステップS120)。ステップS120において、DirSinが1(励磁信号とSIN信号とが同相)であると判定された場合、図2Bに示されるように電気角θeは0°~90°または90°~180°である。従って、電気角θeは図2Cに示す第2象限Z2に含まれる。そこで、ステップS120において、DirSinが1であると判定された場合、電気角取得部60は、電気角θeをatan2(PwrSin,-PwrCos)によって算出する(ステップS125)。
In step S100, when it is not determined that DirCos is 1, the electrical angle acquisition unit 60 determines whether DirSin indicating the phase relationship between the excitation signal and the SIN signal is 1, that is, the excitation signal and the SIN signal. It is determined whether or not is in phase (step S120). If it is determined in step S120 that DirSin is 1 (the excitation signal and the SIN signal are in phase), the electrical angle θe is 0 ° to 90 ° or 90 ° to 180 °, as shown in FIG. 2B. Therefore, the electrical angle θe is included in the second quadrant Z2 shown in FIG. 2C. Therefore, if it is determined in step S120 that DirSin is 1, the electrical angle acquisition unit 60 calculates the electrical angle θe by atan 2 (PwrSin, -PwrCos) (step S125).
一方、ステップS120において、DirSinが1であると判定されない場合、励磁信号とSIN信号とが逆相である。従って、図2Bに示されるように電気角θeは180°~270°または270°~360°である。このため、電気角θeは図2Cに示す第3象限Z3に含まれる。そこで、ステップS120において、DirSinが1であると判定されない場合、電気角取得部60は、電気角θeをatan2(-PwrSin,-PwrCos)によって算出する(ステップS130)。
On the other hand, when it is not determined in step S120 that DirSin is 1, the excitation signal and the SIN signal are in reverse phase. Therefore, as shown in FIG. 2B, the electrical angle θe is 180 ° to 270 ° or 270 ° to 360 °. Therefore, the electrical angle θe is included in the third quadrant Z3 shown in FIG. 2C. Therefore, when it is not determined that DirSin is 1 in step S120, the electrical angle acquisition unit 60 calculates the electrical angle θe by atan 2 (-PwrSin, -PwrCos) (step S130).
以上の処理によって電気角θeが演算されると、電気角取得部60は、電気角θeを示す信号を出力する。このため、電気角取得システム10の外部において当該電気角取得部60の出力信号を取得することにより、電気角を特定することが可能になる。なお、以上の電気角演算処理においては、励磁信号とSIN信号との位相を比較し、励磁信号とCOS信号との位相を比較したが、SIN信号とCOS信号の位相は一定の関係にあるためこの関係を利用して判定を行ってもよい。すなわち、励磁信号とSIN信号との位相を比較し、SIN信号とCOS信号の位相を比較する構成であってもよいし、励磁信号とCOS信号との位相を比較し、SIN信号とCOS信号の位相を比較する構成であってもよく、これらの例は上述の図4Bに示す例と実質的に等価である。
When the electrical angle θe is calculated by the above processing, the electrical angle acquisition unit 60 outputs a signal indicating the electrical angle θe. Therefore, by acquiring the output signal of the electrical angle acquisition unit 60 outside the electrical angle acquisition system 10, it becomes possible to specify the electrical angle. In the above electrical angle calculation processing, the phases of the excitation signal and the SIN signal are compared, and the phases of the excitation signal and the COS signal are compared. However, since the phases of the SIN signal and the COS signal are in a fixed relationship. The determination may be made using this relationship. That is, the excitation signal may be compared with the phase of the SIN signal to compare the phases of the SIN signal and the COS signal, or the phases of the excitation signal and the COS signal may be compared. It may be configured to compare phases, and these examples are substantially equivalent to the example shown in FIG. 4B described above.
パラメータ設定部70は、サンプリング周波数fs、サンプリング数N、励磁周波数frの少なくとも1個を入力するための回路である。すなわち、パラメータ設定部70は、電気角取得システム10の外部から信号線を接続可能なインタフェースを備えており、利用者は当該インタフェースを介してサンプリング周波数fs、サンプリング数N、励磁周波数frを入力することができる。インタフェースは、種々の仕様であってよく、例えば、シリアル通信による入力、I/O端子による入力、電圧値による入力の少なくとも1個を備える仕様等を採用可能である。なお、シリアル通信は、例えば、IICバス等の各種規格を想定可能である。I/O端子による入力は、端子に対して異なる電圧値の電圧を印加し、1以上の電圧値が示すコードで情報を入力する態様等を想定可能である。電圧値による入力は、印加電圧のレベルで入力情報を指定する態様等を想定可能である。また、スイッチやつまみ等で調整可能であってもよい。
The parameter setting unit 70 is a circuit for inputting at least one of the sampling frequency f s , the sampling number N, and the excitation frequency f r . That is, the parameter setting unit 70 has an interface to which the signal line can be connected from the outside of the electrical angle acquisition system 10, and the user can set the sampling frequency f s , the sampling number N, and the excitation frequency f r via the interface. It can be input. The interface may have various specifications, and for example, a specification including at least one of an input by serial communication, an input by an I / O terminal, and an input by a voltage value can be adopted. For serial communication, for example, various standards such as an IIC bus can be assumed. The input by an I / O terminal applies the voltage of a different voltage value with respect to a terminal, and the aspect etc. which input information in the code | cord which 1 or more voltage value shows can be assumed. The input by a voltage value can assume the aspect etc. which designate input information by the level of applied voltage. In addition, it may be adjustable by a switch, a knob or the like.
いずれにしても、パラメータ設定部70は、サンプリング周波数fs、サンプリング数N、励磁周波数frの少なくとも1個を示す情報を受け付けることが可能であり、受け付けたパラメータによって各部を動作させることができる。すなわち、パラメータ設定部70は、信号線等を介して励磁信号発生部13と接続されており、利用者が入力した励磁周波数frを励磁信号発生部13に対して出力する。励磁信号発生部13は、信号線等を介して入力された周波数で正弦波を生成することができる。従って、励磁信号は、利用者が入力した励磁周波数frの正弦波となる。パラメータ設定部70は、サンプリング周波数fs、サンプリング数N、励磁周波数frの全てを入力可能であっても良いし、一部が入力可能であっても良い。一部が入力可能である場合、入力されないパラメータは予め決められている。
In any case, the parameter setting unit 70 can receive information indicating at least one of the sampling frequency f s , the sampling number N, and the excitation frequency f r , and can operate each unit according to the received parameter. . That is, the parameter setting unit 70 is connected to the excitation signal generating section 13 via the signal line or the like, and outputs the excitation frequency f r the user inputs the excitation signal generator 13. The excitation signal generation unit 13 can generate a sine wave at a frequency input through a signal line or the like. Therefore, the excitation signal is a sine wave of the excitation frequency f r input by the user. The parameter setting unit 70 may be capable of inputting all of the sampling frequency f s , the number of samplings N, and the excitation frequency f r , or may be capable of inputting a part. When part can be input, parameters that are not input are predetermined.
また、パラメータ設定部70は、信号線等を介して励磁信号取得部20および出力信号取得部30と接続されている。利用者が入力したサンプリング周波数fsは、信号線等を介して励磁信号取得部20のアナログデジタル変換部21aに供給され、出力信号取得部30のアナログデジタル変換部31b,31cに供給される。アナログデジタル変換部21a,31b,31cは、信号線等を介して入力された周波数でアナログ信号をサンプリングしてデジタルデータ列を生成することができる。従って、アナログデジタル変換部21a,31b,31cは、増幅器13a~13cから入力されたアナログ信号をサンプリング周波数fsでサンプリングしたデジタルデータ列を生成し、出力する。
The parameter setting unit 70 is connected to the excitation signal acquisition unit 20 and the output signal acquisition unit 30 via a signal line or the like. The sampling frequency f s input by the user is supplied to the analog-to-digital converter 21 a of the excitation signal acquisition unit 20 via a signal line or the like, and is supplied to the analog-to- digital converters 31 b and 31 c of the output signal acquisition unit 30. The analog-to- digital converters 21a, 31b, and 31c can sample an analog signal at a frequency input through a signal line or the like to generate a digital data string. Thus, the analog-to- digital conversion unit 21a, 31b, 31c generates digital data sequence obtained by sampling the analog signal inputted from the amplifier 13a ~ 13c at the sampling frequency f s, and outputs.
さらに、利用者が入力したサンプリング数Nは、信号線等を介して励磁信号取得部20のフーリエ変換部22aに供給され、出力信号取得部30のフーリエ変換部32b,32cに供給される。フーリエ変換部22a,32b,32cは、信号線等を介して入力されたサンプリング数のデジタルデータを取得してフーリエ変換を行うことができる。従って、フーリエ変換部22a,32b,32cは、アナログデジタル変換部21a,31b,31cが生成したデジタルデータ列をサンプリング数Nでサンプリングしてフーリエ変換して励磁フーリエ信号および出力フーリエ信号を生成することができる。
Furthermore, the sampling number N input by the user is supplied to the Fourier transform unit 22 a of the excitation signal acquisition unit 20 via a signal line or the like, and is supplied to the Fourier transform units 32 b and 32 c of the output signal acquisition unit 30. The Fourier transform units 22a, 32b, and 32c can perform Fourier transform by acquiring digital data of the sampling number input via a signal line or the like. Therefore, the Fourier transform units 22a, 32b, and 32c sample the digital data strings generated by the analog-to- digital converters 21a, 31b, and 31c by sampling number N, and perform Fourier transform to generate excited Fourier signals and output Fourier signals. Can.
以上のように、本実施形態においては、パラメータ設定部70に対して利用者が入力した励磁周波数frの励磁信号を生成し、励磁信号や出力信号をサンプリング周波数fsでサンプリング数N個でサンプリングしてフーリエ変換を行うことができる。従って、利用者は、m=N×fr/fsが整数になるように容易に設定することができる。
As described above, in the present embodiment, the excitation signal of the excitation frequency f r input by the user is generated in the parameter setting unit 70, and the excitation signal and the output signal are sampled at the sampling frequency f s with N sampling numbers. It can be sampled and Fourier transformed. Therefore, the user can easily set m = N × f r / f s to be an integer.
なお、電気角取得システム10を構成する各部は、専用の回路(例えばICチップ等)で構成されても良いし、汎用の回路(例えば、CPU、RAM,ROM等のプログラム実行環境)をプログラムによって動作させることで実現されても良く、種々の構成を採用可能である。むろん、1個または複数個の機能が1個のチップで構成されても良いし、複数のチップで構成されても良い。また、製造後にプログラムすることが可能なFPGA(Field Programmable Gate Array)や、内部の回路セルの接続や設定を再構成可能なリコンフィギュラブル・プロセッサ(Reconfigurable Processor)が利用されても良い。また、半導体技術の進歩又は派生する別技術により、LSIに置き換わる集積回路化の技術が登場すれば、当然、その技術を用いて機能ブロックの集積化を行ってもよい。
Note that each unit constituting the electrical angle acquisition system 10 may be configured by a dedicated circuit (for example, an IC chip or the like), or a general-purpose circuit (for example, a program execution environment such as a CPU, RAM, or ROM) by a program. It may be realized by operating, and various configurations can be adopted. Of course, one or more functions may be configured by one chip, or may be configured by a plurality of chips. In addition, a field programmable gate array (FPGA) that can be programmed after manufacturing, or a reconfigurable processor that can reconfigure connection and setting of internal circuit cells may be used. Further, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out function block integration using this technology.
以上のような本実施形態においては、フーリエ変換によって励磁周波数成分を抽出して励磁信号と出力信号の位相の関係や出力信号の振幅を解析している。従って、フーリエ変換を行わないで位相の関係や振幅を解析する構成と比較して、正確に電気角θeを取得することができる。特に、本実施形態のように励磁信号や出力信号が増幅器13a~13cで増幅されることで位相が理想の信号と異なっていたり、ノイズが含まれていたりしても、正確に電気角θeを取得することができる。
In the present embodiment as described above, the excitation frequency component is extracted by Fourier transform, and the relationship between the phase of the excitation signal and the output signal and the amplitude of the output signal are analyzed. Therefore, the electrical angle θe can be accurately obtained as compared with the configuration in which the phase relationship and the amplitude are analyzed without performing the Fourier transform. In particular, even if the phase is different from the ideal signal by amplifying the excitation signal or the output signal by the amplifiers 13a to 13c as in the present embodiment or the noise is included, the electrical angle θe is accurately determined. It can be acquired.
また、特許文献1に挙げたような従来のトラッキングループ型デジタル角度変換器においては、SIN信号やCOS信号に対してcosφやsinφを乗じ、得られた信号の和からsin(θe-φ)sin(2πfrt)を生成し、同期検波して制御偏差sin(θe-φ)を抽出し、当該制御偏差が0になるようにフィードバック制御することでφが電気角θeと見なせる状況を生成する。従って、cosφやsinφを乗じるための回路、同期検波を行うための回路、フィードバック制御のための回路(電圧制御発振器やカウンタ)など、複雑なアナログ回路を含んでいる。
Further, in the conventional tracking loop type digital angle converter as described in Patent Document 1, sin (θ e −φ) sin is obtained from the sum of the obtained signals by multiplying cos φ or sin φ with the SIN signal or COS signal. generate (2πf r t), synchronous detection to extract the control deviation sin (θe-φ), φ by feedback control such that the control deviation becomes zero produces a situation which can be regarded as an electrical angle .theta.e . Therefore, it includes complex analog circuits such as a circuit for multiplying cos φ and sin φ, a circuit for performing synchronous detection, and a circuit for feedback control (a voltage controlled oscillator or a counter).
このため、従来の構成においては、全体構成を簡略化しにくく、低コスト化、高信頼性、利便性を達成することは困難である。しかし、本実施形態においては、複雑なアナログ回路は不要であり、アナログ回路としては単純な増幅器を備えていれば良い。また、アナログデジタル変換部21a,31b,31c以後の信号処理はデジタル信号処理であるため、フーリエ変換部22a,32b,32cや位相関係取得部40、振幅取得部50、電気角取得部60は、簡易な構成の回路によって実現可能である。また、アナログ回路はデジタル回路に比べて回路面積が大きく、IC化の際にチップ面積が大きくなりコストアップになる。従って、本実施形態は、従来技術と比較して低コストで実現可能である。
For this reason, in the conventional configuration, it is difficult to simplify the entire configuration, and it is difficult to achieve cost reduction, high reliability, and convenience. However, in the present embodiment, a complicated analog circuit is not necessary, and a simple amplifier may be provided as the analog circuit. Further, since signal processing after the analog-to- digital converters 21a, 31b, and 31c is digital signal processing, the Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 It is realizable by the circuit of simple composition. Further, the circuit area of the analog circuit is larger than that of the digital circuit, and the chip area becomes larger at the time of IC integration, resulting in an increase in cost. Therefore, this embodiment can be realized at low cost as compared with the prior art.
