JP4727283B2 - Multi-rotation absolute angle detection method and detection apparatus - Google Patents

Multi-rotation absolute angle detection method and detection apparatus Download PDF

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JP4727283B2
JP4727283B2 JP2005119687A JP2005119687A JP4727283B2 JP 4727283 B2 JP4727283 B2 JP 4727283B2 JP 2005119687 A JP2005119687 A JP 2005119687A JP 2005119687 A JP2005119687 A JP 2005119687A JP 4727283 B2 JP4727283 B2 JP 4727283B2
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rotation
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absolute angle
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JP2006300596A (en
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浩 磯部
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NTN Corp
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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
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
    • 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
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/28—The target being driven in rotation by additional gears

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Description

この発明は、ステアリングの絶対的な舵角などを検出する多回転絶対角度検出方法および検出装置に関する。   The present invention relates to a multi-rotation absolute angle detection method and a detection device for detecting an absolute steering angle of a steering.

多回転絶対角度検出装置として、１回転以内の絶対角度を検出するエンコーダと、平歯車を並べた減速機構や、ウォームとウォームホイールを組み合わせた減速機構を用いて多回転量を検出するエンコーダとを設置し、その２つのエンコーダから得られる出力信号を信号処理回路で合成し、多回転絶対角度信号を検出する多回転式絶対値エンコーダ（特許文献１，２）が提案されている。
また、ステアリングシャフトと同軸的に大径のギヤを設け、この大径ギヤと噛合する小径ギヤを設置し、大径ギヤの外周部に９０度間隔で配設された磁石を検知する基準位置センサと、小径ギヤ設けられた回転角度検出用磁石の磁力線を検出する磁気センサの出力信号に基づいてステアリングシャフトの回転角度を求める舵角センサ（特許文献３）が提案されている。 As a multi-rotation absolute angle detection device, an encoder that detects an absolute angle within one rotation and an encoder that detects a multi-rotation amount using a speed reduction mechanism in which spur gears are arranged or a speed reduction mechanism that combines a worm and a worm wheel. A multi-rotation absolute value encoder (Patent Documents 1 and 2) is proposed that detects the multi-rotation absolute angle signal by installing and synthesizing output signals obtained from the two encoders by a signal processing circuit.
Also, a reference position sensor is provided which has a large-diameter gear coaxially with the steering shaft, a small-diameter gear which meshes with the large-diameter gear, and detects magnets arranged at intervals of 90 degrees on the outer periphery of the large-diameter gear. And a rudder angle sensor (Patent Document 3) for obtaining a rotation angle of a steering shaft based on an output signal of a magnetic sensor for detecting a magnetic field line of a rotation angle detection magnet provided with a small-diameter gear has been proposed.

この他に、軸受における保持器の減速を利用し、回転の絶対位置情報を多回転であっても検出可能とした回転センサ付軸受（特許文献４）が提案されている。
特開２００１−２８９６７１号公報 特開２００４−０４５０８３号公報 特開２００３−３４４００９号公報 特開２００４−３０８７２４号公報 In addition to this, a bearing with a rotation sensor (Patent Document 4) has been proposed in which the absolute position information of rotation can be detected even in multiple rotations by utilizing the reduction of the cage in the bearing.
JP 2001-289671 A JP 2004-045083 A JP 2003-344209 A JP 2004-308724 A

これまでの減速機構を用いた多回転角度算出方法は、一般的には減速比分の回転数（例えば減速比が１／５であれば、５回転分）しか検出することができない。減速比を高くすると、検出できる回転数が増えるが、高い減速比を稼ごうとすると、歯車数の増加など、構造が複雑となり、設置スペースが大きくなる。
特許文献４に開示された回転センサ付軸受では、正逆回転の範囲における絶対位置検出方法が開示されており、減速比分の倍の回転数を検出することができる。しかし、正逆回転の判別は、多回転検出部と１回転検出部における正回転と負回転の値を比較することにより行っており、検出器の精度やノイズなどによりその値が変化すれば、正確な正逆判別ができない可能性がある。また、正逆回転の判別方法や減速比の選定方法については詳細に記載されていない。 Conventional multi-rotation angle calculation methods using the speed reduction mechanism can generally detect only the number of rotations corresponding to the reduction ratio (for example, if the reduction ratio is 1/5, the number of rotations is 5). Increasing the reduction ratio increases the number of rotations that can be detected. However, if a higher reduction ratio is to be achieved, the structure becomes complicated, such as an increase in the number of gears, and the installation space increases.
The bearing with a rotation sensor disclosed in Patent Document 4 discloses an absolute position detection method in the range of forward and reverse rotation, and can detect a rotational speed that is double the reduction ratio. However, forward / reverse rotation discrimination is performed by comparing the positive and negative rotation values in the multi-rotation detection unit and the single rotation detection unit, and if the value changes due to the accuracy or noise of the detector, There is a possibility that accurate forward / reverse discrimination cannot be performed. Further, the forward / reverse rotation discrimination method and the reduction ratio selection method are not described in detail.

従来の一般的な多回転絶対角度検出方法の概念、および減速比分の回転数しか検出することができない理由を説明する。
一般に、減速機構を用いた多回転絶対位置検出装置では、回転軸上に設置された絶対角度を検出する回転角度検出装置である１回転検出部と、減速機構出力部に設置された多回転量を検出する回転角度検出装置である多回転検出部とで構成される。これらの出力信号を信号処理回路で合成し、多回転絶対角度信号を検出する。１回転検出部を用いるのは、多回転検出部分の回転角度検出機構だけで絶対角度を算出すると、減速機構部のバックラッシなどにより、高い精度で算出することが困難であるからである。減速機構としては、平歯車を組み合わせたものやウォームとウォームホイールを組み合わせたものなど様々である。 The concept of a conventional general multi-rotation absolute angle detection method and the reason why only the number of rotations corresponding to the reduction ratio can be detected will be described.
In general, in a multi-rotation absolute position detection device using a speed reduction mechanism, a one-rotation detection unit that is a rotation angle detection device that detects an absolute angle installed on a rotation shaft, and a multi-rotation amount installed in a speed reduction mechanism output unit And a multi-rotation detection unit which is a rotation angle detection device for detecting. These output signals are combined by a signal processing circuit to detect a multi-rotation absolute angle signal. The reason why the one-rotation detection unit is used is that if the absolute angle is calculated only by the rotation angle detection mechanism of the multi-rotation detection part, it is difficult to calculate with high accuracy due to the backlash of the deceleration mechanism unit. There are various reduction mechanisms such as a combination of spur gears and a combination of worms and worm wheels.