さらに、アナログ回路は温度により特性が変化するため、温度補正回路が必要となるが、本実施形態においてはアナログ回路で構成される機能は少なく、電気角θeの算出のための処理はデジタル回路またはデジタル信号処理で実現される。従って、温度補正回路は不要であり、高い信頼性で電気角θeを取得する構成を容易に実現することができる。
Furthermore, since the characteristics of the analog circuit change with temperature, a temperature correction circuit is required. However, in the present embodiment, the function configured by the analog circuit is small, and the process for calculating the electrical angle θe is a digital circuit or It is realized by digital signal processing. Therefore, a temperature correction circuit is unnecessary, and a configuration for obtaining the electrical angle θe with high reliability can be easily realized.
さらに、複雑なアナログ回路によって電気角取得システムを構成する場合、電気角θeの取得精度を高めるために、回路特性を調整して作りこみを行う必要がある。このため、回路定数の変更は極端に制限され、例えば、レゾルバの励磁周波数が10kHzに限定されるなど、特定用途向けになってしまう。しかし、本実施形態においては、励磁周波数等の調整が可能であり、特定用途に限定されない。
Furthermore, when the electrical angle acquisition system is configured by a complicated analog circuit, it is necessary to adjust and make circuit characteristics in order to improve the acquisition accuracy of the electrical angle θe. For this reason, the change of the circuit constant is extremely limited. For example, the excitation frequency of the resolver is limited to 10 kHz, which makes it suitable for specific applications. However, in the present embodiment, the excitation frequency and the like can be adjusted, and the present invention is not limited to a specific application.
さらに、上述の従来技術においては、制御偏差ε=sin(θe-φ)=0となるようにフィードバックループが構成されるため、安定化までに時間を要し、動作が遅くなる。また動作を速めようとすると発振対策が必要となる。しかし、本実施形態においてフィードバックループは存在せず、N個のサンプリングが行われれば即座に電気角θeを取得することができる。従って、高速に電気角θeを出力するシステムを提供することができる。
Furthermore, in the above-described prior art, the feedback loop is configured such that the control deviation ε = sin (θe−φ) = 0. Therefore, it takes time to stabilize and the operation is delayed. In addition, to speed up the operation, it is necessary to take measures against oscillation. However, in the present embodiment, there is no feedback loop, and the electrical angle θe can be obtained immediately if N samplings are performed. Therefore, it is possible to provide a system that outputs the electrical angle θe at high speed.
さらに、従来の技術においては、入力信号である励磁信号やSIN信号、COS信号等のノイズを減らす必要があり、ノイズの程度に応じてアナログノイズフィルタ回路を追加するなどの検討が必要である。しかし、本実施形態においては、フーリエ変換によって励磁周波数成分を取得する構成であるため、励磁周波数成分以外のノイズの影響が少ない状態で電気角θeを取得することができる。従って、ノイズに強く、従来技術と比較してノイズ対策の必要性は低い。このため、本実施形態においては、漏洩磁束などのノイズが含まれ得る状況において、高度なノイズ対策を行わなくても高精度に電気角θeを取得することができる。
Furthermore, in the prior art, it is necessary to reduce noise such as an excitation signal, an SIN signal, or a COS signal which is an input signal, and it is necessary to consider adding an analog noise filter circuit according to the degree of noise. However, in the present embodiment, since the excitation frequency component is acquired by Fourier transform, the electrical angle θe can be acquired in a state in which the influence of noise other than the excitation frequency component is small. Therefore, it is resistant to noise, and the need for noise countermeasures is low compared to the prior art. For this reason, in the present embodiment, in a situation where noise such as leakage magnetic flux may be included, the electrical angle θe can be obtained with high accuracy without taking advanced measures against noise.
さらに、従来技術においては、励磁信号とSIN信号、COS信号との位相のずれは、出力される角度の精度劣化や応答速度の低下につながるため、位相のずれを少なくしなければならない。通常は、±10度、もしくは±45度以下が求められる。しかし、本実施形態においては、励磁信号とSIN信号、COS信号との位相のずれは±90°より小さければ良い。従って、本実施形態においては高度な位相ずれ対策を行わなくても高精度に電気角θeを取得することができる。
Furthermore, in the prior art, the phase shift between the excitation signal, the SIN signal and the COS signal leads to the deterioration of the accuracy of the output angle and the reduction of the response speed, so the phase shift must be reduced. Usually, ± 10 degrees or ± 45 degrees or less is required. However, in the present embodiment, the phase shift between the excitation signal and the SIN signal or COS signal may be smaller than ± 90 °. Therefore, in the present embodiment, the electrical angle θe can be acquired with high accuracy without taking a high countermeasure against the phase shift.
(2)第2実施形態:
上述の第1実施形態においては、フーリエ変換によって得られた励磁フーリエ信号と出力フーリエ信号に基づいて位相の関係と振幅の関係を取得していたが、フーリエ変換が行われていないデジタルデータ列に基づいて位相の関係が取得されても良い。図5は、フーリエ変換が行われていないデジタルデータ列に基づいて位相の関係を取得する構成例を示す図である。 (2) Second embodiment:
In the first embodiment described above, although the relationship between the phase and the amplitude is obtained based on the excited Fourier signal obtained by the Fourier transform and the output Fourier signal, a digital data string not subjected to the Fourier transform The phase relationship may be obtained based on the above. FIG. 5 is a diagram showing an example of a configuration for acquiring a phase relationship based on a digital data string not subjected to Fourier transform.
上述の第1実施形態においては、フーリエ変換によって得られた励磁フーリエ信号と出力フーリエ信号に基づいて位相の関係と振幅の関係を取得していたが、フーリエ変換が行われていないデジタルデータ列に基づいて位相の関係が取得されても良い。図5は、フーリエ変換が行われていないデジタルデータ列に基づいて位相の関係を取得する構成例を示す図である。 (2) Second embodiment:
In the first embodiment described above, although the relationship between the phase and the amplitude is obtained based on the excited Fourier signal obtained by the Fourier transform and the output Fourier signal, a digital data string not subjected to the Fourier transform The phase relationship may be obtained based on the above. FIG. 5 is a diagram showing an example of a configuration for acquiring a phase relationship based on a digital data string not subjected to Fourier transform.
図5においては、図1と同様の構成に図1と同一の符号を付して示している。ここでは、図1と異なる構成について説明し、図1と同一の構成については説明を省略する。図5に示す電気角取得システム100は、フーリエ変換によって励磁周波数成分を取得する励磁信号取得部20を備えていない。むろん、電気角θeの算出以外の目的(例えば断線検出等)で励磁信号を電気角取得システム100に入力しても良い。
In FIG. 5, the same components as in FIG. 1 are shown with the same reference numerals as in FIG. Here, the configuration different from that of FIG. 1 will be described, and the description of the same configuration as that of FIG. 1 will be omitted. The electrical angle acquisition system 100 illustrated in FIG. 5 does not include the excitation signal acquisition unit 20 that acquires an excitation frequency component by Fourier transform. Of course, the excitation signal may be input to the electrical angle acquisition system 100 for purposes other than the calculation of the electrical angle θe (for example, detection of disconnection or the like).
ただし、本実施形態においては励磁信号発生部130と位相関係取得部400とが接続されている。励磁信号発生部130は、パラメータ設定部70で設定された励磁周波数frで正弦波信号を生成する機能を有しており、励磁周波数frの正弦波信号のデジタルデータを生成し、当該正弦波信号のアナログ信号を増幅器12に出力する機能を有している。本実施形態において励磁信号発生部130は、当該正弦波信号のデジタルデータに基づいて、励磁信号として出力した正弦波信号の任意のタイミングでの振幅を出力可能である。従って、励磁信号発生部130は、サンプリング周波数fsで正弦波信号をサンプリングした場合と同等のデジタルデータ列を位相関係取得部400に出力することができる。位相関係取得部400においては、この出力に基づいて、励磁信号のデジタルデータ列を取得することができる。
However, in the present embodiment, the excitation signal generation unit 130 and the phase relationship acquisition unit 400 are connected. The excitation signal generation unit 130 has a function of generating a sine wave signal at the excitation frequency f r set by the parameter setting unit 70, generates digital data of a sine wave signal of the excitation frequency f r , and It has a function of outputting an analog signal of a wave signal to the amplifier 12. In the present embodiment, the excitation signal generation unit 130 can output the amplitude at an arbitrary timing of the sine wave signal output as the excitation signal based on the digital data of the sine wave signal. Therefore, excitation signal generator 130 can output the same digital data sequence in the case of sampling a sinusoidal signal at a sampling frequency f s in phase relation acquisition section 400. The phase relationship acquisition unit 400 can acquire a digital data string of the excitation signal based on the output.
出力信号取得部300は、上述の第1実施形態における出力信号取得部30と同等の機能(アナログデジタル変換部31b,31cおよびフーリエ変換部32b,32c)を備えているが、信号配線が異なっている。すなわち、アナログデジタル変換部31b,31cの出力は、フーリエ変換部32b,32cに供給されるとともに、位相関係取得部400にも供給される。
The output signal acquisition unit 300 has functions (analog-to- digital converters 31 b and 31 c and Fourier transform units 32 b and 32 c) equivalent to the output signal acquisition unit 30 in the first embodiment described above, but the signal wiring is different. There is. That is, the outputs of the analog-to- digital converters 31 b and 31 c are supplied to the Fourier transform units 32 b and 32 c and also to the phase relationship acquisition unit 400.
位相関係取得部400は、励磁信号と出力信号(SIN信号およびCOS信号)との位相の関係を取得する回路であるが、上述の第1実施形態とは異なる演算法で位相の関係を取得する。すなわち、位相関係取得部400は、励磁信号の正負を示す値と、出力信号との積によって位相の関係を取得する。
The phase relationship acquisition unit 400 is a circuit that acquires the relationship between the phase of the excitation signal and the phase of the output signal (SIN signal and COS signal), but acquires the relationship of the phase by an arithmetic method different from that of the first embodiment described above. . That is, the phase relation acquisition unit 400 acquires the phase relation by the product of the value indicating the positive / negative of the excitation signal and the output signal.
具体的には、位相関係取得部400は、励磁信号を示すデジタルデータ列p(n)を取得しながら、当該p(n)の値が正、負、0のいずれであるのかに基づいてp(n)をp'(n)に変換する。すなわち、位相関係取得部400は、p(n)>0ならばp'(n)=1、p(n)<0ならばp'(n)=-1、p(n)=0ならばp'(n)=0と変換する。ここで、nは0~N-1である。図6は、位相関係取得部400による処理の例を示す図であり、最上部には図3に示す励磁信号と同様の励磁信号p(n)が示されている。なお、サンプリングタイミングにおけるデジタルデータ列は白丸で示されている。図6においては、励磁信号p(n)の下部に変換後のp'(n)も示されている。これらの図に示されるように、変換後のp'(n)は、励磁信号の値の正負または0に応じて1,-1,0のいずれかを取るデジタルデータ列となる。このような変換によれば、励磁信号の振幅の影響を除外して位相の関係を評価することができる。なお、p'(n)は、p(n)から変換するのではなく、回路で生成する構成等であっても良い。
Specifically, while acquiring the digital data string p (n) indicating the excitation signal, the phase relationship acquisition unit 400 determines whether the value of p (n) is positive, negative, or 0 based on whether the value is positive, negative, or 0. Convert (n) to p '(n). That is, the phase relationship acquisition unit 400 sets p ′ (n) = 1 if p (n)> 0, p ′ (n) = − 1 if p (n) <0, and p (n) = 0. Convert to p '(n) = 0. Here, n is 0 to N-1. FIG. 6 is a diagram showing an example of processing by the phase relationship acquisition unit 400, and the excitation signal p (n) similar to the excitation signal shown in FIG. 3 is shown at the top. The digital data string at the sampling timing is indicated by a white circle. In FIG. 6, p '(n) after conversion is also shown below the excitation signal p (n). As shown in these figures, p '(n) after conversion is a digital data string which takes either 1, -1, 0 depending on whether the value of the excitation signal is positive or negative or 0. According to such conversion, it is possible to evaluate the phase relationship by excluding the influence of the amplitude of the excitation signal. Note that p ′ (n) may be generated by a circuit instead of being converted from p (n).
位相関係取得部400は、このようにして得られたp'(n)とSIN信号s(n)との積の和に基づいて励磁信号とSIN信号との位相の関係を取得する。すなわち、位相関係取得部400は、以下の式(2)に基づいて判定指標Disを算出する。そして、位相関係取得部400は、判定指標Disが正であれば励磁信号とSIN信号とが同相であると判定し、判定指標Disが負であれば励磁信号とSIN信号とが逆相であると判定する。
The phase relationship acquisition unit 400 acquires the relationship between the phase of the excitation signal and the phase of the SIN signal based on the sum of the products of p ′ (n) and the SIN signal s (n) thus obtained. That is, the phase relationship acquisition unit 400 calculates the determination index Dis based on the following equation (2). Then, the phase relationship acquisition unit 400 determines that the excitation signal and the SIN signal are in phase if the determination index Dis is positive, and if the determination index Dis is negative, the excitation signal and the SIN signal are out of phase. It is determined that
なお、s(n)は、アナログデジタル変換部31bから位相関係取得部400に供給されたデジタルデータ列である。図6においては、SIN信号s(n)の例も示されており、当該SIN信号s(n)とp'(n)との積も示されている。この例の場合、SIN信号s(n)とp'(n)との積は正であるため判定指標Disも正となり、同相であると判定される。この判定結果は、図6に示す励磁信号とSIN信号との位相の関係に整合している。以上のような判定を行った結果、励磁信号とSIN信号とが同相であれば、位相関係取得部400はDirSin=1であることを示す信号を出力する。また、励磁信号とSIN信号とが逆相であれば、位相関係取得部400はDirSin=-1であることを示す信号を出力する。
Note that s (n) is a digital data string supplied from the analog-to-digital converter 31 b to the phase relationship acquiring unit 400. In FIG. 6, an example of the SIN signal s (n) is also shown, and the product of the SIN signal s (n) and p ′ (n) is also shown. In this example, since the product of the SIN signal s (n) and p ′ (n) is positive, the determination index Dis is also positive, and it is determined that they are in phase. This determination result matches the phase relationship between the excitation signal and the SIN signal shown in FIG. As a result of the above determination, if the excitation signal and the SIN signal are in phase, the phase relationship acquisition unit 400 outputs a signal indicating that DirSin = 1. If the excitation signal and the SIN signal are out of phase, the phase relationship acquiring unit 400 outputs a signal indicating that DirSin = −1.