図９は従来の検出方法を示す。なお、括弧付きで示す参照符号は、図１に示す多回転絶対角度検出装置における対応部分を示す。１回転検出部（２）は、１回転に１山の鋸波Ｓ１を出力する絶対角度検出装置（例えば出力１Ｘのレゾルバ等）を用い、減速機構の減速比を１／５とし、多回転検出部（４）に減速機構出力部（３ａ）の１回転に１山の鋸波Ｓ２を出す絶対角度検出装置（例えば出力１Ｘのレゾルバ等）を設置した例である。
そのため１回転検出部（２）では回転体（１）の５回転に５山の鋸波Ｓ１が出力され、多回転検出部（４）では回転体（１）の５回転に１山の鋸波Ｓ２が出力される。多回転検出部（４）により回転数を判別できるため、１回転検出部（２）の出力信号Ｓ１により、５回転分の絶対角度を精度良く算出することができる。 FIG. 9 shows a conventional detection method. Reference numerals in parentheses indicate corresponding parts in the multi-rotation absolute angle detection device shown in FIG. The one-rotation detection unit (2) uses an absolute angle detection device (for example, a resolver with an output of 1X) that outputs a single sawtooth wave S1 for one rotation, sets the reduction ratio of the reduction mechanism to 1/5, and detects multiple rotations. This is an example in which an absolute angle detection device (for example, a resolver with an output of 1X) that outputs one sawtooth wave S2 per rotation of the speed reduction mechanism output section (3a) is installed in the section (4).
For this reason, the single-rotation detection unit (2) outputs five sawtooth waves S1 for five rotations of the rotating body (1), and the multi-rotation detection unit (4) outputs one sawtooth wave for five rotations of the rotating body (1). S2 is output. Since the number of rotations can be determined by the multi-rotation detection unit (4), the absolute angle for five rotations can be calculated with high accuracy from the output signal S1 of the one-rotation detection unit (2).

図１０は、上記方法において、±５回転の出力信号を示す。このとき、これらの信号だけでは、正側の回転か、負側の回転かを判別することができないため、減速比（分母）分の回転数（５回転）の絶対角度しか算出することができない。   FIG. 10 shows an output signal of ± 5 rotations in the above method. At this time, since these signals alone cannot be used to determine whether the rotation is positive or negative, only the absolute angle of the number of rotations (5 rotations) corresponding to the reduction ratio (denominator) can be calculated. .

この発明の目的は、減速機構の減速比を上げることなく、回転角度検出範囲を増加させることができて、角度検出装置のコンパクト化が実現でき、かつ高精度な検出が簡易な計算で行える多回転絶対角度検出方法および検出装置を提供することである。   An object of the present invention is to increase the rotation angle detection range without increasing the reduction ratio of the speed reduction mechanism, to realize a compact angle detection device, and to perform highly accurate detection with simple calculation. An absolute rotation angle detection method and a detection apparatus are provided.

この発明の多回転絶対角度検出方法を、実施形態に対応する図８と共に説明する。この角度検出方法は、回転体（１）に接続された減速機構（３）と、前記回転体（１）および減速機構（３）の出力部（３ａ）に対してそれぞれ設置された１回転検出部（２）および多回転検出部（４）を有し、前記１回転検出部（２）は、回転体（１）の１回転にｎ山（ｎ：自然数）の正弦波または鋸波（Ｓ１）を出力して回転体（１）の絶対角度を検出するものとし（ｎ≧２の場合は１／ｎ回転ごとの絶対角度を検出する）、前記多回転検出部（４）は、減速機構出力部（３ａ）の１回転に１山の正弦波または鋸波（Ｓ２）を出力して減速機構出力部（３ａ）の絶対角度を検出するものとした多回転絶対角度検出装置を用いる絶対角度検出方法であって、次のように行う方法である。
前記減速機構（３）の減速比１／ＬにおけるＬの値を非整数とする。
また、多回転検出部（４）の検出値から所定の計算基準で計算された境界値（Ｂ）を用いて回転体（１）の原点位置（Ｏ）に対する回転方向の正負の判別を行う過程と、前記多回転検出部（４）の出力信号（Ｓ２）から求められる回転数、前記正負の判別結果、および１回転検出部（２）で検出される出力信号（Ｓ１）から、前記回転体（１）の原点位置（Ｏ）から±Ｌ回転以内の回転絶対角度を算出する過程とを含む。 The multi-rotation absolute angle detection method of the present invention will be described with reference to FIG. 8 corresponding to the embodiment. In this angle detection method, the speed reduction mechanism (3) connected to the rotator (1) and one rotation detection respectively installed on the output part (3a) of the rotator (1) and the speed reduction mechanism (3). Unit (2) and a multi-rotation detection unit (4), and the one-rotation detection unit (2) includes n peaks (n: natural number) of sine waves or saw waves (S1) for one rotation of the rotating body (1). ) To detect the absolute angle of the rotating body (1) (when n ≧ 2, the absolute angle is detected for each 1 / n rotation), and the multi-rotation detector (4) is a deceleration mechanism. Absolute angle using a multi-rotation absolute angle detector that detects the absolute angle of the speed reduction mechanism output unit (3a) by outputting one sine wave or sawtooth wave (S2) for one rotation of the output unit (3a) This is a detection method that is performed as follows.
The value of L at the reduction ratio 1 / L of the reduction mechanism (3) is a non-integer.
Also, a process of determining whether the rotation direction is positive or negative with respect to the origin position (O) of the rotating body (1) using the boundary value (B) calculated from the detection value of the multi-rotation detection unit (4) according to a predetermined calculation standard. From the rotation speed obtained from the output signal (S2) of the multi-rotation detection unit (4), the positive / negative discrimination result, and the output signal (S1) detected by the single rotation detection unit (2), And (1) calculating a rotation absolute angle within ± L rotations from the origin position (O).

この方法によると、減速機構（３）の減速比１／ＬにおけるＬの値を非整数とするため、つまりＬの値を中途半端な値に設定するため、正回転と負回転とでは、多回転検出部（４）の出力信号（Ｓ２）の値が同じでも、１回転検出部（２）の出力信号（Ｓ１）の値が異なる。そのため、正負を判別することができる。この正負の判別は、多回転検出部（４）の検出値から所定の計算基準で計算された境界値（Ｂ）を用いて行う。境界値（Ｂ）を用いることにより、簡単な計算で精度良く正負の判定を行うことができる。
このように、正負の判別が可能なため、回転角度検出範囲が増加する。減速比１／Ｌを適切な値にすれば、回転角度検出範囲を減速比の約２倍の回転数とできる。また、減速機構（３）の減速比を上げる必要がないため、コンパクトな構成の多回転絶対角度検出装置を実現できる。 According to this method, in order to set the value of L at the reduction ratio 1 / L of the speed reduction mechanism (3) to a non-integer value, that is, to set the value of L to an incomplete value, Even if the value of the output signal (S2) of the rotation detector (4) is the same, the value of the output signal (S1) of the one rotation detector (2) is different. Therefore, positive / negative can be discriminated. This positive / negative discrimination is performed using the boundary value (B) calculated based on a predetermined calculation standard from the detection value of the multi-rotation detection unit (4). By using the boundary value (B), it is possible to make a positive / negative determination with high accuracy by a simple calculation.
Thus, since the positive / negative discrimination is possible, the rotation angle detection range is increased. If the reduction ratio 1 / L is set to an appropriate value, the rotation angle detection range can be set to about twice the number of reductions of the reduction ratio. Further, since there is no need to increase the reduction ratio of the speed reduction mechanism (3), a multi-turn absolute angle detection device having a compact configuration can be realized.

正負の判別を行う過程は、１回転検出部（２）の正側回転時の出力波形（Ｓ１＋）と負側回転時の出力波形（Ｓ１−）の間に、これらの波形の位相をずらせた曲線に相当する境界値曲線（ＬＢ）を設定しておいて、多回転検出部（４）の出力信号（Ｓ２）の値から前記境界値曲線（ＬＢ）上の境界値（Ｂ）を求め、この境界値（Ｂ）と１回転検出部（２）の出力信号（Ｓ１）の値とを比較して所定の基準で回転方向の正負の判別を行う。
このように境界値曲線（ＬＢ）を設定しておくことで、正負判別をより容易に行うことができる。 In the process of discriminating between positive and negative, the phase of these waveforms is shifted between the output waveform (S1 +) at the time of positive side rotation of the one- rotation detector (2) and the output waveform (S1-) at the time of negative side rotation. A boundary value curve (LB) corresponding to the curve is set, and a boundary value (B) on the boundary value curve (LB) is obtained from the value of the output signal (S2) of the multi-rotation detector (4). The boundary value (B) is compared with the value of the output signal (S1) of the one-rotation detection unit (2) to determine whether the rotational direction is positive or negative based on a predetermined reference.
By setting the boundary value curve (LB) in this way, positive / negative discrimination can be performed more easily.

前記正負の判別を行う過程は、１回転検出部（２）および多回転検出部（４）が鋸波を出力するものである場合に、より具体的には次のように行っても良い。前記境界値曲線（ＬＢ）は、１回転検出部（２）の出力波形を、正側回転時の位相と負側回転時の位相の間における中央にずらせた曲線とする。多回転検出部（４）の出力信号（Ｓ２）から得られる回転角度における前記境界値（Ｂ）と１回転検出部（２）の出力信号との差（Ａ）を取り、その差（Ａ）の正負の判別結果と、差（Ａ）の大きさの設定値に対する大小判別結果との組み合わせを、設定された場合分け判別条件と比較して、前記正負の判別を行う。
このように境界値曲線（ＬＢ）を正側回転時の位相と負側回転時の位相の中央とすることにより、誤差やノイズに対して許容範囲が広くなり、より信頼性の高い正負判定が行える。また、場合分け判別条件を設定することで、正負判別の計算が容易に行える。
なお、１回転検出部（２）および多回転検出部（４）が正弦波を出力するものである場合にも、例えば検出部に９０°位相差で配置されたホールＩＣ２個から、１回転で１周期となる位相差９０°の正弦波状の信号ａ，ｂを検出し（ａ： sin波、ｂ： cos波）、電源電圧Ｖｃの半分の値Ｖｃ／２を０として、ａ／ｂの各出力の象限判別により１回転の絶対角度を算出することで鋸波を作成してから、上記のように境界値曲線（ＬＢ）を正側回転時の位相と負側回転時の位相の中央とし、また上記場合分け判別条件を設定して正負判別を行うことが好ましい。 The process of performing the positive / negative discrimination may be performed as follows more specifically when the one-rotation detection unit (2) and the multi-rotation detection unit (4) output a sawtooth wave. The boundary value curve (LB) is a curve obtained by shifting the output waveform of the one-rotation detection unit (2) to the center between the phase during the positive rotation and the phase during the negative rotation. The difference (A) between the boundary value (B) at the rotation angle obtained from the output signal (S2) of the multi-rotation detector (4) and the output signal of the one-rotation detector (2) is taken, and the difference (A) The combination of the positive / negative discrimination result and the magnitude discrimination result with respect to the set value of the magnitude of difference (A) is compared with a set case discrimination criterion to perform the positive / negative discrimination.
In this way, by setting the boundary value curve (LB) as the center of the phase at the positive side rotation and the phase at the negative side rotation, the tolerance range for errors and noise is widened, and a more reliable positive / negative determination can be performed. Yes. Further, by setting the case-by-case determination condition, it is possible to easily calculate the positive / negative determination.
Even when the one-rotation detection unit (2) and the multi-rotation detection unit (4) output a sine wave, for example, two rotations of the Hall ICs arranged with a 90 ° phase difference in the detection unit can be performed in one rotation. Detect sinusoidal signals a and b with a phase difference of 90 ° in one cycle (a: sin wave, b: cos wave), and set the value Vc / 2 of half of the power supply voltage Vc to 0, and each of a / b A sawtooth wave is created by calculating the absolute angle of one rotation by determining the quadrant of the output, and the boundary value curve (LB) is set as the center of the phase at the positive side rotation and the phase at the negative side rotation as described above. In addition, it is preferable to perform positive / negative discrimination by setting the above-mentioned case classification discrimination condition.

この発明方法において、１回転検出部（２）が出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、前記減速比１／ＬにおけるＬの小数部分αを、
α≠β／ｎ （０≦β≦ｎ−１、β：整数）
としても良い。
このようにＬの値を選定することで、±Ｌ回転の絶対的な回転角度を検出することができる。 In the method of the present invention, when the number of peaks of the sine wave or sawtooth wave output by the one-rotation detection unit (2) is n (n: natural number), the decimal fraction α of L in the reduction ratio 1 / L is:
α ≠ β / n (0 ≦ β ≦ n−1, β: integer)
It is also good.
By selecting the value of L in this way, the absolute rotation angle of ± L rotation can be detected.

この発明方法において、検出する回転数の範囲を±ｒ（ｒ：整数）、1 回転検出部（２）が出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、前記減速比１／ＬのＬの値を、Ｌ＝ｒ＋１／（２ｎ）
としても良い。
減速比１／ＬにおけるＬの値をこのように選定した場合は、１回転検出部（２）における正側回転の信号（Ｓ１＋）と負側回転の信号（Ｓ１−）の位相差が最大となり、多回転検出部（４）の信号（Ｓ２）も最大限に利用できるため、回転数の判別が容易となる。そのため、減速機構（３）に遊びがあったり、信号にノイズが載っても、精度の良い回転数の判別が容易となる。 In the method of the present invention, when the rotation speed range to be detected is ± r (r: integer), and the number of sine waves or sawtooth peaks output by the one rotation detection unit (2) is n (n: natural number), The value of L of the reduction ratio 1 / L is expressed as L = r + 1 / (2n)
It is also good.
When the value of L in the reduction ratio 1 / L is selected in this way, the phase difference between the positive rotation signal (S1 +) and the negative rotation signal (S1-) in the one rotation detector (2) becomes the maximum. Since the signal (S2) of the multi-rotation detector (4) can be used to the maximum extent, the rotational speed can be easily determined. Therefore, even if there is play in the speed reduction mechanism (3) or noise appears in the signal, it is easy to determine the rotational speed with high accuracy.

この発明方法において、検出する回転数の範囲を±ｒ（ｒ：整数）、１回転検出部が出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、前記減速比１／ＬにおけるＬの小数部分を、
ａ／ｎ＋１／（２ｎ）
０≦ａ＜ｎ、（ａ：整数）
としても良い。
減速比１／Ｌの小数部分をこのように選定した場合は、１回転検出部（２）における正側回転の信号（Ｓ１＋）と負側回転の信号（Ｓ１−）の位相差（Ｐ）が最大となる。そのため、減速機構（３）の遊びがあったり、信号にノイズが載っても、精度の良い回転数の判別が容易となる。 In the method of the present invention, when the rotation speed range to be detected is ± r (r: integer), and the number of sine waves or sawtooth peaks output from the one rotation detection unit is n (n: natural number), the reduction ratio is The fractional part of L at 1 / L is
a / n + 1 / (2n)
0 ≦ a <n (a: integer)
It is also good.
When the decimal part of the reduction ratio 1 / L is selected in this way, the phase difference (P) between the positive rotation signal (S1 +) and the negative rotation signal (S1-) in the one rotation detection unit (2) is Maximum. Therefore, even if there is play in the speed reduction mechanism (3) or noise appears in the signal, it is easy to accurately determine the rotational speed.

この発明方法において、多回転検出部（４）および１回転検出部（２）から出力される少なくとも一方の信号（Ｓ２），（Ｓ１）を理想波形に補正しても良い。この補正は、例えば電気的に行っても良い。
この補正を行うことで、回転数の判別をより確実に行うことができ、角度検出精度も向上する。 In the method of the present invention, at least one of the signals (S2) and (S1) output from the multiple rotation detection unit (4) and the single rotation detection unit (2) may be corrected to an ideal waveform. This correction may be performed electrically, for example.
By performing this correction, the rotational speed can be more reliably determined, and the angle detection accuracy is also improved.