さらに、位相関係取得部400は、p'(n)とCOS信号c(n)との積の和に基づいて励磁信号とCOS信号との位相の関係を取得する。すなわち、位相関係取得部400は、以下の式(3)に基づいて判定指標Dicを算出する。そして、位相関係取得部400は、判定指標Dicが正であれば励磁信号とCOS信号とが同相であると判定し、判定指標Dicが負であれば励磁信号とCOS信号とが逆相であると判定する。
Furthermore, the phase relationship acquisition unit 400 acquires the relationship between the phase of the excitation signal and the COS signal based on the sum of the products of p ′ (n) and the COS signal c (n). That is, the phase relationship acquisition unit 400 calculates the determination index Dic based on the following equation (3). Then, the phase relationship acquisition unit 400 determines that the excitation signal and the COS signal are in phase if the determination index Dic is positive, and the excitation signal and the COS signal are in antiphase if the determination index Dic is negative. It is determined that
なお、c(n)は、アナログデジタル変換部31cから位相関係取得部400に供給されたデジタルデータ列である。図6においては、COS信号c(n)の例も示されており、当該COS信号c(n)とp'(n)との積も示されている。この例の場合、COS信号c(n)とp'(n)との積は負であるため判定指標Dicも負となり、逆相であると判定される。この判定結果は、図6に示す励磁信号とCOS信号との位相の関係に整合している。以上のような判定を行った結果、励磁信号とCOS信号とが同相であれば、位相関係取得部400はDirCos=1であることを示す信号を出力する。また、励磁信号とCOS信号とが逆相であれば、位相関係取得部400はDirCos=-1であることを示す信号を出力する。なお、以上の演算は一例であり、例えば、式(2)式(3)においてp'(n)ではなくp(n)がs(n)やc(n)に乗じられる構成等であっても良い。
Note that c (n) is a digital data string supplied from the analog-to-digital converter 31 c to the phase relationship acquisition unit 400. In FIG. 6, an example of the COS signal c (n) is also shown, and the product of the COS signal c (n) and p ′ (n) is also shown. In the case of this example, since the product of the COS signal c (n) and p ′ (n) is negative, the determination index Dic is also negative and it is determined that the phases are opposite. This determination result matches the phase relationship between the excitation signal and the COS signal shown in FIG. As a result of the above determination, if the excitation signal and the COS signal are in phase, the phase relationship acquisition unit 400 outputs a signal indicating that DirCos = 1. In addition, if the excitation signal and the COS signal are out of phase, the phase relationship acquisition unit 400 outputs a signal indicating that DirCos = −1. The above operation is only an example, and for example, s (n) or c (n) can be multiplied by p (n) instead of p ′ (n) in equation (2) and equation (3). Also good.
以上のようにして位相関係取得部400から出力される信号(DirSin、Dircos)は、上述の第1実施形態と同様であり、本実施形態における振幅取得部50は第1実施形態と同様である。従って、本実施形態における電気角取得部60は、位相関係取得部400の出力信号と振幅取得部50の出力信号とに基づいて、第1実施形態と同様の処理によって電気角を取得することができる。以上の構成においても、フーリエ変換によって出力信号の励磁周波数成分が取得されるため、励磁周波数成分以外の信号の影響を除外した状態で電気角θeを取得することができ、ノイズや位相のずれ等が生じたとしても正確に電気角θeを取得することができる。
As described above, the signals (DirSin, Dircos) output from the phase relationship acquisition unit 400 are the same as in the first embodiment described above, and the amplitude acquisition unit 50 in the present embodiment is the same as the first embodiment. . Therefore, based on the output signal of the phase relationship acquisition unit 400 and the output signal of the amplitude acquisition unit 50, the electrical angle acquisition unit 60 in the present embodiment can acquire the electrical angle by the same process as in the first embodiment. it can. Also in the above configuration, since the excitation frequency component of the output signal is acquired by Fourier transformation, the electrical angle θe can be acquired with the influence of the signals other than the excitation frequency component excluded, noise, phase shift, etc. Even if the error occurs, the electrical angle θe can be accurately obtained.
(3)第3実施形態:
上述の第1実施形態においては、励磁信号がサンプリングされるタイミングと、出力信号がサンプリングされるタイミングは同時であったが、励磁信号取得部が励磁信号をサンプリングするタイミングと、出力信号取得部が2相の出力信号をサンプリングするタイミングは異なるタイミングであってもよい。図7は、励磁信号と2相の出力信号のサンプリングタイミングが異なる構成例を示す図である。 (3) Third Embodiment:
In the first embodiment described above, the timing at which the excitation signal is sampled and the timing at which the output signal is sampled are simultaneous, but the timing at which the excitation signal acquisition unit samples the excitation signal, and the output signal acquisition unit The timing for sampling the two-phase output signal may be different. FIG. 7 is a diagram showing a configuration example in which sampling timings of an excitation signal and an output signal of two phases are different.
上述の第1実施形態においては、励磁信号がサンプリングされるタイミングと、出力信号がサンプリングされるタイミングは同時であったが、励磁信号取得部が励磁信号をサンプリングするタイミングと、出力信号取得部が2相の出力信号をサンプリングするタイミングは異なるタイミングであってもよい。図7は、励磁信号と2相の出力信号のサンプリングタイミングが異なる構成例を示す図である。 (3) Third Embodiment:
In the first embodiment described above, the timing at which the excitation signal is sampled and the timing at which the output signal is sampled are simultaneous, but the timing at which the excitation signal acquisition unit samples the excitation signal, and the output signal acquisition unit The timing for sampling the two-phase output signal may be different. FIG. 7 is a diagram showing a configuration example in which sampling timings of an excitation signal and an output signal of two phases are different.
図7においては、図1と同様の構成に図1と同一の符号を付して示している。ここでは、図1と異なる構成について説明し、図1と同一の構成については説明を省略する。図7に示す電気角取得システム110は、励磁信号取得部と出力信号取得部とが一部の機能を共有することで実現されている。この意味で、図7においては、励磁信号取得部と出力信号取得部とを1個の矩形内に示し、1個の符号310を付して示している。
7, the same components as in FIG. 1 are denoted by the same reference numerals as in FIG. Here, the configuration different from that of FIG. 1 will be described, and the description of the same configuration as that of FIG. 1 will be omitted. The electrical angle acquisition system 110 shown in FIG. 7 is realized by the excitation signal acquisition unit and the output signal acquisition unit sharing a part of functions. In this sense, in FIG. 7, the excitation signal acquisition unit and the output signal acquisition unit are shown in one rectangle and indicated by one symbol 310.
符号310で示される励磁信号取得部および出力信号取得部は、マルチプレクサ211aとアナログデジタル変換部210aと、フーリエ変換部22a,32b,32cを備えている。フーリエ変換部22a,32b,32cの構成は第1実施形態と同様である。マルチプレクサ211aは3入力1出力のマルチプレクサであり、増幅器13a~13cの出力が接続されている。すなわち、マルチプレクサ211aは、一定のタイミングで入力と出力との関係を切り替える回路である。本実施形態においてマルチプレクサ211aは、パラメータ設定部70で設定されたサンプリング周波数fsからサンプリング周期1/fsを特定し、当該サンプリング周期1/fsの1/3の周期で入力と出力との関係を切り替える機能を有している。
The excitation signal acquisition unit and the output signal acquisition unit denoted by reference numeral 310 include a multiplexer 211a, an analog-to-digital converter 210a, and Fourier transform units 22a, 32b, and 32c. The configuration of the Fourier transform units 22a, 32b and 32c is the same as that of the first embodiment. The multiplexer 211a is a 3-input 1-output multiplexer, to which the outputs of the amplifiers 13a to 13c are connected. That is, the multiplexer 211a is a circuit that switches the relationship between the input and the output at a fixed timing. In the present embodiment, the multiplexer 211a specifies the sampling period 1 / f s from the sampling frequency f s set by the parameter setting unit 70, and the input and output at a period of 1/3 of the sampling period 1 / f s It has a function to switch the relationship.
なお、本実施形態においてマルチプレクサ211aは、励磁信号、SIN信号、COS信号の順に出力する構成となっており、COS信号の後には再び励磁信号を出力する。従って、マルチプレクサ211aは、励磁信号、SIN信号、COS信号の順に出力する動作を繰り返す。むろん、各信号の順序は一例であり、順序は任意である。
In the present embodiment, the multiplexer 211a is configured to output the excitation signal, the SIN signal, and the COS signal in this order, and outputs the excitation signal again after the COS signal. Therefore, the multiplexer 211a repeats the operation of outputting the excitation signal, the SIN signal, and the COS signal in order. Of course, the order of each signal is an example, and the order is arbitrary.
アナログデジタル変換部210aは、励磁信号、SIN信号、COS信号のそれぞれをサンプリング周波数fsでサンプリングしたデジタルデータ列を生成するための回路である。すなわち、アナログデジタル変換部210aは、パラメータ設定部70で設定されたサンプリング周波数fsからサンプリング周期1/fsを特定し、アナログデジタル変換部210aに入力されたアナログ信号を当該サンプリング周期1/fsの1/3の周期でデジタルデータ列に変換する。
The analog-to-digital converter 210 a is a circuit for generating a digital data string obtained by sampling each of the excitation signal, the SIN signal, and the COS signal at the sampling frequency f s . That is, the analog-to-digital converter 210a specifies the sampling period 1 / f s from the sampling frequency f s set by the parameter setting unit 70, and the analog signal input to the analog-to-digital converter 210a is the sampling period 1 / f. Convert to a digital data string in a cycle of 1/3 of s .
図8は、励磁信号、SIN信号、COS信号がサンプリングされる様子を説明する図である。同図8に示す各信号は、図3に示した各信号と同等である。ここでは、このような各信号からサンプリング周波数fsでサンプリング数N=8のデータを生成する例を説明する。アナログデジタル変換部210aは、サンプリング周期1/fsの1/3の周期で励磁信号、SIN信号、COS信号の順にサンプリングを行うが、図8においては、最初にサンプリングされる信号はCOS信号である例が示されており、サンプリングによってCOS信号のデジタルデータc(0)が生成される。この後、サンプリング周期1/fsの1/3の時間が経過すると、アナログデジタル変換部210aにはマルチプレクサ211aによって励磁信号が入力された状態となっている。従って、アナログデジタル変換部210aが次のサンプリングをすると、励磁信号のデジタルデータp(0)が生成される。
FIG. 8 is a diagram for explaining how the excitation signal, the SIN signal, and the COS signal are sampled. Each signal shown in FIG. 8 is equivalent to each signal shown in FIG. Here, an example of generating data of sampling number N = 8 at the sampling frequency f s from such each signal will be described. The analog-to-digital converter 210a samples the excitation signal, the SIN signal, and the COS signal in order of 1/3 of the sampling period 1 / f s , but in FIG. An example is shown, and sampling generates digital data c (0) of the COS signal. Thereafter, when one third of the sampling period 1 / f s passes, the excitation signal is input to the analog-to-digital converter 210a by the multiplexer 211a. Therefore, when the analog-to-digital converter 210a performs the next sampling, digital data p (0) of the excitation signal is generated.
さらに、サンプリング周期1/fsの1/3の時間が経過すると、アナログデジタル変換部210aにはマルチプレクサ211aによってSIN信号が入力された状態となっている。従って、アナログデジタル変換部210aが次のサンプリングをすると、SIN信号のデジタルデータs(0)が生成される。アナログデジタル変換部210aは、以後、サンプリング周期1/fsの1/3の周期でサンプリングを行うため、N×3回のデジタル変換が行われることで、COS信号c(0)~c(7)、励磁信号p(0)~p(7)、SIN信号s(0)~s(7)が生成される。
Furthermore, when one third of the sampling period 1 / f s elapses, the SIN signal is input to the analog-to-digital converter 210 a by the multiplexer 211 a. Therefore, when the analog-to-digital converter 210a performs the next sampling, digital data s (0) of the SIN signal is generated. Since the analog-to-digital converter 210a performs sampling at a period of 1/3 of the sampling period 1 / f s thereafter, N × 3 digital conversions are performed to obtain COS signals c (0) to c (7). , Excitation signals p (0) to p (7), and SIN signals s (0) to s (7).
さらに、アナログデジタル変換部210aは、フーリエ変換部22a,32b,32cに接続されており、サンプリング周期1/fsの1/3の周期で出力先を切り替える。すなわち、マルチプレクサ211aから励磁信号が出力されているタイミングにおいてアナログデジタル変換部210aがアナログデジタル変換を行った場合、アナログデジタル変換部210aは、変換後のデジタルデータをフーリエ変換部22aに出力する。マルチプレクサ211aからSIN信号が出力されているタイミングにおいてアナログデジタル変換部210aがアナログデジタル変換を行った場合、アナログデジタル変換部210aは、変換後のデジタルデータをフーリエ変換部32bに出力する。マルチプレクサ211aからCOS信号が出力されているタイミングにおいてアナログデジタル変換部210aがアナログデジタル変換を行った場合、アナログデジタル変換部210aは、変換後のデジタルデータをフーリエ変換部32cに出力する。
Further, the analog-to-digital conversion unit 210a includes a Fourier transform unit 22a, 32 b, are connected to 32c, switches the output destination at a period of 1/3 of the sampling period 1 / f s. That is, when the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the excitation signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 22a. When the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the SIN signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 32b. When the analog-to-digital converter 210a performs analog-to-digital conversion at the timing when the COS signal is output from the multiplexer 211a, the analog-to-digital converter 210a outputs the converted digital data to the Fourier converter 32c.
本実施形態においては、アナログデジタル変換部210aがこの切り替えをサンプリング周期1/fsの1/3の周期で実施して繰り返すことにより、フーリエ変換部22aには、第1実施形態と同様に励磁信号を示すデジタルデータ列p(n)が入力される。同様に、フーリエ変換部32bには、第1実施形態と同様にSIN信号を示すデジタルデータ列s(n)が入力される。さらに、フーリエ変換部32cには、第1実施形態と同様にCOS信号を示すデジタルデータ列c(n)が入力される。
In the present embodiment, the analog-to-digital converter 210a performs this switching in a cycle of 1/3 of the sampling period 1 / f s and repeats it, thereby exciting the Fourier transform unit 22a as in the first embodiment. A digital data string p (n) indicating a signal is input. Similarly, a digital data string s (n) indicating a SIN signal is input to the Fourier transform unit 32b as in the first embodiment. Furthermore, as in the first embodiment, a digital data string c (n) indicating a COS signal is input to the Fourier transform unit 32c.
以上のようにしてフーリエ変換部22a,32b,32cに入力される信号(p(n),s(n),c(n))は、上述の第1実施形態と同様であり、本実施形態におけるフーリエ変換部22a,32b,32c、位相関係取得部40、振幅取得部50、電気角取得部60は第1実施形態と同様である。従って、フーリエ変換部22a,32b,32c、位相関係取得部40、振幅取得部50、電気角取得部60が第1実施形態と同様の動作を行うことにより、電気角を取得することができる。以上の構成においても、フーリエ変換によって励磁信号および出力信号の励磁周波数成分が取得されるため、励磁周波数成分以外の信号の影響を除外した状態で電気角θeを取得することができ、ノイズや位相のずれ等が生じたとしても正確に電気角θeを取得することができる。
The signals (p (n), s (n), c (n)) input to the Fourier transform units 22a, 32b, 32c as described above are the same as in the first embodiment described above, and the present embodiment The Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 in the second embodiment are the same as those in the first embodiment. Therefore, when the Fourier transform units 22a, 32b, and 32c, the phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 perform the same operations as in the first embodiment, the electrical angle can be acquired. Also in the above configuration, since the excitation frequency components of the excitation signal and the output signal are acquired by Fourier transformation, the electrical angle θe can be acquired with the influence of the signals other than the excitation frequency component excluded, noise and phase Even if a deviation or the like occurs, the electrical angle θe can be accurately obtained.