１回転検出部（２）については、検出する正負の回転角度の全範囲にわたり、出力される正弦波または鋸波に対して補正値を設定した補正テーブル（１３）を持つようにしても良い。全範囲の補正テーブル（１３）を持つことで、回転数の判別が更に確実に行うことができ、角度検出精度が更に向上する。   The single rotation detection unit (2) may have a correction table (13) in which correction values are set for the output sine wave or sawtooth wave over the entire range of positive and negative rotation angles to be detected. By having the correction table (13) for the entire range, the rotational speed can be determined more reliably, and the angle detection accuracy is further improved.

この発明の多回転絶対角度検出装置は、回転体（１）に接続された減速機構（３）と、前記回転体（１）および減速機構（３）の出力部（３ａ）に対してそれぞれ設置された１回転検出部（２）および多回転検出部（４）を有する。前記１回転検出部（２）は、回転体（１）の１回転にｎ山（ｎ：自然数）の正弦波または鋸波（Ｓ１）を出力して回転体（１）の絶対角度を検出するものとする（ｎ≧２の場合は、１／ｎ回転ごとに絶対角度を検出）。前記多回転検出部（４）は、減速機出力部（３）の１回転に１山の正弦波または鋸波を出力して減速機構出力部（３ａ）の絶対角度を検出するものとする。
前記減速機構（３）の減速比１／Ｌは、そのＬの値を非整数とし、信号処理手段として回転方向判別手段（１０）、回転数計算手段（１１）、および多回転絶対角度計算手段（１２）を備えるものとする。
回転方向判別手段（１０）は、多回転検出部（４）の出力信号（Ｓ２）から所定の計算基準で計算された境界値（Ｂ）を用いて回転体（１）の原点位置（Ｏ）に対する回転方向の正負の判別を行うものとする。
回転数計算手段（１１）は、前記多回転検出部（４）の検出信号（Ｓ２）の値から求められる回転数、および前記回転方向判別手段（１０）による回転方向の正負の判別結果から回転数の絶対値を計算する手段とする。
多回転絶対角度計算手段（１２）は、回転数計算手段（１１）の計算した回転数の絶対値と前記１回転検出部（２）の出力信号（Ｓ１）の値とから、前記回転体（１）の原点位置から±Ｌ回転以内の回転絶対角度を算出するものとする。
この構成の角度検出装置とすると、この発明方法が実施できて、減速機構（３）の減速比を上げることなく、回転角度検出範囲を増加させることができて、装置のコンパクト化が実現でき、かつ高精度な検出が簡易な計算で行える。 The multi-rotation absolute angle detection device according to the present invention is installed on the reduction mechanism (3) connected to the rotator (1) and the output part (3a) of the rotator (1) and the reduction mechanism (3). A single rotation detection unit (2) and a multi-rotation detection unit (4). The one-rotation detection unit (2) detects an absolute angle of the rotating body (1) by outputting a sine wave or sawtooth wave (S1) of n peaks (n: natural number) for one rotation of the rotating body (1). (When n ≧ 2, the absolute angle is detected every 1 / n rotation). The multi-rotation detection unit (4) detects an absolute angle of the speed reduction mechanism output unit (3a) by outputting one sine wave or sawtooth wave for one rotation of the speed reducer output unit (3).
The reduction ratio 1 / L of the speed reduction mechanism (3) is such that the value of L is a non-integer, the rotation direction determination means (10), the rotation speed calculation means (11), and the multi-turn absolute angle calculation means as signal processing means. (12) shall be provided.
The rotational direction discriminating means (10) uses the boundary value (B) calculated on the basis of a predetermined calculation standard from the output signal (S2) of the multi-rotation detector (4), and the origin position (O) of the rotating body (1). It is assumed that the rotation direction is positive / negative.
The rotation speed calculation means (11) rotates from the rotation speed obtained from the value of the detection signal (S2) of the multi-rotation detection section (4) and the positive / negative determination result of the rotation direction by the rotation direction determination means (10). A means for calculating the absolute value of a number.
The multi-rotation absolute angle calculation means (12) calculates the rotation body (12) from the absolute value of the rotation speed calculated by the rotation speed calculation means (11) and the value of the output signal (S1) of the one rotation detection section (2). The absolute rotation angle within ± L rotation from the origin position of 1) is calculated.
With the angle detection device of this configuration, the method of the present invention can be implemented, the rotation angle detection range can be increased without increasing the reduction ratio of the speed reduction mechanism (3), and the device can be made compact. In addition, highly accurate detection can be performed with simple calculations.

この発明の多回転絶対角度検出方法は、回転体（１）に接続された減速機構（３）と、前記回転体（１）および減速機構出力部（３ａ）に対してそれぞれ設置された１回転検出部（２）および多回転検出部（４）を有し、前記１回転検出部（２）は、回転体（１）の１回転にｎ山（ｎ：自然数）の正弦波または鋸波を出力して回転体（１）の絶対角度を検出するものとし、前記多回転検出部（４）は、減速機構出力部（３ａ）の１回転に１山の正弦波または鋸波を出力して減速機構出力部（３ａ）の絶対角度を検出するものとした多回転絶対角度検出装置を用いる絶対角度検出方法であって、前記減速機構（３）の減速比１／ＬにおけるＬの値を非整数とし、多回転検出部（４）の出力信号の値から所定の計算基準で計算された境界値を用いて回転体の原点位置に対する正負の判別を行う過程と、前記多回転検出部の出力信号から求められる回転数、前記正負の判別結果、および１回転検出部で検出される出力信号から、前記回転体（１）の原点位置から±Ｌ回転以内の回転絶対角度を算出する過程とを含み、正負の判別を行う過程は、１回転検出部（２）の正側回転時の出力波形（Ｓ１＋）と負側回転時の出力波形（Ｓ１−）の間に、これらの波形の位相をずらせた曲線に相当する境界値曲線（ＬＢ）を設定しておいて、多回転検出部（４）の出力信号（Ｓ２）の値から前記境界値曲線（ＬＢ）上の境界値（Ｂ）を求め、この境界値（Ｂ）と１回転検出部（２）の出力信号（Ｓ１）の値とを比較して所定の基準で回転方向の正負の判別を行う方法であるため、回転角度検出範囲が増加し、また減速機構（３）の減速比を上げる必要がないため、コンパクトな構成の多回転絶対角度検出装置を実現できる。正負の判別は上記境界値を用いて行うようにしたため、高精度な検出が簡易な計算で行える。 The multi-rotation absolute angle detection method according to the present invention includes a speed reduction mechanism (3) connected to a rotator (1), and one rotation installed for each of the rotator (1) and the speed reduction mechanism output unit (3a). The one-rotation detection unit (2) includes a sine wave or sawtooth wave of n peaks (n: natural number) in one rotation of the rotating body (1). It is assumed that the absolute angle of the rotating body (1) is output and the multi-rotation detector (4) outputs one sine wave or sawtooth wave for one rotation of the speed reduction mechanism output unit (3a). An absolute angle detection method using a multi-rotation absolute angle detection device that detects the absolute angle of the speed reduction mechanism output section (3a), wherein the value of L in the speed reduction ratio 1 / L of the speed reduction mechanism (3) is set to a non-value. An integer is used, and a boundary value calculated according to a predetermined calculation standard from the value of the output signal of the multi-rotation detector (4) is used. From the process of performing positive / negative discrimination with respect to the origin position of the rotary body, the number of rotations determined from the output signal of the multi-rotation detection unit, the positive / negative discrimination result, and the output signal detected by the single rotation detection unit, the rotary body (1) saw including a step of calculating a rotation absolute angle within ± L rotates from the home position, the process of performing positive and negative determination is 1 rotation detector positive rotation time of the output waveform of (2) (S1 +) A boundary value curve (LB) corresponding to a curve obtained by shifting the phase of these waveforms is set between the output waveform (S1-) during negative rotation and the output of the multi-rotation detection unit (4). The boundary value (B) on the boundary value curve (LB) is obtained from the value of the signal (S2), and this boundary value (B) is compared with the value of the output signal (S1) of the one rotation detection unit (2). Therefore , the rotation angle detection range is increased. In addition, since it is not necessary to increase the speed reduction ratio of the speed reduction mechanism (3), a multi-rotation absolute angle detection device having a compact configuration can be realized. Positive / negative discrimination is performed using the boundary value, so that highly accurate detection can be performed with simple calculation.