なお、本実施形態においては、マルチプレクサ211aおよびアナログデジタル変換部210aによって順番に励磁信号、SIN信号、COS信号のデジタル変換を実施するため、各信号の異なるタイミングにおけるデジタルデータが取り込まれる状態になる。従って、各デジタルデータが示す信号の位相がずれた状態となっている。そこで、本実施形態においては、当該位相のずれを補償する構成を備えていても良い。
In the present embodiment, since the multiplexer 211a and the analog-to-digital converter 210a sequentially perform digital conversion of the excitation signal, the SIN signal, and the COS signal, digital data at different timings of the respective signals are captured. Therefore, the phase of the signal indicated by each digital data is shifted. Therefore, in the present embodiment, a configuration may be provided to compensate for the phase shift.
このような位相のずれの補償は、例えば、上述の第1実施形態における回転後の座標軸による励磁周波数成分の表現において、SIN信号の励磁周波数成分の実数部Sr'をSr'=Sr×cos(α+β)+Si×sin(α+β)として取得する構成等によって実現可能である。なお、βは、位相のずれ、すなわち、2π/(3fs)である。COS信号においては、励磁周波数成分の実数部Cr'をCr'=Cr×cos(α-β)+Ci×sin(α-β)として取得すればよい。以上の構成においては、SIN信号およびCOS信号の位相のずれが±90°より小さければ、励磁信号とSIN信号、COS信号との位相の関係を正確に特定することが可能である。なお、図8の例では、fs/fr=8/3=2.667>2であり、サンプリング定理fs>2frを満たしており、正確に電気角θeを取得することができる。なお、第3実施形態のように、マルチプレクサを使用する構成においては、例えば、第1実施形態等と比較してアナログデジタル変換部の数を低減することができる。従って、より低いコストで電気角取得システムを構成することができる。
Such compensation of the phase shift can be performed, for example, in the representation of the excitation frequency component by the coordinate axis after rotation in the above-described first embodiment, the real part Sr 'of the excitation frequency component of the SIN signal is expressed by Sr' = Sr × cos ( It is realizable by the composition acquired as alpha + beta) + Si x sin (alpha + beta). Here, β is a phase shift, that is, 2π / (3 f s ). In the COS signal, the real part Cr ′ of the excitation frequency component may be acquired as Cr ′ = Cr × cos (α−β) + Ci × sin (α−β). In the above configuration, if the phase shift of the SIN signal and the COS signal is smaller than ± 90 °, it is possible to accurately identify the phase relationship between the excitation signal and the SIN signal, the COS signal. In the example of FIG. 8, f s / f r = 8/3 = 2.667> 2, which satisfies the sampling theorem f s > 2 f r , and the electrical angle θe can be accurately obtained. In the configuration using the multiplexer as in the third embodiment, for example, the number of analog-to-digital converters can be reduced as compared with the first embodiment and the like. Therefore, the electrical angle acquisition system can be configured at lower cost.
(4)第4~第8実施形態:
他にも、上述の実施形態における特徴を組み合わせた任意の実施形態を構成することが可能である。図9は、図5に示す第2実施形態のように増幅器を介することなく励磁信号発生部から励磁信号のデジタルデータ列を位相関係取得部400に供給し、さらに、図7に示す第3実施形態のようにマルチプレクサを備える構成を示す図である。当該図9に示す第4実施形態においても、上述の実施形態と同様の構成には同一の符号が付してある。 (4) Fourth to eighth embodiments:
Besides, it is possible to construct any embodiment combining the features in the above-mentioned embodiments. 9 supplies the digital data string of the excitation signal from the excitation signal generation unit to the phaserelationship acquisition unit 400 without passing through the amplifier as in the second embodiment shown in FIG. 5, and further, the third embodiment shown in FIG. FIG. 5 shows a configuration comprising a multiplexer as in the form; Also in the fourth embodiment shown in FIG. 9, the same components as those in the above-described embodiment are denoted by the same reference numerals.
他にも、上述の実施形態における特徴を組み合わせた任意の実施形態を構成することが可能である。図9は、図5に示す第2実施形態のように増幅器を介することなく励磁信号発生部から励磁信号のデジタルデータ列を位相関係取得部400に供給し、さらに、図7に示す第3実施形態のようにマルチプレクサを備える構成を示す図である。当該図9に示す第4実施形態においても、上述の実施形態と同様の構成には同一の符号が付してある。 (4) Fourth to eighth embodiments:
Besides, it is possible to construct any embodiment combining the features in the above-mentioned embodiments. 9 supplies the digital data string of the excitation signal from the excitation signal generation unit to the phase
図9に示す構成においては、マルチプレクサ221aが2入力1出力の構成であり、1個のアナログデジタル変換部220aによってSIN信号とCOS信号のそれぞれを順番にデジタルデータ化する。なお、マルチプレクサ221aは、2入力であるため、アナログデジタル変換部220aのサンプリング周期は、1/(2fs)である。このようにしてデジタルデータ列とされたSIN信号とCOS信号と、励磁信号発生部130が出力する励磁信号のデジタルデータ列が位相関係取得部400に入力される。また、アナログデジタル変換部220aによってデジタルデータ化されたSIN信号とCOS信号は、フーリエ変換部32b,32cのそれぞれでフーリエ変換され、励磁周波数成分が取得される。
In the configuration shown in FIG. 9, the multiplexer 221a has a 2-input 1-output configuration, and one analog-to-digital converter 220a digitizes each of the SIN signal and the COS signal in order. Since the multiplexer 221a has two inputs, the sampling period of the analog-to-digital converter 220a is 1 / (2 f s ). The digital data string of the SIN signal and the COS signal thus converted into the digital data string and the excitation signal output from the excitation signal generator 130 is input to the phase relationship acquisition unit 400. The SIN signal and the COS signal digitized by the analog-to-digital converter 220a are Fourier-transformed by the Fourier transformers 32b and 32c, respectively, to obtain excitation frequency components.
図10は、図1に示す第1実施形態から、励磁信号を増幅して取り込む増幅器13aや励磁信号取得部20を省略し、替わりに図5に示す第2実施形態と同様に励磁信号発生部130から位相関係取得部40に励磁信号が供給される構成である。ただし、当該図10に示す第5実施形態においては、励磁信号発生部130が出力する励磁信号のデジタルデータを、フーリエ変換部240aでフーリエ変換するように構成されている。フーリエ変換部240aでフーリエ変換された励磁フーリエ信号は位相関係取得部40に供給され、第1実施形態と同様の処理によって位相の関係が取得される。
10 omits from the first embodiment shown in FIG. 1 the amplifier 13a for amplifying and taking in the excitation signal and the excitation signal acquisition unit 20, and instead the excitation signal generation unit as in the second embodiment shown in FIG. The excitation signal is supplied to the phase relationship acquisition unit 40 from 130. However, in the fifth embodiment shown in FIG. 10, the digital data of the excitation signal output from the excitation signal generator 130 is configured to be Fourier transformed by the Fourier transform unit 240 a. The excited Fourier signal subjected to the Fourier transform by the Fourier transform unit 240a is supplied to the phase relationship acquisition unit 40, and the phase relationship is acquired by the same processing as that of the first embodiment.
図11は、図1に示す第1実施形態から、位相の関係を取得するためにフーリエ変換を行う構成を省略した構成である。ただし、当該図11に示す第6実施形態においては、励磁信号が増幅器13aによって増幅された信号を取り込むため、アナログデジタル変換部250aで励磁信号をデジタルデータ化する。アナログデジタル変換部250aでデジタルデータとされた励磁信号は位相関係取得部400に入力される。また、アナログデジタル変換部31b,31cによってデジタルデータとされたSIN信号およびCOS信号が位相関係取得部400に入力される。位相関係取得部400においては、第2実施形態と同様の処理によって位相の関係を取得する。
FIG. 11 shows a configuration obtained by omitting the configuration for performing Fourier transform to obtain the phase relationship from the first embodiment shown in FIG. However, in the sixth embodiment shown in FIG. 11, the excitation signal is converted into digital data by the analog-to-digital converter 250a in order to take in the signal amplified by the amplifier 13a. The excitation signal converted into digital data by the analog-to-digital converter 250 a is input to the phase relationship acquiring unit 400. Further, the SIN signal and the COS signal converted into digital data by the analog-to- digital converters 31 b and 31 c are input to the phase relationship acquiring unit 400. The phase relationship acquiring unit 400 acquires the phase relationship by the same processing as that of the second embodiment.
図12は、図9に示す第4実施形態の位相関係取得部400を位相関係取得部40に置換し、フーリエ変換後の励磁信号、SIN信号およびCOS信号に基づいて位相の関係を取得するように構成された第7実施形態を示す図である。なお、当該第7実施形態においては、励磁信号発生部130が出力した励磁信号のデジタルデータをフーリエ変換するため、フーリエ変換部360aが設けられている。
12 replaces the phase relationship acquisition unit 400 of the fourth embodiment shown in FIG. 9 with the phase relationship acquisition unit 40, and acquires the relationship of phases based on the excitation signal after Fourier transform, the SIN signal and the COS signal. It is a figure which shows 7th Embodiment comprised at. In the seventh embodiment, a Fourier transform unit 360a is provided in order to Fourier transform digital data of the excitation signal output from the excitation signal generation unit 130.
図13は、図7に示す第3実施形態において、フーリエ変換していないデジタルデータ列から位相の関係を取得するように構成した第8実施形態を示す図である。すなわち、第3実施形態においてフーリエ変換部22aを省略し、位相関係取得部40を位相関係取得部400に置換する。そして、アナログデジタル変換部210aの出力信号を位相関係取得部400に供給する構成とすることで第8実施形態を構成することができる。
FIG. 13 is a diagram showing an eighth embodiment configured to acquire a phase relationship from a digital data string not subjected to Fourier transform in the third embodiment shown in FIG. That is, in the third embodiment, the Fourier transform unit 22a is omitted, and the phase relationship acquisition unit 40 is replaced with the phase relationship acquisition unit 400. The eighth embodiment can be configured by supplying the output signal of the analog-to-digital converter 210a to the phase relationship acquisition unit 400.
(5)第9実施形態:
さらに、電気角取得システムは、レゾルバ11の運用過程においてレゾルバの電気角を測定する構成以外にも、種々の目的に使用可能である。図14は、レゾルバ11が取得する電気角の取得特性を測定する電気角取得特性測定システム190の構成例を示す図である。すなわち、レゾルバ11の製造過程等においては、レゾルバ11における電気角の取得特性を特定した上で出荷される場合が多い。このような場合に、レゾルバ11の特性を測定する際にも電気角取得システムを使用することができる。 (5) Ninth embodiment:
Furthermore, the electrical angle acquisition system can be used for various purposes other than the configuration in which the electrical angle of the resolver is measured in the operation process of theresolver 11. FIG. 14 is a diagram showing a configuration example of an electrical angle acquisition characteristic measurement system 190 that measures the acquisition characteristic of the electrical angle acquired by the resolver 11. That is, in the manufacturing process of the resolver 11, etc., it is often shipped after the acquisition characteristic of the electrical angle in the resolver 11 is specified. In such a case, the electrical angle acquisition system can also be used when measuring the characteristics of the resolver 11.
さらに、電気角取得システムは、レゾルバ11の運用過程においてレゾルバの電気角を測定する構成以外にも、種々の目的に使用可能である。図14は、レゾルバ11が取得する電気角の取得特性を測定する電気角取得特性測定システム190の構成例を示す図である。すなわち、レゾルバ11の製造過程等においては、レゾルバ11における電気角の取得特性を特定した上で出荷される場合が多い。このような場合に、レゾルバ11の特性を測定する際にも電気角取得システムを使用することができる。 (5) Ninth embodiment:
Furthermore, the electrical angle acquisition system can be used for various purposes other than the configuration in which the electrical angle of the resolver is measured in the operation process of the
さらに、上述の第1実施形態においては、励磁信号取得部20および出力信号取得部30がアナログの励磁信号および出力信号を取得していたが、既にデジタルデータ化された励磁信号および出力信号を取得する構成であっても良い。図14の電気角取得特性測定システム190は、デジタルデータ化された励磁信号および出力信号を取得する構成を備えている。
Furthermore, in the first embodiment described above, the excitation signal acquisition unit 20 and the output signal acquisition unit 30 acquire the analog excitation signal and the output signal, but acquire the excitation signal and the output signal that are already converted into digital data. May be configured. The electrical angle acquisition characteristic measurement system 190 of FIG. 14 has a configuration for acquiring the digitized data of the excitation signal and the output signal.
本実施形態においては、データ収集システム200によって励磁信号および出力信号がデジタルデータ化される。データ収集システム200は、上述の第1実施形態と同様の増幅器13a~13cと、アナログデジタル変換部21a,31b,31cを備えている。これらの機能は第1実施形態と同一である。従って、増幅器12で増幅された励磁信号が増幅器13aでさらに増幅され、アナログデジタル変換部21aでデジタルデータ列に変換される。また、レゾルバ11からの出力信号であるSIN信号は増幅器13bで増幅され、アナログデジタル変換部31bでデジタルデータ列に変換される。レゾルバ11からの出力信号であるCOS信号は増幅器13cで増幅され、アナログデジタル変換部31cでデジタルデータ列に変換される。
In the present embodiment, the excitation signal and the output signal are digitized by the data acquisition system 200. The data acquisition system 200 includes amplifiers 13a to 13c similar to those of the first embodiment described above, and analog-to- digital converters 21a, 31b, and 31c. These functions are the same as in the first embodiment. Therefore, the excitation signal amplified by the amplifier 12 is further amplified by the amplifier 13a, and is converted into a digital data string by the analog-to-digital converter 21a. Further, the SIN signal which is an output signal from the resolver 11 is amplified by the amplifier 13 b and converted into a digital data string by the analog-to-digital converter 31 b. The COS signal, which is an output signal from the resolver 11, is amplified by the amplifier 13c, and is converted into a digital data string by the analog-to-digital converter 31c.