この発明の多回転絶対角度検出装置は、回転体に接続された減速機構（３）と、前記回転体（１）および減速機構出力部（３ａ）に対してそれぞれ設置された１回転検出部（２）および多回転検出部（４）を有し、前記１回転検出部（２）は、回転体（１）の１回転にｎ山（ｎ：自然数）の正弦波または鋸波を出力して減速機構出力部（３ａ）の絶対角度を検出するものとし、前記多回転検出部（４）は、減速機出力部（３ａ）の１回転に１山の正弦波または鋸波を出力して回転体の絶対角度を検出するものとした多回転絶対角度検出装置であって、前記減速機構（３）の減速比１／ＬにおけるＬの値を非整数とし、１回転検出部（２）の正側回転時の出力波形と負側回転時の出力波形の間に、これらの波形の位相をずらせた曲線に相当する境界値曲線が設定され、多回転検出部（４）の出力信号の値から前記境界値曲線上の境界値を求め、この境界値と１回転検出部（２）の出力信号の値とを比較して所定の基準で回転方向の正負の判別を行う回転方向判別手段（１０）と、前記多回転検出部（４）の検出値から求められる回転数、および前記回転方向判別手段（１０）による回転方向の正負の判別結果から回転数の絶対値を計算する回転数計算手段（１１）と、この回転数計算手段（１１）の計算した回転数の絶対値と前記１回転検出部（２）の出力信号の値とから、前記回転体（１）の原点位置から±Ｌ回転以内の回転絶対角度を算出する多回転絶対角度計算手段（１２）とを備えるため、回転角度検出範囲が増加し、また減速機構の減速比を上げる必要がなく、コンパクトな構成にできる。正負の判別は上記境界値を用いて行うようにしたため、高精度な検出が簡易な計算で行える。   The multi-rotation absolute angle detection device of the present invention includes a reduction mechanism (3) connected to a rotator, and a one-rotation detector (3) installed for the rotator (1) and the reduction mechanism output unit (3a). 2) and a multi-rotation detector (4), and the one-rotation detector (2) outputs a sine wave or sawtooth wave of n peaks (n: natural number) for one rotation of the rotating body (1). The absolute angle of the speed reduction mechanism output section (3a) is detected, and the multi-rotation detection section (4) rotates by outputting one sine wave or sawtooth wave for one rotation of the speed reducer output section (3a). A multi-rotation absolute angle detection device for detecting an absolute angle of a body, wherein a value of L in a reduction ratio 1 / L of the speed reduction mechanism (3) is a non-integer, and a positive value of one rotation detection unit (2) Corresponds to a curve in which the phase of these waveforms is shifted between the output waveform at the side rotation and the output waveform at the negative side rotation. A boundary value curve is set, a boundary value on the boundary value curve is obtained from the value of the output signal of the multi-rotation detection unit (4), and this boundary value is compared with the value of the output signal of the single rotation detection unit (2) The rotational direction discriminating means (10) for discriminating whether the rotational direction is positive or negative based on a predetermined reference, the rotational speed obtained from the detection value of the multi-rotation detector (4), and the rotational direction discriminating means (10) Rotation speed calculation means (11) for calculating the absolute value of the rotation speed from the positive / negative discrimination result of the rotation direction, the absolute value of the rotation speed calculated by the rotation speed calculation means (11) and the one rotation detection section (2) Multi-rotation absolute angle calculation means (12) for calculating a rotation absolute angle within ± L rotations from the origin position of the rotating body (1) from the value of the output signal of the rotation body (1), the rotation angle detection range increases. In addition, there is no need to increase the reduction ratio of the speed reduction mechanism, making it compact Can be configured. Positive / negative discrimination is performed using the boundary value, so that highly accurate detection can be performed with simple calculation.

この発明の一実施形態を図１ないし図８と共に説明する。図１は、この多回転絶対角度検出方法に用いる多回転絶対角度検出装置の概念図を示す。回転体１は、軸受（図示せず）に支持された回転軸であり、この回転体１に、多回転検出のための減速機構３を接続する。回転体１と同軸上に、この回転体１の絶対的な回転角度を検出する１回転検出部２を設けている。減速機構３に対して、その出力部３ａの絶対的な回転角度を検出する多回転検出部４を設けている。
１回転検出部２は、回転体１の１回転にｎ山の正弦波または鋸波を出力する絶対角度検出装置であり、例えば出力が１Ｘのレゾルバ等からなる。ｎは自然数、つまりｎ＝１、２、３、…である。
多回転検出部４は、減速機構出力部３ａの１回転に１山の正弦波または鋸波を出力する絶対角度検出装置であり、例えば出力が１Ｘのレゾルバ等からなる。 An embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a conceptual diagram of a multi-rotation absolute angle detection device used in this multi-rotation absolute angle detection method. The rotating body 1 is a rotating shaft supported by a bearing (not shown), and a speed reducing mechanism 3 for detecting multiple rotations is connected to the rotating body 1. A one-rotation detection unit 2 that detects the absolute rotation angle of the rotator 1 is provided on the same axis as the rotator 1. A multi-rotation detection unit 4 that detects an absolute rotation angle of the output unit 3 a is provided for the speed reduction mechanism 3.
The one-rotation detection unit 2 is an absolute angle detection device that outputs n sine waves or sawtooth waves for one rotation of the rotator 1, and includes, for example, a resolver having an output of 1X. n is a natural number, that is, n = 1, 2, 3,.
The multi-rotation detection unit 4 is an absolute angle detection device that outputs one sine wave or sawtooth wave for one rotation of the speed reduction mechanism output unit 3a, and includes, for example, a resolver having an output of 1X.

この多回転検出部４の出力により回転数を判別し、１回転検出部２の出力により精度良く多回転中の絶対角度を検出できる。   The rotational speed is discriminated based on the output of the multi-rotation detector 4, and the absolute angle during the multi-rotation can be detected with high accuracy by the output of the single-rotation detector 2.