データ収集システム200は、FIFOメモリ201を備えている。また、データ収集システム200は、通信ケーブルによって電気角取得特性測定システム190に接続されている。FIFOメモリ201は、アナログデジタル変換部21a,31b,31cが出力するデジタルデータ列を記録し、先入れ先出し形式で電気角取得特性測定システム190にデジタルデータ列を出力する。なお、データ収集システム200と電気角取得特性測定システム190とを接続する通信ケーブルは種々のケーブルであって良く、例えば、USBケーブル等を採用可能である。
The data acquisition system 200 includes a FIFO memory 201. The data acquisition system 200 is also connected to the electrical angle acquisition characteristic measurement system 190 by a communication cable. The FIFO memory 201 records digital data strings output from the analog-to- digital converters 21a, 31b, and 31c, and outputs the digital data strings to the electrical angle acquisition characteristic measurement system 190 in a first-in first-out format. The communication cable connecting the data acquisition system 200 and the electrical angle acquisition characteristic measurement system 190 may be various cables, and for example, a USB cable or the like can be adopted.
本実施形態において、モータ15aのシャフト(またはシャフトに連動して回転する部位)には、レゾルバ11のロータとエンコーダ15cが取り付けられている。モータ15aはモータドライバ15bから供給される電力によってシャフトを回転させる。エンコーダ15cは、ロータの回転角度に応じた信号(ABZ信号)を出力する。むろん、エンコーダ15cの出力態様は一例であり、絶対角が取得される構成等であっても良い。エンコーダ15cの出力信号は、データ収集システム200に入力され、他の信号と同時にサンプリングされる。
In the present embodiment, the rotor of the resolver 11 and the encoder 15c are attached to the shaft of the motor 15a (or the part that rotates in conjunction with the shaft). The motor 15a rotates the shaft by the power supplied from the motor driver 15b. The encoder 15c outputs a signal (ABZ signal) according to the rotation angle of the rotor. Of course, the output mode of the encoder 15 c is an example, and may be a configuration in which an absolute angle is obtained. The output signal of the encoder 15c is input to the data acquisition system 200 and sampled simultaneously with the other signals.
データ収集システム200は、エンコーダ15cの出力信号を取り込む機械角変換部202を備えている。機械角変換部202は、エンコーダ15cの出力信号を機械角に変換する機能を有する回路である。すなわち、機械角変換部202は、エンコーダ15cの出力信号に基づいて、ロータの機械角(0°~360°)を示すデータを生成し、FIFOメモリ201に記憶させる。当該機械角を示すデータも、先入れ先出し形式で電気角取得特性測定システム190に出力される。なお、本実施形態においては、エンコーダ15cの出力信号から得られた機械角がリファレンスとなる。
The data acquisition system 200 includes a mechanical angle conversion unit 202 that takes in the output signal of the encoder 15c. The mechanical angle conversion unit 202 is a circuit having a function of converting an output signal of the encoder 15 c into a mechanical angle. That is, the mechanical angle conversion unit 202 generates data indicating the mechanical angle (0 ° to 360 °) of the rotor based on the output signal of the encoder 15 c and stores the data in the FIFO memory 201. Data indicating the mechanical angle is also output to the electrical angle acquisition characteristic measurement system 190 in a first-in first-out manner. In the present embodiment, the mechanical angle obtained from the output signal of the encoder 15c is a reference.
電気角取得特性測定システム190は、汎用的なコンピュータであり、CPU等を含む図示しない制御部を備えている。当該制御部は、図示しないプログラムを実行することが可能であり、当該プログラムにより、メモリ191を適宜利用して第1実施形態と同様の種々の機能を実行することができる。すなわち、制御部は、励磁信号取得部290、出力信号取得部390、位相関係取得部40、振幅取得部50、電気角取得部60、パラメータ設定部700として機能する。ここで、第1実施形態と同一の機能は同一の符号で表記している。なお、制御部は、これらの機能以外にも精度取得部800として機能する。
The electrical angle acquisition characteristic measurement system 190 is a general-purpose computer, and includes a control unit (not shown) including a CPU and the like. The control unit can execute a program (not shown), and can execute various functions similar to those of the first embodiment by appropriately using the memory 191 by the program. That is, the control unit functions as an excitation signal acquisition unit 290, an output signal acquisition unit 390, a phase relationship acquisition unit 40, an amplitude acquisition unit 50, an electrical angle acquisition unit 60, and a parameter setting unit 700. Here, the same functions as in the first embodiment are denoted by the same reference numerals. The control unit functions as an accuracy acquisition unit 800 in addition to these functions.
電気角取得特性測定システム190においては、利用者が与えたトリガ等に応じてメモリ191におけるデータの取り込みの開始や停止を実施可能である。取り込みが開始されると、データ収集システム200から出力された励磁信号および出力信号のデジタルデータや機械角を示すデータがメモリ191に記録される。
The electrical angle acquisition characteristic measurement system 190 can start or stop the acquisition of data in the memory 191 according to a trigger or the like given by the user. When acquisition is started, digital data of the excitation signal and output signal output from the data acquisition system 200 and data indicating the mechanical angle are recorded in the memory 191.
励磁信号取得部290は、フーリエ変換部22aを有しており、第1実施形態と同様のフーリエ変換を実施可能である。すなわち、励磁信号取得部290は、メモリ191を参照してデジタルデータ化された励磁信号を取得し、フーリエ変換部22aの機能によって励磁信号の励磁周波数成分P(m)を取得し、出力する。出力信号取得部390は、フーリエ変換部32b,32cを有しており、第1実施形態と同様のフーリエ変換を実施可能である。すなわち、出力信号取得部390は、メモリ191を参照してデジタルデータ化されたSIN信号を取得し、フーリエ変換部32bの機能によってSIN信号の励磁周波数成分S(m)を取得し、出力する。また、出力信号取得部390は、メモリ191を参照してデジタルデータ化されたCOS信号を取得し、フーリエ変換部32cの機能によってCOS信号の励磁周波数成分C(m)を取得し、出力する。
The excitation signal acquisition unit 290 has a Fourier transform unit 22a, and can perform the same Fourier transform as that of the first embodiment. That is, the excitation signal acquisition unit 290 acquires an excitation signal converted into digital data with reference to the memory 191, acquires the excitation frequency component P (m) of the excitation signal by the function of the Fourier transform unit 22a, and outputs it. The output signal acquisition unit 390 includes Fourier transform units 32 b and 32 c, and can perform the same Fourier transform as that of the first embodiment. That is, the output signal acquisition unit 390 acquires the SIN signal converted into digital data with reference to the memory 191, acquires the excitation frequency component S (m) of the SIN signal by the function of the Fourier transform unit 32b, and outputs it. Further, the output signal acquisition unit 390 acquires the COS signal converted into digital data with reference to the memory 191, acquires the excitation frequency component C (m) of the COS signal by the function of the Fourier transform unit 32c, and outputs it.
位相関係取得部40、振幅取得部50、電気角取得部60は、第1実施形態と同様の機能を有している。ただし、本実施形態において、これらの機能はソフトウェアによって実現される。電気角取得部60が電気角θeを取得すると、精度取得部800は、取得された電気角θeとリファレンスとのずれを示す情報を取得し、出力する。
The phase relationship acquisition unit 40, the amplitude acquisition unit 50, and the electrical angle acquisition unit 60 have the same functions as in the first embodiment. However, in the present embodiment, these functions are realized by software. When the electrical angle acquisition unit 60 acquires the electrical angle θe, the accuracy acquisition unit 800 acquires and outputs information indicating the deviation between the acquired electrical angle θe and the reference.
精度取得部800は、ロータの機械角に基づいて、電気角取得部60が取得した電気角の精度を取得する機能を有している。すなわち、データ収集システム200においては、機械角変換部202がエンコーダ15cの出力信号に基づいてロータの機械角を取得してリファレンスとするため、本実施形態では当該リファレンスに基づいて電気角の精度を取得する。
The accuracy acquisition unit 800 has a function of acquiring the accuracy of the electrical angle acquired by the electrical angle acquisition unit 60 based on the mechanical angle of the rotor. That is, in the data acquisition system 200, since the mechanical angle conversion unit 202 acquires the mechanical angle of the rotor based on the output signal of the encoder 15c and uses it as a reference, in the present embodiment, the accuracy of the electrical angle is calculated based on the reference. get.
電気角の精度は、種々の指標で特定されて良く、本実施形態においては、機械角誤差=(電気角-(軸倍角×機械角))/軸倍角が精度を示す指標である。精度取得部800は、エンコーダ15cの出力信号から得られた機械角と、電気角取得部60が取得した電気角θeと軸倍角とに基づいて機械角誤差を取得する。なお、軸倍角が2以上の場合、軸倍角×機械角が360°より大きくなる場合があるため、軸倍角×機械角が360°より大きい場合、軸倍角×機械角が360°未満になるまで360°を減じる処理を繰り返す。
The accuracy of the electrical angle may be specified by various indexes, and in the present embodiment, mechanical angle error = (electrical angle− (axis double angle × mechanical angle)) / axis double angle is an index indicating accuracy. The accuracy acquisition unit 800 acquires the mechanical angle error based on the mechanical angle obtained from the output signal of the encoder 15c, the electrical angle θe acquired by the electrical angle acquisition unit 60, and the shaft double angle. When the shaft double angle is 2 or more, the shaft double angle × mechanical angle may be larger than 360 °. Therefore, when the shaft double angle × mechanical angle is larger than 360 °, the shaft double angle × mechanical angle is less than 360 °. Repeat the process to reduce 360 °.
機械角誤差が取得されると、精度取得部800は機械角誤差を出力する。なお、出力態様は、種々の態様であって良く、例えば、機械角を横軸とし、機械角誤差を縦軸としたグラフ等であっても良いし、機械角誤差の統計値等であっても良く、種々の態様を想定可能である。また、電気角の精度は、ロータの機械角に基づいて評価されれば良く、当該機械角を電気角に変換し、変換後の電気角と電気角取得部60が取得した電気角θeとの差分等によって精度が評価されても良く、種々の構成を採用可能である。また、出力先も限定されず、図示しないディスプレイ以外にも、測定データを記録するための図示しないデータベースや、図示しないプリンター等が出力先となる構成等であっても良い。
When the mechanical angle error is acquired, the accuracy acquisition unit 800 outputs the mechanical angle error. The output mode may be various modes, for example, a graph in which the mechanical angle is taken on the horizontal axis and the mechanical angle error is taken on the vertical axis, or a statistical value of the mechanical angle error, etc. Also, various aspects are conceivable. The accuracy of the electrical angle may be evaluated based on the mechanical angle of the rotor, and the mechanical angle is converted into an electrical angle, and the electrical angle after conversion and the electrical angle θe acquired by the electrical angle acquiring unit 60 The accuracy may be evaluated by a difference or the like, and various configurations can be adopted. In addition, the output destination is not limited, and in addition to the display (not shown), the output destination may be a database (not shown) for recording measurement data, a printer (not shown) or the like.
なお、本実施形態において、パラメータ設定部700は、キーボード等の入力部による利用者の入力に基づいてパラメータの入力を受け付けることができる。パラメータ設定部700は、上述の第1実施形態と同様にサンプリング数Nを受け付けることが可能であり、受け付けたパラメータでフーリエ変換部22a,32b,32cにフーリエ変換を実施させることができる。従って、例えば、励磁信号発生部13における励磁信号の励磁周波数frが10kHzであり、アナログデジタル変換部21a,31b,31cにおけるサンプリング周波数fsが320kHzに設定されている場合等において、利用者は、fr/fsが1/32であることに基づいてNを32,64などと設定することにより、m=N×fr/fsを整数にすることが可能である。
In the present embodiment, the parameter setting unit 700 can receive parameter input based on the user's input from the input unit such as a keyboard. The parameter setting unit 700 can receive the sampling number N as in the first embodiment described above, and can cause the Fourier transform units 22a, 32b, and 32c to perform Fourier transform using the received parameters. Therefore, for example, in the case where the excitation frequency f r of the excitation signal in the excitation signal generating unit 13 is 10 kHz and the sampling frequency f s in the analog-to- digital converters 21 a, 31 b, and 31 c is set to 320 kHz, the user It is possible to make m = N × fr / fs an integer by setting N to 32, 64 or the like based on f r / f s being 1/32.
むろん、パラメータ設定部700においてサンプリング周波数fs、励磁周波数frを受け付け、データ収集システム200におけるアナログデジタル変換のサンプリング周波数を制御可能であっても良いし、励磁信号発生部13における励磁信号の励磁周波数を制御可能であっても良い。
Of course, the parameter setting unit 700 may receive the sampling frequency f s and the excitation frequency f r, and may control the sampling frequency of analog-to-digital conversion in the data acquisition system 200. Alternatively, the excitation signal generator 13 may excite the excitation signal. The frequency may be controllable.
本実施形態において、パラメータ設定部700は、さらに、モータ15aを制御するためのパラメータの入力を受け付けることができ、当該パラメータでモータ15aを制御することができる。この意味で、パラメータ設定部700はモータ制御部として機能する。すなわち、パラメータ設定部700は、モータ15aを動作させるためのパラメータ、例えば、回転速度や、一定期間毎に一定角度回転させる際の期間および角度等を設定することができる。
In the present embodiment, the parameter setting unit 700 can further receive an input of a parameter for controlling the motor 15a, and can control the motor 15a with the parameter. In this sense, the parameter setting unit 700 functions as a motor control unit. That is, the parameter setting unit 700 can set parameters for operating the motor 15a, for example, a rotational speed, a period and an angle when rotating by a fixed angle every fixed period, and the like.
モータ15aを操作させるためのパラメータが入力されると、パラメータ設定部700からモータドライバ15bに対してパラメータに応じた制御信号が出力される。この結果モータドライバ15bは、当該パラメータが示す動作でモータ15aが駆動するようにモータ15aを制御する。
When a parameter for operating the motor 15a is input, the parameter setting unit 700 outputs a control signal according to the parameter to the motor driver 15b. As a result, the motor driver 15b controls the motor 15a to drive the motor 15a in the operation indicated by the parameter.
以上の構成において、利用者の指示等により測定開始トリガが発生すると、パラメータ設定部700がモータ制御部として機能し、モータ15aの動作パラメータに応じた制御信号をモータドライバ15bに出力する。この結果モータドライバ15bがモータ15aを回転駆動させ、パラメータに応じた回転を行わせる。
In the above configuration, when the measurement start trigger is generated by the user's instruction or the like, the parameter setting unit 700 functions as a motor control unit, and outputs a control signal according to the operation parameter of the motor 15a to the motor driver 15b. As a result, the motor driver 15b rotationally drives the motor 15a to perform rotation according to the parameters.
また、電気角取得特性測定システム190は、測定開始トリガに応じてメモリ191に対する取り込みを開始する。この結果、励磁信号および出力信号のデジタルデータや機械角を示すデータがメモリ191に記録される。この後、電気角取得特性測定システム190は、FIFOメモリ201がオーバーフローしないように、定期的にFIFOメモリ201のデータを取り込む。
In addition, the electrical angle acquisition characteristic measurement system 190 starts acquisition to the memory 191 in response to the measurement start trigger. As a result, digital data of the excitation signal and the output signal and data indicating the mechanical angle are recorded in the memory 191. Thereafter, the electrical angle acquisition characteristic measurement system 190 periodically fetches data in the FIFO memory 201 so that the FIFO memory 201 does not overflow.