なお、図１では、１回転検出部２と減速機構３とは回転体１の両端に設置しているが、これら１回転検出部２および減速機構３は、回転体１上であれば、どこに設置しても構わない。また、多回転検出部４は、回転体１と同軸上に設置していないが、回転体１と同軸上に設置しても構わない。減速機構３は、平歯車の歯車列など、回転体１を減速できる機構であれば、どのような機構を用いても構わない。   In FIG. 1, the one-rotation detection unit 2 and the speed reduction mechanism 3 are installed at both ends of the rotator 1. However, the one-rotation detection unit 2 and the speed reduction mechanism 3 are located anywhere on the rotator 1. May be installed. In addition, the multi-rotation detection unit 4 is not installed on the same axis as the rotating body 1, but may be installed on the same axis as the rotating body 1. As long as the speed reduction mechanism 3 can reduce the speed of the rotating body 1 such as a gear train of a spur gear, any mechanism may be used.

図１の角度検出装置を用いて角度検出するときに、発明が解決しようとする課題の欄で図９と共に前述したように、従来方法であっても減速機構３の減速比が１／５であれば、５回転分の絶対角度を精度良く算出することができる。Ｓ１は１回転検出部２の出力信号、Ｓ２は多回転検出部４の出力信号である。しかし、図１０に±５回転分を示すように、これらの信号Ｓ１，Ｓ２だけでは、正回転か負回転かを判別することができない。そのため、減速比（分母）の回転数（５回転）の絶対角度しか算出することができない。   As described above with reference to FIG. 9 in the column of the problem to be solved by the angle detection apparatus of FIG. 1, the reduction ratio of the reduction mechanism 3 is 1/5 even in the conventional method. If so, the absolute angle for five rotations can be calculated with high accuracy. S1 is an output signal of the single rotation detection unit 2, and S2 is an output signal of the multiple rotation detection unit 4. However, as shown in FIG. 10 for ± 5 rotations, it is not possible to determine whether the rotation is positive or negative only with these signals S1 and S2. Therefore, only the absolute angle of the rotation speed (5 rotations) of the reduction ratio (denominator) can be calculated.

そこで、この発明方法では、減速機構３の減速比を、例えば１／５．２や１／５．５などの中途半端な値、つまり減速比１／ＬにおけるＬの値を非整数としている。これにより正負の判別が可能になる。一般に、１回転検出部２から出力される山の数をｎ（自然数）とした場合に、多回転検出部４の減速比１／ＬにおけるＬの小数部分αを
α≠β／ｎ （０≦β≦ｎ−１、β：整数）
とすれば良い。αは、０≦α＜１の範囲で計算される。
その様子を図２に示す。ここでは、１回転検出部２は回転体１の１回転に１山の鋸波を出力し、多回転検出部４は減速機構出力部３ａの１回転に１山の鋸波を出力している。同図からわかるように、正側回転と負側回転とで、多回転検出部４の出力信号Ｓ２の値が同じでも、１回転検出部２の出力信号Ｓ１の値が異なるため、正負を判別することができる。特に減速比が１／５．５の場合には、正側回転と負側回転とで、１回転検出部２の出力信号Ｓ１の値の差が最大となる（電源電圧Ｖｃの半分となり、角度で換算すると１８０°の位相差となる）。 Therefore, in the method of the present invention, the reduction ratio of the reduction mechanism 3 is a halfway value such as 1 / 5.2 or 1 / 5.5, that is, the value of L at the reduction ratio 1 / L is a non-integer. Thereby, positive / negative discrimination becomes possible. In general, when the number of peaks output from the one-rotation detection unit 2 is n (natural number), the decimal fraction α of L in the reduction ratio 1 / L of the multi-rotation detection unit 4 is expressed as α ≠ β / n (0 ≦ β ≦ n−1, β: integer)
What should I do? α is calculated in the range of 0 ≦ α <1.
This is shown in FIG. Here, the one-rotation detection unit 2 outputs one sawtooth wave for one rotation of the rotating body 1, and the multi-rotation detection unit 4 outputs one sawtooth wave for one rotation of the speed reduction mechanism output unit 3a. . As can be seen from the figure, even if the value of the output signal S2 of the multi-rotation detector 4 is the same between the positive side rotation and the negative side rotation, the value of the output signal S1 of the single rotation detector 2 is different. can do. In particular, when the reduction ratio is 1 / 5.5, the difference in the value of the output signal S1 of the one-rotation detection unit 2 becomes the maximum between the positive rotation and the negative rotation (half the power supply voltage Vc, the angle When converted in terms of a phase difference of 180 °).

次のように、１回転検出部２から出力される山の数ｎ（ｎ：１、２、３、…）に合わせて多回転検出部４の減速比１／Ｌを適切な値に設定すれば、±ｒ回転（ｒ：整数）を検出する場合にも、判別が容易となる。
Ｌ＝ｒ＋１／（２ｎ） The reduction ratio 1 / L of the multi-rotation detector 4 is set to an appropriate value in accordance with the number of peaks n (n: 1, 2, 3,...) Output from the one-rotation detector 2 as follows. For example, even when ± r rotation (r: integer) is detected, the discrimination becomes easy.
L = r + 1 / (2n)

勿論、実際に検出したい回転数よりも大きい減速比１／Ｌとして、Ｌの値の小数部分だけを１／（２ｎ）の値に合わせても良い。また、Ｌの値の小数部をａ／ｎ＋１／（２ｎ）（ただし、０≦ａ＜ｎ，ａ：整数）としても良い。また、検出回転数が整数でない場合は、これまで記載した条件を満たし、さらにＬ≧ｒとなるように減速比１／Ｌを選定すれば良い。   Of course, as a reduction ratio 1 / L that is larger than the rotational speed that is actually desired to be detected, only the decimal part of the value of L may be set to the value of 1 / (2n). The decimal part of the value of L may be a / n + 1 / (2n) (where 0 ≦ a <n, a: integer). If the detected rotation speed is not an integer, the reduction ratio 1 / L may be selected so that the conditions described so far are satisfied and L ≧ r.

図５は、この多回転絶対角度検出方法のアルゴリズムのフローチャートを示す。また、図３，図４には、多回転検出部４の出力信号Ｓ２を基準にして、１回転検出部２の出力信号Ｓ１を重ね合わせた図を示す。これらの図を基に、このアルゴリズムを説明する。
ステップＲ１の時点では、それぞれ１回転中にほぼリニアに出力される１回転検出部２および多回転検出部４の出力信号Ｓ１，Ｓ２を検出する。出力信号Ｓ１，Ｓ２は、電圧値〔Ｖ〕である。
ステップＲ２では、この電圧値の出力信号Ｓ１，Ｓ２を、電源電圧Ｖｃとの割合を計算して角度（０°〜３６０°）に換算する。この電圧−角度換算処理は、ステップＲ６以前のどこで行っても構わないが、どこで行うかで、ステップＲ３〜Ｒ５の計算式は異なってくる。
ステップＲ３では、ステップＲ２で得た多回転検出部４の出力信号Ｓ２より、境界値Ｂを計算する。 FIG. 5 shows a flowchart of the algorithm of this multi-rotation absolute angle detection method. 3 and 4 are diagrams in which the output signal S1 of the one-rotation detection unit 2 is superimposed on the basis of the output signal S2 of the multi-rotation detection unit 4. FIG. This algorithm will be described based on these figures.
At step R1, the output signals S1 and S2 of the one-rotation detection unit 2 and the multi-rotation detection unit 4 that are output almost linearly during one rotation are detected. The output signals S1 and S2 are voltage values [V].
In step R2, the output signals S1 and S2 having the voltage values are converted into angles (0 ° to 360 °) by calculating a ratio with the power supply voltage Vc. This voltage-angle conversion process may be performed anywhere before step R6, but the calculation formulas of steps R3 to R5 differ depending on where the voltage-angle conversion process is performed.
In step R3 , the boundary value B is calculated from the output signal S2 of the multi-rotation detector 4 obtained in step R2.

この境界値Ｂは、正側回転時の１回転検出部２の出力信号Ｓ１＋と、負側回転時の１回転検出部２の出力信号Ｓ１−との中間点に来ることが望ましい。ここで言う中間点は中央のことである。
この中間点となる境界値Ｂは、図３を見ても分かるように、正側回転時の１回転検出部２の出力信号Ｓ１＋と負側回転時の１回転検出部２の出力信号Ｓ１−と同じ傾きを持つ直線（これを境界値曲線ＬＢと称す）上に存在する。正側回転時の１回転検出部２の出力信号Ｓ１＋と、負側回転時の出力信号Ｓ１−は、回転体１の角度（図中の横軸）が０°から３６０°変化すると、出力値（縦軸）も０°から３６０°変化するため、傾き１の直線となっている。そのため、境界値Ｂも傾き１の直線（境界値直線ＬＢ）上に存在する。また、正側回転時の１回転検出部２の出力信号Ｓ１＋と、負側回転時の１回転検出部２の出力信号Ｓ１−との位相差Ｐは、減速比１／Ｌから容易に求めることができる。
位相差Ｐは、例えば、減速比１／ＬにおけるＬの小数部分が０．５であれば、Ｐ＝３６０°×０．５＝１８０°、小数部分が０．２であれば、Ｐ＝３６０°×０．２＝７２°である。 The boundary value B is preferably at an intermediate point between the output signal S1 + of the one rotation detection unit 2 at the time of positive side rotation and the output signal S1- of the one rotation detection unit 2 at the time of negative side rotation. The midpoint here is in the middle.
As can be seen from FIG. 3, the boundary value B serving as the intermediate point is the output signal S1 + of the one rotation detection unit 2 during the positive rotation and the output signal S1− of the one rotation detection unit 2 during the negative rotation. Exists on a straight line having the same inclination as (referred to as a boundary value curve LB). The output signal S1 + of the one-rotation detection unit 2 during the positive side rotation and the output signal S1- during the negative side rotation are output values when the angle of the rotating body 1 (horizontal axis in the figure) changes from 0 ° to 360 °. Since the (vertical axis) also changes from 0 ° to 360 °, it is a straight line with an inclination of 1. For this reason, the boundary value B also exists on a straight line having a slope of 1 (boundary value line LB). Further, the phase difference P between the output signal S1 + of the one rotation detection unit 2 during the positive side rotation and the output signal S1- of the one rotation detection unit 2 during the negative side rotation can be easily obtained from the reduction ratio 1 / L. Can do.
The phase difference P is, for example, P = 360 ° × 0.5 = 180 ° when the decimal part of L in the reduction ratio 1 / L is 0.5, and P = 360 when the decimal part is 0.2. ° × 0.2 = 72 °.

正側回転時の１回転検出部２の出力信号Ｓ１＋の０°を原点とすると、正側回転時の１回転検出部２の出力信号Ｓ１＋は、傾き１、切片０の直線、負側回転時の１回転検出部２の出力信号Ｓ１−は、傾き１、切片−Ｐの直線となる。
つまり、境界値Ｂは、傾き１、切片−１／２の直線である境界値曲線ＬＢ上に存在する。この境界値曲線ＬＢは、角度検出時よりも前に、予め設定しておく。 Assuming that the origin of the output signal S1 + of the one rotation detection unit 2 at the time of positive side rotation is 0 °, the output signal S1 + of the one rotation detection unit 2 at the time of positive side rotation is a straight line of slope 1, intercept 0, and negative side rotation. The output signal S1- from the one-rotation detection unit 2 is a straight line having an inclination of 1 and an intercept -P.
That is, the boundary value B exists on the boundary value curve LB that is a straight line having an inclination of 1 and an intercept of −1/2. This boundary value curve LB is set in advance before the angle detection.

多回転検出部４の出力信号Ｓ２の値より、境界値曲線ＬＢに代入する角度（横軸）を求めることができるため、境界値Ｂ（縦軸）が計算できる。
この境界値Ｂは、図４で、ｃ：ｄ＝ｅ：ｆとなるように求める。 Since the angle (horizontal axis) to be substituted into the boundary value curve LB can be obtained from the value of the output signal S2 of the multi-rotation detector 4, the boundary value B (vertical axis) can be calculated.
This boundary value B is obtained so that c: d = e: f in FIG.

ステップＲ４では、１回転検出部２の出力信号Ｓ１と境界値Ｂとの差Ａを求めて、その差の符号と大きさにより、＋回転と−回転の判別を行う。
１回転検出部２の出力信号Ｓ１と境界値Ｂとの差をＡ（＝Ｓ１−Ｂ）と定義すると、図３の場合、次の場合分け判別条件となる。 In step R4, the difference A between the output signal S1 of the one-rotation detection unit 2 and the boundary value B is obtained, and + rotation and -rotation are discriminated based on the sign and magnitude of the difference.
If the difference between the output signal S1 of the one-rotation detection unit 2 and the boundary value B is defined as A (= S1-B), in the case of FIG.

多回転検出部４の出力信号Ｓ２や１回転検出部２の出力信号Ｓ１が誤差やノイズの全くのらない理想的な波形の場合、領域(1) 〜(7) 毎に差Ａを求めていくと以下の条件で判別できる。
〔１〕 Ａ＝Ｐ／２の場合、正回転と判別。
〔２〕 Ａ＝−Ｐ／２の場合、負回転と判別。 When the output signal S2 of the multi-rotation detector 4 and the output signal S1 of the single-rotation detector 2 are ideal waveforms free from errors and noise, the difference A is obtained for each of the areas (1) to (7). It can be determined under the following conditions.
[1] When A = P / 2, it is determined as forward rotation.
[2] When A = −P / 2, it is determined as negative rotation.

ただし、実際には多回転検出部４の出力信号Ｓ２や１回転検出部２の出力信号Ｓ１が誤差やノイズを生じるため、領域(1) 〜(7) ごとに差Ａを求め、以下の条件で判別する。
〔１〕０≦Ａ≦Ｐ／２＋α、もしくは Ａ≧３６０ の場合、正回転と判別。
〔２〕−（Ｐ／２＋α）≦Ａ＜０、もしくはＡ＜−３６０ の場合、負回転と判別。
〔３〕(1) 〜(7) の領域で〔１〕〔２〕の条件を満たさずＡ≦０の場合、正回転と判別。〔４〕(1) 〜(7) の領域で〔１〕〔２〕の条件を満たさずＡ＞０の場合、負回転と判別。 ここで、Ａ≧３６０やＡ＜−３６０、〔３〕、〔４〕の条件は、領域の境界部分の判別に用いる（詳細は記載しない）。 However, since the output signal S2 of the multi-rotation detection unit 4 and the output signal S1 of the single-rotation detection unit 2 actually cause errors and noise, the difference A is obtained for each of the regions (1) to (7) and the following conditions are satisfied. Determine with.
[1] When 0 ≦ A ≦ P / 2 + α or A ≧ 360, it is determined that the rotation is normal.
[2] When-(P / 2 + α) ≦ A <0 or A <−360, it is determined that the rotation is negative.
[3] When the conditions of [1] and [2] are not satisfied and A ≦ 0 in the region of (1) to (7), it is determined as normal rotation. [4] If the conditions of [1] and [2] are not satisfied and A> 0 in the range of (1) to (7), it is determined that the rotation is negative. Here, the conditions of A ≧ 360 and A <−360, [3], [4] are used for discrimination of the boundary portion of the region (details are not described).