機械角0°~360°に相当するデジタルデータ列がメモリ191に取り込まれると、パラメータ設定部700は、モータドライバ15bに制御信号を出力してモータ15aの回転を停止させる。さらに、励磁信号取得部290および出力信号取得部390は、フーリエ変換処理を開始する。なお、エンコーダ15cの出力信号に基づいて機械角が取得された時点での電気角を計算する際にフーリエ変換に算入されるデータは、種々の手法で特定されて良い。例えば、当該時点を中心に前後ほぼ等しい数のデータをサンプリング数N個収集してフーリエ変換に算入する構成等を採用可能である。なお、サンプルの収集は、当該時点を含む前後の期間におけるサンプルがN個収集される構成であれば良い。
When a digital data string corresponding to a mechanical angle of 0 ° to 360 ° is taken into the memory 191, the parameter setting unit 700 outputs a control signal to the motor driver 15b to stop the rotation of the motor 15a. Furthermore, the excitation signal acquisition unit 290 and the output signal acquisition unit 390 start Fourier transform processing. The data included in the Fourier transform when calculating the electrical angle at the time when the mechanical angle is obtained based on the output signal of the encoder 15c may be specified by various methods. For example, it is possible to employ a configuration in which N sampling numbers of data of approximately the same number before and after the time point are collected to be included in the Fourier transform. The collection of the samples may be any configuration as long as N samples are collected in the period before and after the point in time.
以上のようにして、N個のサンプルが収集されると、フーリエ変換部22a、32b,32cがフーリエ変換を行い、その結果に基づいて位相関係取得部40が位相の関係を取得し、振幅取得部50が振幅を取得する。そして、これらの結果に基づいて電気角取得部60が電気角θeを取得し、精度取得部800が機械角誤差を取得する。このような処理は、エンコーダ15cの出力信号によって特定された複数の機械角について実施され、当該複数の機械角のそれぞれにおける機械角誤差が取得される。以上の構成によれば、数秒程度で機械角毎の機械角誤差が取得される。上述の特許文献1のようなトラッキングループ型デジタル角度変換器を使用して電気角取得特性測定システムを構築する場合、測定データが落ち着くまで時間がかかることや、FIFOメモリが備わっていないため、ロータが停止した状態で測定し、移動させ、再度停止させて測定する作業を繰り返す必要がある。このため、例えば、1周で72点の機械角誤差を取得するのに、回転を開始してから数分を要していた。しかし、本実施形態においてはモータ15aを停止させる必要はなく、例えば、1周512点の機械角誤差を取得するのに、モータ15aの回転開始から数秒程度で機械角誤差が取得され、レゾルバ11の特性として評価することが可能になる。従って、製造段階でレゾルバ11の良否の判定等に多大な効果がある。
As described above, when N samples are collected, the Fourier transform units 22a, 32b, and 32c perform Fourier transform, and based on the results, the phase relationship acquisition unit 40 acquires phase relationships and acquires amplitudes. The unit 50 acquires the amplitude. Then, based on these results, the electrical angle acquisition unit 60 acquires the electrical angle θe, and the accuracy acquisition unit 800 acquires the mechanical angle error. Such processing is performed for a plurality of mechanical angles specified by the output signal of the encoder 15c, and mechanical angle errors at each of the plurality of mechanical angles are obtained. According to the above configuration, the mechanical angle error for each mechanical angle can be acquired in several seconds. When constructing an electrical angle acquisition characteristic measurement system using a tracking loop type digital angle converter like the above-mentioned patent document 1, it takes time until measurement data settles down, and there is no FIFO memory. It is necessary to repeat the work of measuring, moving, stopping again and measuring in the state where is stopped. Therefore, for example, it takes several minutes after starting the rotation to obtain the mechanical angle error of 72 points in one rotation. However, in the present embodiment, it is not necessary to stop the motor 15a. For example, when acquiring the mechanical angle error of 512 points per round, the mechanical angle error is acquired within several seconds from the start of rotation of the motor 15a. It becomes possible to evaluate as a characteristic of Therefore, the determination of the quality of the resolver 11 or the like at the manufacturing stage has a great effect.
なお、電気角取得特性測定システム190において電気角を取得するための構成は、図14に示す構成以外にも種々の構成を採用可能である。例えば、電気角を取得するための構成が、第2実施形態~第8実施形態のいずれかの構成であってもよい。従って、例えば、フーリエ変換されていない励磁信号および出力信号のデジタルデータに基づいて励磁信号と出力信号との位相の関係が取得されても良い。また、例えば、データ収集システム200において励磁信号や出力信号を取り込む際に、マルチプレクサが利用されても良い。さらに、ロータがモータ15a以外の動力によって回転駆動されても良い。例えば、手動や空気圧、油圧、バネ等の弾性力等によってロータが回転駆動される構成等が採用されてもよい。さらに、モータ15aの回転がギア等を介してロータに伝達されても良いし、モータ15aのシャフトがギアを介して回転する構成等であっても良い。
In addition, the structure for acquiring an electrical angle in the electrical angle acquisition characteristic measurement system 190 can employ | adopt various structures besides the structure shown in FIG. For example, the configuration for acquiring the electrical angle may be any configuration of the second to eighth embodiments. Therefore, for example, the relationship between the phase of the excitation signal and the phase of the output signal may be obtained based on the excitation signal not subjected to Fourier transform and digital data of the output signal. Also, for example, when acquiring the excitation signal and the output signal in the data acquisition system 200, a multiplexer may be used. Furthermore, the rotor may be rotationally driven by power other than the motor 15a. For example, a configuration may be employed in which the rotor is rotationally driven by manual operation, an air pressure, an oil pressure, an elastic force such as a spring, or the like. Furthermore, the rotation of the motor 15a may be transmitted to the rotor via a gear or the like, or the shaft of the motor 15a may be rotated via a gear.
(6)他の実施形態:
以上の実施形態は本発明を実施するための一例であり、本発明の要旨を逸脱しない範囲内において他にも種々の実施形態を採用可能である。例えば、電気角取得システムや電気角取得特性測定システムがノイズ低減のためのフィルタを備えていても良い。フィルタは各所に配置可能であるが、例えば、デジタルデータ列に対してフィルタリングするのであれば、アナログデジタル変換部21a,31b,31cのそれぞれとフーリエ変換部22a,32b,32cのそれぞれとの間にデジタルフィルタを配置する構成等を採用可能である。デジタルフィルタは、種々の態様であって良く、FIR(Finite impulse response)、IIR(Infinite impulse response)、バタワース形式のローパスフィルタやバンドパスフィルタ等を採用可能である。むろん、電気角θeを取得し、さらに他の値、例えば、ロータの回転速度等を取得する構成であってもよい。 (6) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted without departing from the scope of the present invention. For example, the electrical angle acquisition system or the electrical angle acquisition characteristic measurement system may include a filter for noise reduction. Although the filter can be arranged at each place, for example, when filtering with respect to a digital data string, it is between the respective analog-to- digital converters 21a, 31b, 31c and each of the Fourier transformers 22a, 32b, 32c. A configuration in which a digital filter is arranged can be employed. The digital filter may be in various forms, and it is possible to employ a finite impulse response (FIR), an infinite impulse response (IIR), a low pass filter of a Butterworth type, a band pass filter, or the like. Of course, the electric angle θe may be acquired, and another value such as the rotational speed of the rotor may be acquired.
以上の実施形態は本発明を実施するための一例であり、本発明の要旨を逸脱しない範囲内において他にも種々の実施形態を採用可能である。例えば、電気角取得システムや電気角取得特性測定システムがノイズ低減のためのフィルタを備えていても良い。フィルタは各所に配置可能であるが、例えば、デジタルデータ列に対してフィルタリングするのであれば、アナログデジタル変換部21a,31b,31cのそれぞれとフーリエ変換部22a,32b,32cのそれぞれとの間にデジタルフィルタを配置する構成等を採用可能である。デジタルフィルタは、種々の態様であって良く、FIR(Finite impulse response)、IIR(Infinite impulse response)、バタワース形式のローパスフィルタやバンドパスフィルタ等を採用可能である。むろん、電気角θeを取得し、さらに他の値、例えば、ロータの回転速度等を取得する構成であってもよい。 (6) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted without departing from the scope of the present invention. For example, the electrical angle acquisition system or the electrical angle acquisition characteristic measurement system may include a filter for noise reduction. Although the filter can be arranged at each place, for example, when filtering with respect to a digital data string, it is between the respective analog-to-
さらに、振幅の最大値が一致していないSIN信号とCOS信号に基づいて楕円補正を行う構成であっても良い。すなわち、上述の実施形態においては、SIN信号の振幅はKsinθeでありCOS信号の振幅はKcosθeであるため、振幅の最大値が
一致する。しかし、両信号の振幅の最大値を完全に一致させるために増幅器13b,13cの増幅率や、出力巻線の巻線数を詳細に調整することが必要になると、電気角θeを取得するための準備が煩雑になる場合がある。 Furthermore, the configuration may be such that elliptic correction is performed based on the SIN signal and the COS signal whose maximum values of amplitude do not match. That is, in the above-described embodiment, since the amplitude of the SIN signal is K sin θe and the amplitude of the COS signal is K cos θ e, the maximum values of the amplitudes coincide with each other. However, when it becomes necessary to adjust in detail the amplification factors of the amplifiers 13b and 13c and the number of turns of the output winding in order to completely match the maximum values of the amplitudes of both signals, in order to obtain the electrical angle θe The preparation of may be complicated.
一致する。しかし、両信号の振幅の最大値を完全に一致させるために増幅器13b,13cの増幅率や、出力巻線の巻線数を詳細に調整することが必要になると、電気角θeを取得するための準備が煩雑になる場合がある。 Furthermore, the configuration may be such that elliptic correction is performed based on the SIN signal and the COS signal whose maximum values of amplitude do not match. That is, in the above-described embodiment, since the amplitude of the SIN signal is K sin θe and the amplitude of the COS signal is K cos θ e, the maximum values of the amplitudes coincide with each other. However, when it becomes necessary to adjust in detail the amplification factors of the
そこで、SIN信号とCOS信号における振幅の最大値が不一致である状態で測定を行ってもよい。すなわち、増幅器13bによる増幅後のSIN信号がb・sinθe・sin(2πfrt)、増幅器13cによる増幅後のCOS信号がa・cosθe・sin(2πfrt)である場合を想定する。ただし、b≠aである。
Therefore, the measurement may be performed in a state in which the maximum values of the amplitudes in the SIN signal and the COS signal do not match. That, SIN signal after amplification by the amplifier 13b is b · sinθe · sin (2πf r t), COS signal after amplification by the amplifier 13c is assumed that it is a · cosθe · sin (2πf r t). However, it is b ≠ a.
この場合において、図2Cに示すような電気角θeによるSIN信号とCOS信号との振幅の変化を示す図を作成すると、振幅値のプロットが円にならず楕円になる。図15は、a>bである場合における電気角θeによるSIN信号とCOS信号との振幅の変化を示す図である。図15においては、振幅値のプロットを二点鎖線で示しており、同図15に示すようにプロット結果は楕円になる。一方、SIN信号とCOS信号の振幅の最大値が等しい場合における振幅値のプロットは、一点鎖線で示すような円形になる。
In this case, when a diagram showing the change in the amplitude of the SIN signal and the COS signal according to the electrical angle θe as shown in FIG. 2C is created, the plot of the amplitude value becomes an ellipse instead of a circle. FIG. 15 is a diagram showing a change in the amplitude of the SIN signal and the COS signal according to the electrical angle θe when a> b. In FIG. 15, the plot of the amplitude value is shown by a two-dot chain line, and as shown in FIG. 15, the plot result is an ellipse. On the other hand, the plot of the amplitude value in the case where the maximum values of the amplitudes of the SIN signal and the COS signal are equal is circular as shown by a dashed dotted line.
ここで、COS信号の振幅値がxとなる場合の振幅値を、振幅値が不一致の場合についてy、振幅値が一致する場合についてy'とすると、y'=(a/b)yとなる。従って、この関係を利用すれば、振幅値が不一致である場合の電気角θeを取得することが可能になる。具体的には、例えば、第1実施形態において、振幅取得部50が、一方の出力信号であるSIN信号の振幅をa/b倍に補正するか、または、他方の出力信号であるCOS信号の振幅をb/a倍に補正する構成を採用可能である。すなわち、振幅取得部50が、上述のPwrSinを(a/b)PwrSinに補正する構成や、PwrCosを(b/a)PwrCosに補正する構成等を採用可能である。以上の構成の場合、補正は電気角θeを取得する段階で1度実行すればよく、演算量を低減することができる。また、SIN信号をデジタルデータ化したデータ列をs(n)、COS信号をデジタルデータ化したデータ列をc(n)とした場合において、s(n)を(a/b)s(n)と補正する構成や、c(n)を(b/a)c(n)と補正する構成等を採用可能である。なお、この構成において、補正は、サンプリング毎に行われる。なお、a,bは、増幅器13b,13cの出力信号における振幅の最大値を測定して取得する構成や、パラメータ設定部70によって設定される構成等を採用可能であり、種々の構成を採用可能である。なお、前者の場合、ロータを複数回回転させて振幅の最大値を測定すれば、より正確な値を取得することができる。
Here, assuming that the amplitude value when the amplitude value of the COS signal is x is y when the amplitude values do not match and y ′ when the amplitude values match, y ′ = (a / b) y . Therefore, using this relationship, it is possible to obtain the electrical angle θe in the case where the amplitude values do not match. Specifically, for example, in the first embodiment, the amplitude acquiring unit 50 corrects the amplitude of the SIN signal which is one output signal to a / b times, or the COS signal which is the other output signal. A configuration that corrects the amplitude to b / a can be employed. That is, it is possible to adopt a configuration in which the amplitude acquisition unit 50 corrects the above-mentioned PwrSin to (a / b) PwrSin, a configuration in which the PwrCos is corrected to (b / a) PwrCos, and the like. In the case of the above configuration, the correction may be performed once at the stage of obtaining the electrical angle θe, and the amount of calculation can be reduced. In the case where a data string obtained by digitizing a SIN signal is s (n) and a data string obtained by digitizing a COS signal is c (n), s (n) is given by (a / b) s (n) It is possible to adopt a configuration that corrects, and a configuration that corrects c (n) to (b / a) c (n). In this configuration, the correction is performed for each sampling. For a and b, a configuration in which the maximum value of the amplitude in the output signals of the amplifiers 13b and 13c is measured and acquired, a configuration set by the parameter setting unit 70, and the like can be adopted, and various configurations can be adopted. It is. In the former case, more accurate values can be obtained by rotating the rotor a plurality of times and measuring the maximum value of the amplitude.
さらに、電気角取得システムにおいては、ある瞬間の電気角θeを取得するためにサンプリング数Nのサンプルの収集を必要とするため、当該サンプリング数Nの収集の過程でロータが回転すると、測定値と現在の値とで誤差が発生し得る。そこで、このような誤差を補正する構成が採用されてもよい。例えば、サンプリング数Nの収集に要する期間をロータの回転速度から演算したり、ロータの回転速度に対する誤差の特性を予め演算や統計等によって算出したりすれば、誤差の特性を特定することができる。そこで、当該特性に基づいて特定される誤差を、電気角θeから減じた値を電気角θeとして取得する構成が採用されてもよい。なお、誤差の特性は、例えば、回転速度に対する誤差の関係を示す関数等によって特定可能である。この場合、ロータの回転速度と誤差との関係がパラメータ設定部70によって設定され、ロータの回転速度に応じて誤差が特定され、電気角θeが補正される構成等を採用可能である。
Furthermore, in the electrical angle acquisition system, it is necessary to collect a sampling number N of samples in order to acquire an electrical angle θe at a certain moment, so when the rotor rotates in the process of collecting the sampling number N, An error may occur with the current value. Therefore, a configuration for correcting such an error may be employed. For example, if the period required for collecting the sampling number N is calculated from the rotational speed of the rotor, or the characteristics of the error with respect to the rotational speed of the rotor are calculated in advance by calculation, statistics or the like, the error characteristics can be specified. . Therefore, a configuration may be employed in which a value obtained by subtracting an error specified based on the characteristic from the electrical angle θe is acquired as the electrical angle θe. The characteristic of the error can be specified, for example, by a function or the like that indicates the relationship of the error to the rotational speed. In this case, the relationship between the rotational speed of the rotor and the error is set by the parameter setting unit 70, the error is specified according to the rotational speed of the rotor, and the electrical angle θe is corrected.
さらに、パラメータ設定部70,700においては、上述のサンプリング周波数fs、サンプリング数N、励磁周波数fr以外にも種々のパラメータを設定可能に構成されて良い。例えば、軸倍角、レゾルバ11と電気角取得システムとの結線情報(結線によって図2B,図2Cの特性が変化し得る)、励磁信号の振幅E、励磁信号や出力信号の振幅の中心電圧(例えば、異常検出に利用可能)、上述の出力信号の振幅a,b、ノイズフィルタの特性(例えば、パラメータによってフィルタリング特性を指定可能にする等)、電気角出力の形式(シリアル、パラレル、電圧、A B Z、U V W等)、励磁信号に対するSIN信号、COS信号の位相ずれ(既知のずれを補正可能にする)、機械角、電気角の原点ずれ(例えば、レゾルバ11を装置に任意の角度で固定し、後で機械角0度の位置と電気角0度の位置を調整できる構成とする等)、N個のサンプリングの間における電気角θeのずれ(ロータの回転速度による誤差の補正値)等が入力可能であっても良い。
Furthermore, the parameter setting units 70 and 700 may be configured to be able to set various parameters other than the sampling frequency f s , the sampling number N, and the excitation frequency f r described above. For example, information of connection between shaft double angle, resolver 11 and electrical angle acquisition system (the characteristics of FIG. 2B and FIG. 2C can be changed by connection), amplitude E of excitation signal, center voltage of amplitude of excitation signal or output signal (for example, , Available for abnormality detection), the amplitudes a and b of the above-mentioned output signal, characteristics of noise filter (for example, specification of filtering characteristics by parameters etc.), form of electrical angle output (serial, parallel, voltage, A BZ, U V W, etc.) SIN signal to excitation signal, phase shift of COS signal (makes it possible to correct known shift), mechanical angle, home position shift of electrical angle (eg resolver 11 at any angle to device) Fixed at a position where the mechanical angle 0 degree position and the electrical angle 0 degree position can be adjusted, etc.), and the deviation of the electrical angle θe between N samplings (error due to the rotational speed of the rotor) A correction value of the difference) or the like may be input.
回転検出器は、1相励磁2相出力の構成であれば良く、励磁巻線が1相存在し、出力巻線が2相存在し、励磁巻線に対して励磁信号が入力された状態で、2相の出力巻線から出力信号が出力される構成であれば良い。すなわち、出力信号がロータの回転に応じて変調され、当該出力信号と励磁信号とに基づいて、電気角を特定することができればよい。励磁巻線や出力巻線、ロータの態様は、各種の態様とされて良い。
The rotation detector may be configured as a one-phase excitation two-phase output, in which one excitation winding exists, two output windings exist, and an excitation signal is input to the excitation winding. The output signal may be output from two-phase output windings. That is, the output signal may be modulated according to the rotation of the rotor, and the electrical angle may be specified based on the output signal and the excitation signal. The modes of the excitation winding, the output winding, and the rotor may be various modes.
励磁信号取得部は、励磁信号の励磁周波数成分をフーリエ変換によって取得することができればよい。すなわち、励磁信号取得部は、励磁信号を取り込み、電気角を取得するために必要な成分である励磁周波数成分を抽出することができればよい。励磁信号取得部においては、励磁信号の励磁周波数成分を取得することができればよく、励磁信号取得部が取り込む励磁信号の態様は種々の態様であって良い。
The excitation signal acquisition part should just acquire the excitation frequency component of an excitation signal by Fourier-transform. That is, the excitation signal acquisition unit has only to be capable of taking in the excitation signal and extracting an excitation frequency component that is a component necessary for acquiring the electrical angle. In the excitation signal acquisition unit, the excitation frequency component of the excitation signal may be acquired, and the aspect of the excitation signal acquired by the excitation signal acquisition unit may be various modes.
例えば、励磁信号取得部に対してアナログの励磁信号が入力されてもよいし、励磁信号取得部に対してデジタルの励磁信号が入力されても良い。前者であれば、励磁信号取得部においてデジタルアナログ変換が行われる。後者においては、励磁信号取得部が励磁信号をデジタルデータとして取り込むことができればよく、デジタルデータとしての励磁信号は、パラメータに基づいて生成された信号であっても良いし、回転検出器に供給されたアナログの励磁信号がデジタルアナログ変換された信号であっても良く、種々の構成が採用可能である。なお、励磁信号の発生源は、電気角取得システムに備えられていても良いし、電気角取得システムの外部に備えられていても良い。
For example, an analog excitation signal may be input to the excitation signal acquisition unit, or a digital excitation signal may be input to the excitation signal acquisition unit. In the former case, digital-to-analog conversion is performed in the excitation signal acquisition unit. In the latter case, it is sufficient that the excitation signal acquisition unit can capture the excitation signal as digital data, and the excitation signal as digital data may be a signal generated based on a parameter or may be supplied to the rotation detector. The excitation signal may be a signal obtained by digital-to-analog conversion, and various configurations can be adopted. The generation source of the excitation signal may be provided in the electrical angle acquisition system, or may be provided outside the electrical angle acquisition system.
励磁周波数は、励磁信号の周波数であり、当該励磁周波数で振動する種々の信号を励磁信号とすることができる。励磁信号は、典型的には正弦波等の三角関数で表現される信号であり、励磁信号が生成された段階では単一の周波数成分を有する。
The excitation frequency is the frequency of the excitation signal, and various signals oscillating at the excitation frequency can be used as the excitation signal. The excitation signal is typically a signal represented by a trigonometric function such as a sine wave, and has a single frequency component at the stage when the excitation signal is generated.
フーリエ変換は、時間空間の信号である励磁信号を周波数空間の信号に変換することができればよく、励磁信号の励磁周波数成分を抽出できるように変換が行われればよい。従って、複数の周波数成分を示すデジタルデータ列が生成され、デジタルデータ列の中から励磁周波数成分が選択されてもよいし、励磁周波数成分に相当するデータが算出される構成等であっても良い。
The Fourier transform only needs to be capable of converting an excitation signal, which is a time space signal, into a frequency space signal, and may be performed so as to extract an excitation frequency component of the excitation signal. Therefore, a digital data string representing a plurality of frequency components may be generated, an excitation frequency component may be selected from among the digital data strings, or data corresponding to the excitation frequency component may be calculated. .
励磁周波数成分の抽出は、種々の態様で実行されてよい。例えば、フーリエ変換において、励磁周波数と等しい周波数成分が得られている場合、当該周波数成分が励磁周波数成分として取得される。また、励磁周波数と等しい周波数成分が得られていない場合、フーリエ変換によって得られた複数の周波数成分のデータの中から、励磁周波数に最も近い周波数の成分や励磁周波数から既定範囲内の周波数の成分が選択されて励磁周波数成分と見なされても良い。このようなフーリエ変換の特徴は、出力信号取得部も同様である。従って、励磁信号取得部と出力信号取得部とは、同一のフーリエ変換部によって実現されても良く、この場合、順番に励磁信号と出力信号とのそれぞれについてフーリエ変換が行われる。
Extraction of excitation frequency components may be performed in various manners. For example, when a frequency component equal to the excitation frequency is obtained in the Fourier transform, the frequency component is acquired as the excitation frequency component. In addition, when a frequency component equal to the excitation frequency is not obtained, among the data of a plurality of frequency components obtained by Fourier transform, the component of the frequency closest to the excitation frequency or the component of the frequency within a predetermined range from the excitation frequency Is selected and may be regarded as an excitation frequency component. The characteristics of such Fourier transform are the same as in the output signal acquisition unit. Therefore, the excitation signal acquisition unit and the output signal acquisition unit may be realized by the same Fourier transform unit. In this case, Fourier transformation is performed on each of the excitation signal and the output signal in order.
出力信号取得部は、2相の出力信号の励磁周波数成分をフーリエ変換によって取得することができればよい。すなわち、出力信号は、回転検出器のロータの回転に応じて変調された状態で出力される。そして、当該出力信号は、励磁信号によって励磁された信号であるため、振幅等が変調したとしても、励磁信号の周波数と同等の周波数で変化する信号となって出力される。出力信号が変調された様子を特定するための基準は励磁信号であり、励磁信号は励磁周波数の信号であるため、出力信号において電気角を取得するために必要な成分は励磁周波数成分である。そこで、出力信号取得部は、出力信号を取り込み、電気角を取得するために必要な成分である励磁周波数成分を抽出することができればよい。
The output signal acquisition part should just acquire the excitation frequency component of the two-phase output signal by Fourier-transform. That is, the output signal is output in a modulated state according to the rotation of the rotor of the rotation detector. Since the output signal is a signal excited by the excitation signal, even if the amplitude or the like is modulated, the output signal is output as a signal that changes at a frequency equivalent to the frequency of the excitation signal. Since the reference for identifying how the output signal is modulated is the excitation signal, and the excitation signal is a signal of the excitation frequency, the component necessary to obtain the electrical angle in the output signal is the excitation frequency component. Then, the output signal acquisition part should just take in an output signal and can extract the excitation frequency component which is a component required in order to acquire an electrical angle.
2相の出力信号は、回転検出器から出力される信号であり、これらの2相の出力信号に基づいて電気角が取得可能であれば良い。出力信号取得部が取り込む出力信号の態様は種々の態様であって良い。例えば、出力信号取得部に対してアナログの出力信号が入力されてもよいし、出力信号取得部に対してデジタルの出力信号が入力されても良い。前者であれば、出力信号取得部においてデジタルアナログ変換が行われる。後者であれば、出力信号取得部の外部で出力信号がデジタルアナログ変換される。
The two-phase output signal is a signal output from the rotation detector, and it is sufficient if an electrical angle can be obtained based on these two-phase output signals. The aspect of the output signal which an output signal acquisition part takes in may be various aspects. For example, an analog output signal may be input to the output signal acquisition unit, or a digital output signal may be input to the output signal acquisition unit. In the former case, digital-to-analog conversion is performed in the output signal acquisition unit. In the latter case, the output signal is subjected to digital-to-analog conversion outside the output signal acquisition unit.
位相関係取得部は、励磁信号と、2相の出力信号とに基づいて、励磁信号と2相の出力信号との位相の関係を取得することができればよい。すなわち、回転検出器の特性(巻線の結線等)が変化しなければ、励磁信号と2相の出力信号とにおける位相の関係は固定的である。従って、位相の関係が判明すれば、電気角の象限(電気角が属する角度範囲)が特定される。位相関係取得部は、このような電気角の取得の基になる情報として位相の関係を取得することができればよい。
The phase relationship acquisition unit only needs to acquire the phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal. That is, if the characteristics of the rotation detector (wire connections and the like) do not change, the relationship between the phases of the excitation signal and the two-phase output signal is fixed. Therefore, if the phase relationship is known, the quadrant of the electrical angle (the angular range to which the electrical angle belongs) is identified. The phase relationship acquiring unit only needs to be able to acquire the phase relationship as information that is the basis of such acquisition of the electrical angle.
位相の関係を取得するための構成としては、種々の構成を採用可能であり、上述のような座標軸の回転以外にも種々の手法を採用可能である。例えば、励磁信号とSIN信号との内積によって両者の位相の関係が取得され、励磁信号とCOS信号との内積によって両者の位相の関係が取得される構成を採用可能である。より具体的には、励磁信号の励磁周波数成分P(m)とSIN信号をフーリエ変換した出力フーリエ信号であるS(m)の内積、すなわち、Sr・Pr+Si・Piを計算し、計算結果が正であれば同相、負であれば逆相とする構成を採用可能である。また、励磁信号の励磁周波数成分P(m)とCOS信号をフーリエ変換した出力フーリエ信号であるC(m)の内積、すなわち、Cr・Pr+Ci・Piを計算し、計算結果が正であれば同相、負であれば逆相とする構成を採用可能である。
As the configuration for acquiring the phase relationship, various configurations can be adopted, and various methods other than the rotation of the coordinate axes as described above can be adopted. For example, it is possible to adopt a configuration in which the relation between the phases of the excitation signal and the SIN signal is acquired by the inner product of the excitation signal and the relation between the phases of the two is acquired by the inner product of the excitation signal and the COS signal. More specifically, the inner product of the excitation frequency component P (m) of the excitation signal and the output Fourier signal S (m) obtained by Fourier-transforming the SIN signal, ie, Sr · Pr + Si · Pi, is calculated. If it is, it is possible to adopt a configuration in which it is in phase, and in the case of negative, it is in opposite phase. Also, the inner product of the excitation frequency component P (m) of the excitation signal and the output Fourier signal C (m) obtained by subjecting the COS signal to Fourier transform, ie, Cr · Pr + Ci · Pi, is calculated. If negative, it is possible to adopt a configuration in which the phases are reversed.
振幅取得部は、2相の出力信号の励磁周波数成分に基づいて、2相の出力信号の振幅を取得することができればよい。すなわち、回転検出器の特性が変化しなければ、2相の出力信号の振幅によって電気角の角度の候補が特定される。振幅取得部は、このような電気角の取得の基になる情報として振幅を取得することができればよい。振幅を取得するための構成としては、種々の構成を採用可能であり、上述のような実数部と虚数部の2乗の平方根以外の手法で取得されても良い。例えば、上述の座標軸回転が行われた後の実数部が振幅と見なされる構成等が採用されてもよい。
The amplitude acquiring unit only needs to acquire the amplitudes of the two-phase output signal based on the excitation frequency components of the two-phase output signal. That is, if the characteristics of the rotation detector do not change, candidates for the electrical angle are identified by the amplitudes of the two-phase output signal. The amplitude acquiring unit only needs to acquire the amplitude as information on which such an electrical angle is to be acquired. Various configurations can be adopted as the configuration for acquiring the amplitude, and the acquisition may be performed by a method other than the square root of the square of the real part and the imaginary part as described above. For example, a configuration in which the real part after the above-mentioned coordinate axis rotation is performed may be considered as an amplitude may be employed.
電気角取得部は、位相の関係と2相の出力信号の振幅とに基づいて、回転検出器の電気角を取得することができればよい。すなわち、電気角取得部は、振幅の比によって特定される角度の候補から、位相の関係に基づいて特定された電気角の象限内に含まれる角度を選択して電気角とすることができればよい。
The electrical angle acquisition unit only needs to be able to acquire the electrical angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal. That is, the electrical angle acquisition unit may select an angle included in the quadrant of the electrical angle specified based on the phase relationship from the candidate of the angle identified by the ratio of the amplitudes and set the angle as the electrical angle. .
さらに、フーリエ変換結果X(k)から励磁周波数成分を取得する際には、k=mであり、m=N×fr/fsが整数となることが好ましいが、N×fr/fsが整数値でない場合であっても、mがN×fr/fsに近ければよい。すなわち、mがN×fr/fsに近ければ、フーリエ変換結果X(m)が励磁周波数成分であると見なすことが可能である。mとN×fr/fsとの差分が生じている場合、その差分に応じて電気角θeの誤差が変化するため、誤差が許容範囲にあるmが選択できるのであれば、X(m)が励磁周波数成分であると見なす構成であると言える。
Furthermore, when acquiring the excitation frequency component from the Fourier transform result X (k), it is preferable that k = m and m = N × f r / f s be an integer, but N × f r / f Even if s is not an integer value, m may be close to N × f r / f s . That is, if m is close to N × f r / f s , it is possible to consider that the Fourier transform result X (m) is the excitation frequency component. If the difference between m and N × f r / f s is occurring, because the error of the electrical angle θe is changed according to the difference, if the m error is in the allowable range can be selected, X (m Can be regarded as the excitation frequency component.
なお請求項に記載された各手段の機能は、構成自体で機能が特定されるハードウェア資源、プログラムにより機能が特定されるハードウェア資源、又はそれらの組み合わせにより実現される。また、これら各手段の機能は、各々が物理的に互いに独立したハードウェア資源で実現されるものに限定されない。さらに、本発明は、方法としても、コンピュータプログラムとしても、コンピュータプログラムの記録媒体としても成立する。むろん、そのコンピュータプログラムの記録媒体は、磁気記録媒体であってもよいし光磁気記録媒体であってもよいし、今後開発されるいかなる記録媒体であってもよい。
The functions of each means described in the claims are realized by hardware resources whose functions are specified by the configuration itself, hardware resources whose functions are specified by a program, or a combination thereof. Also, the functions of these means are not limited to those realized by hardware resources that are physically independent of each other. Furthermore, the present invention is realized as a method, a computer program, and a computer program recording medium. Of course, the recording medium of the computer program may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium developed in the future.
10…電気角取得システム、11…レゾルバ、12…増幅器、13…励磁信号発生部、13a…増幅器、13b…増幅器、13c…増幅器、15a…モータ、15b…モータドライバ、15c…エンコーダ、20…励磁信号取得部、21a…アナログデジタル変換部、22a…フーリエ変換部、30…出力信号取得部、31b…アナログデジタル変換部、31c…アナログデジタル変換部、32b…フーリエ変換部、32c…フーリエ変換部、40…位相関係取得部、50…振幅取得部、60…電気角取得部、70…パラメータ設定部
DESCRIPTION OF SYMBOLS 10 ... Electric angle acquisition system, 11 ... Resolver, 12 ... Amplifier, 13 ... Excitation signal generation part, 13a ... Amplifier, 13b ... Amplifier, 13c ... Amplifier, 15a ... Motor, 15b ... Motor driver, 15c ... Encoder, 20 ... Excitation Signal acquisition unit 21a Analog digital conversion unit 22a Fourier transform unit 30 Output signal acquisition unit 31b Analog digital conversion unit 31c Analog digital conversion unit 32b Fourier transform unit 32c Fourier transform unit 40: phase relationship acquisition unit, 50: amplitude acquisition unit, 60: electrical angle acquisition unit, 70: parameter setting unit
Claims (20)
- 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する電気角取得システムであって、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部と、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
を備える電気角取得システム。 An electrical angle acquisition system for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output,
An excitation signal acquisition unit that acquires an excitation frequency component of the excitation signal by Fourier transformation;
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquiring unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition unit for acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal;
An electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
Electrical angle acquisition system provided with - 前記励磁信号取得部は、
アナログの前記励磁信号をデジタルデータに変換し、フーリエ変換して励磁フーリエ信号を取得し、前記励磁フーリエ信号から励磁周波数成分を選択して取得し、
前記出力信号取得部は、
アナログの前記出力信号をデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、前記出力フーリエ信号から励磁周波数成分を選択して取得する、
請求項1に記載の電気角取得システム。 The excitation signal acquisition unit
Converting the analog excitation signal into digital data and performing Fourier transform to obtain an excitation Fourier signal; selecting and acquiring an excitation frequency component from the excitation Fourier signal;
The output signal acquisition unit
Converting the analog output signal into digital data, performing Fourier transform to obtain an output Fourier signal, and selecting and obtaining an excitation frequency component from the output Fourier signal;
The electrical angle acquisition system according to claim 1. - 前記励磁信号取得部が前記励磁信号をサンプリングするタイミングと、前記出力信号取得部が2相の前記出力信号をサンプリングするタイミングは同時である、
請求項2に記載の電気角取得システム。 The timing at which the excitation signal acquisition unit samples the excitation signal and the timing at which the output signal acquisition unit samples the two-phase output signal are simultaneous.
The electrical angle acquisition system according to claim 2. - 前記励磁信号取得部が前記励磁信号をサンプリングするタイミングと、前記出力信号取得部が2相の前記出力信号をサンプリングするタイミングは異なるタイミングである、
請求項2に記載の電気角取得システム。 The timing at which the excitation signal acquisition unit samples the excitation signal is different from the timing at which the output signal acquisition unit samples the two-phase output signal.
The electrical angle acquisition system according to claim 2. - 前記励磁信号取得部は、
アナログの前記励磁信号をサンプリング周波数fsでN(Nは2以上の整数)個サンプリングすることでデジタルデータに変換し、式(1)によってフーリエ変換して前記励磁フーリエ信号を取得し、前記励磁フーリエ信号から式(1)におけるX(m)(ただし、mはN×fr/fsに等しい整数値であり、frは励磁周波数である)に相当するデータを選択して前記励磁信号の励磁周波数成分として取得し、
前記出力信号取得部は、
アナログの前記出力信号をサンプリング周波数fsでN個サンプリングすることでデジタルデータに変換し、式(1)によってフーリエ変換して前記出力フーリエ信号を取得し、前記出力フーリエ信号から式(1)におけるX(m)に相当するデータを選択して前記出力信号の励磁周波数成分として取得する、
The analog excitation signal is converted into digital data by sampling N (N is an integer of 2 or more) at the sampling frequency f s , Fourier-transforming the equation (1) to obtain the excitation Fourier signal, and the excitation The excitation signal is selected from data corresponding to X (m) in the equation (1) (where m is an integer equal to N × f r / f s and f r is the excitation frequency) from the Fourier signal Acquired as the excitation frequency component of the
The output signal acquisition unit
The analog output signal is converted into digital data by sampling N at the sampling frequency f s , Fourier-transforming according to equation (1) to obtain the output Fourier signal, and from the output Fourier signal in equation (1) Data corresponding to X (m) is selected and acquired as an excitation frequency component of the output signal,
- サンプリング周波数fs、サンプリング数N、励磁周波数frの少なくとも1個を設定するパラメータ設定部を備える、
請求項1~請求項5のいずれかに記載の電気角取得システム。 A parameter setting unit configured to set at least one of a sampling frequency f s , a sampling number N, and an excitation frequency f r ;
The electrical angle acquisition system according to any one of claims 1 to 5. - 前記励磁信号はアナログ増幅器で増幅された信号であり、
前記出力信号はアナログ増幅器で増幅された信号である、
請求項1~請求項6のいずれかに記載の電気角取得システム。 The excitation signal is a signal amplified by an analog amplifier,
The output signal is a signal amplified by an analog amplifier,
The electrical angle acquisition system according to any one of claims 1 to 6. - 前記電気角取得部は、
前記回転検出器の特性によって決定される、前記位相の関係と2相の前記出力信号の前記振幅との組み合わせと、前記電気角との関係に基づいて、前記電気角を取得する、
請求項1~請求項7のいずれかに記載の電気角取得システム。 The electrical angle acquisition unit
Acquiring the electrical angle based on a combination of the phase relationship and the amplitude of the two-phase output signal, which is determined by the characteristics of the rotation detector, and the electrical angle;
The electrical angle acquisition system according to any one of claims 1 to 7. - 前記振幅取得部は、
一方の前記出力信号の前記振幅が他方の前記出力信号の前記振幅のb/a倍である(a≠b)である場合、一方の前記出力信号の前記振幅をa/b倍に補正するか、または、他方の前記出力信号の前記振幅をb/a倍に補正する、
請求項1~請求項8のいずれかに記載の電気角取得システム。 The amplitude acquisition unit
If the amplitude of one of the output signals is b / a times (a ≠ b) times the amplitude of the other of the output signals, is the amplitude of one of the output signals corrected to a / b times? Or the amplitude of the other output signal is corrected to b / a times,
The electrical angle acquisition system according to any one of claims 1 to 8. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する電気角取得方法であって、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得工程と、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得工程と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
を含む電気角取得方法。 An electrical angle acquisition method for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output,
An excitation signal acquisition step of acquiring an excitation frequency component of the excitation signal by Fourier transform;
An output signal acquisition step of acquiring excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition step of acquiring a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition step of acquiring amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition step of acquiring an electrical angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal;
How to get electrical angle including. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得するコンピュータを、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
として機能させる電気角取得プログラム。 A computer for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output;
An excitation signal acquisition unit that acquires an excitation frequency component of the excitation signal by Fourier transform,
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition unit that acquires amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition unit that acquires an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
Electrical angle acquisition program to function as. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する電気角取得システムであって、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
を備える電気角取得システム。 An electrical angle acquisition system for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output,
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition unit for acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal;
An electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
Electrical angle acquisition system provided with - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する電気角取得方法であって、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得工程と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得工程と、
を含む電気角取得方法。 An electrical angle acquisition method for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output,
An output signal acquisition step of acquiring excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition step of acquiring a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition step of acquiring amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
How to get electrical angle including. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得するコンピュータを、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部、
として機能させる電気角取得プログラム。 A computer for acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output;
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquiring unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition unit that acquires amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
Electrical angle acquisition program to function as. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定する電気角取得特性測定システムであって、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部と、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部と、
を備える電気角取得特性測定システム。 An electrical angle acquisition characteristic measuring system for measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of one phase excitation two phase output,
An excitation signal acquisition unit that acquires an excitation frequency component of the excitation signal by Fourier transformation;
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquiring unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition unit for acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal;
An electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
An accuracy acquisition unit for acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
An electrical angle acquisition characteristic measurement system comprising: - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定する電気角取得特性測定方法であって、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得工程と、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得工程と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得工程と、
を含む電気角取得特性測定方法。 An electrical angle acquisition characteristic measuring method of measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a one-phase excitation two-phase output rotation detector,
An excitation signal acquisition step of acquiring an excitation frequency component of the excitation signal by Fourier transform;
An output signal acquisition step of acquiring excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition step of acquiring a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition step of acquiring amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition step of acquiring an electrical angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal;
An accuracy acquisition step of acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
Electrical angle acquisition characteristics measurement method including: - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定するコンピュータを、
前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号の励磁周波数成分と、2相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部、
として機能させる電気角取得特性測定プログラム。 A computer for measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output;
An excitation signal acquisition unit that acquires an excitation frequency component of the excitation signal by Fourier transform,
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on an excitation frequency component of the excitation signal and an excitation frequency component of the two-phase output signal;
An amplitude acquisition unit that acquires amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition unit that acquires an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
An accuracy acquisition unit for acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
Electrical angle acquisition characteristic measurement program to function as. - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定する電気角取得特性測定システムであって、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部と、
を備える電気角取得特性測定システム。 An electrical angle acquisition characteristic measuring system for measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of one phase excitation two phase output,
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition unit for acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal;
An electrical angle acquisition unit for acquiring an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
An accuracy acquisition unit for acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
An electrical angle acquisition characteristic measurement system comprising: - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定する電気角取得特性測定方法であって、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得工程と、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得工程と、
を含む電気角取得特性測定方法。 An electrical angle acquisition characteristic measuring method of measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a one-phase excitation two-phase output rotation detector,
An output signal acquisition step of acquiring excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquisition step of acquiring a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition step of acquiring amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition step of acquiring an electrical angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal;
An accuracy acquisition step of acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
Electrical angle acquisition characteristics measurement method including: - 1相励磁2相出力の回転検出器の励磁信号と出力信号とに基づいて前記回転検出器の電気角を取得する特性を測定するコンピュータを、
2相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号と、2相の前記出力信号とに基づいて、前記励磁信号と2相の前記出力信号との位相の関係を取得する位相関係取得部、
2相の前記出力信号の励磁周波数成分に基づいて、2相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と2相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
前記回転検出器のロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部、
として機能させる電気角取得特性測定プログラム。 A computer for measuring a characteristic of acquiring an electrical angle of the rotation detector based on an excitation signal and an output signal of a rotation detector of a one-phase excitation two-phase output;
An output signal acquisition unit that acquires excitation frequency components of the two-phase output signal by Fourier transformation;
A phase relationship acquiring unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal;
An amplitude acquisition unit that acquires amplitudes of the two-phase output signal based on excitation frequency components of the two-phase output signal;
An electrical angle acquisition unit that acquires an electrical angle of the rotation detector based on the relationship between the phases and the amplitude of the two-phase output signal;
An accuracy acquisition unit for acquiring the accuracy of the electrical angle of the rotation detector based on the mechanical angle of the rotor of the rotation detector;
Electrical angle acquisition characteristic measurement program to function as.
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