条件中に記載したαの値は、それぞれ、位相差Ｐや１回転検出部２および多回転検出部４となるレゾルバ等の実際の回転角度検出装置の角度誤差やノイズなどに応じて任意に設定される値である。この値を調整することより、＋回転と−回転の判別をより正確にすることができる。   The value of α described in the conditions is arbitrarily set according to the phase error P, the angle error of the actual rotation angle detection device such as a resolver that becomes the one-rotation detection unit 2 and the multi-rotation detection unit 4, noise, etc. Is the value to be By adjusting this value, discrimination between + rotation and -rotation can be made more accurate.

±の判別ができれば、多回転検出部４の出力信号Ｓ２により回転数（−ｒ回転〜＋ｒ回転）がわかる。このとき、多回転検出部４における回転角度検出装置の誤差やノイズが存在するため、回転数の境界部分は１回転検出部２の出力信号Ｓ１により判別することが好ましい。これが、ステップＲ５の処理に該当する。   If ± can be discriminated, the number of rotations (-r rotation to + r rotation) can be known from the output signal S2 of the multi-rotation detection unit 4. At this time, since there are errors and noises of the rotation angle detection device in the multi-rotation detection unit 4, it is preferable to determine the boundary portion of the rotation speed based on the output signal S1 of the one rotation detection unit 2. This corresponds to the process of step R5.

最後に、ステップＲ６で、回転数と１回転検出部２の出力信号Ｓ１より、多回転の絶対角度θを計算する。   Finally, in step R6, the absolute angle θ of the multi-rotation is calculated from the rotation speed and the output signal S1 of the one-rotation detection unit 2.

このような方法を用いると、最終的な絶対角度の精度は、１回転検出部２となる回転角度検出装置の精度と同等となる。例えば、１回転検出部２の回転角度検出装置にレゾルバを用いた場合、一般に出力波形の山数ｎが多くなるほど角度算出精度は良くなると言われている。なお、１回転検出部２の出力波形（Ｓ１）の山数ｎを１＜ｎとすると、正負の回転数を判別する以外に、１回転検出部２の出力信号Ｓ１が何個目の山に相当するかを判別する必要があり、多回転検出部４となる回転角度検出装置の精度も要求される。   When such a method is used, the accuracy of the final absolute angle is equivalent to the accuracy of the rotation angle detection device that is the one rotation detection unit 2. For example, when a resolver is used in the rotation angle detection device of the one rotation detection unit 2, it is generally said that the angle calculation accuracy is improved as the number n of the output waveform peaks increases. If the number n of peaks in the output waveform (S1) of the one-rotation detection unit 2 is 1 <n, the output signal S1 of the one-rotation detection unit 2 is at what number of peaks, in addition to determining the positive / negative rotation number. It is necessary to determine whether it corresponds, and the accuracy of the rotation angle detection device serving as the multi-rotation detection unit 4 is also required.

この実施形態では、１回転検出部２および多回転検出部４として、鋸波が出力される回転角度検出装置（例えばレゾルバ）を用いた場合の説明を行ったが、その他に、例えば、１回転検出部２および多回転検出部４として、それぞれ、被検出部に対して９０°位相差で配置されたホールＩＣを２個用いても良い。その場合、１回転で１周期となる位相差９０°の信号ｐ，ｑを検出し（ｐ： sin波、ｑ：cos 波）を検出し、電源電圧Ｖｃの半分の値Ｖｃ／２を０として、ｐ／ｑと各出力の象限判別により１回転の絶対角度を算出することができる。   In this embodiment, a case where a rotation angle detection device (for example, a resolver) that outputs a saw wave is used as the one-rotation detection unit 2 and the multi-rotation detection unit 4 has been described. As the detection unit 2 and the multi-rotation detection unit 4, two Hall ICs arranged with a phase difference of 90 ° with respect to the detected unit may be used. In this case, signals p and q having a phase difference of 90 °, which makes one cycle per rotation, are detected (p: sin wave, q: cos wave), and the value Vc / 2 which is half of the power supply voltage Vc is set to 0. , P / q and the quadrature discrimination of each output, the absolute angle of one rotation can be calculated.

また、回転数の判別をより確実に行い、多回転の１回転検出部２では角度算出精度を向上させるためには、多回転検出部４や１回転検出部２の回転角度検出装置の補正テーブルを持つことが好ましい。
図６は、１回転検出部２の補正テーブルの使用例を示す。補正テーブルは、実際の回転角度検出装置の出力に対して、理想の波形に補正する補正データを設けたものである。同図の例では、一つの山の鋸波に対して補正テーブルを作成し、それを全ての山の鋸波に適用する例である。
図７は、全ての山の鋸波の補正テーブルを持つ補正方法を示す。図５のステップＲ５で回転数が計算されるため、その回転数の鋸波の補正テーブルを選択して、多回転の絶対回転角度を計算すれば良い。全ての鋸波の補正テーブルを持つ方が、より角度検出精度が向上する。 Further, in order to more reliably determine the rotational speed and improve the angle calculation accuracy in the multi-rotation one-rotation detection unit 2, the correction table of the rotation angle detection device of the multi-rotation detection unit 4 or the single-rotation detection unit 2 is used. It is preferable to have
FIG. 6 shows a usage example of the correction table of the one-rotation detection unit 2. The correction table is provided with correction data for correcting the output of the actual rotation angle detection device into an ideal waveform. In the example of the figure, a correction table is created for a sawtooth wave of one mountain, and is applied to the sawtooth waves of all the mountains.
FIG. 7 shows a correction method with a correction table for all sawtooth waves. Since the rotational speed is calculated in step R5 in FIG. 5, a sawtooth wave correction table for the rotational speed may be selected to calculate the absolute rotational angle of multiple rotations. The angle detection accuracy is improved by having all the sawtooth correction tables.

図８は、この発明の一実施形態にかかる多回転絶対角度検出装置の概念構成の説明図である。この多回転絶対角度検出装置は、前記実施形態に係る多回転絶対角度検出方法を実施する装置である。回転体１、１回転検出部２、減速機構３、および多回転検出部４は、図１と共に前述した構成のものである。１回転検出部２および多回転検出部４は、電子回路またはコンピュータで構成される角度演算手段６に接続されている。
角度演算手段６は、補正手段７、角度換算手段８、境界値計算手段９、回転方向判別手段１０、回転数計算手段１１、および多回転絶対角度計算手段１１を有している。 FIG. 8 is an explanatory diagram of a conceptual configuration of the multi-rotation absolute angle detection device according to the embodiment of the present invention. This multi-rotation absolute angle detection apparatus is an apparatus that implements the multi-rotation absolute angle detection method according to the embodiment. The rotating body 1, the one-rotation detection unit 2, the speed reduction mechanism 3, and the multi-rotation detection unit 4 have the configuration described above with reference to FIG. The one-rotation detection unit 2 and the multi-rotation detection unit 4 are connected to an angle calculation means 6 constituted by an electronic circuit or a computer.
The angle calculation means 6 includes correction means 7, angle conversion means 8, boundary value calculation means 9, rotation direction determination means 10, rotation speed calculation means 11, and multi-rotation absolute angle calculation means 11.

補正手段６は、図６または図７で説明した補正を行う手段であり、補正テーブル１３を有している。補正テーブル１３は、図６または図７と共に説明した補正データが設定されたテーブルである。角度換算手段８は、図５のステップＲ２で説明した処理を行う手段である。境界値計算手段９は、図５のステップＲ３と共に説明した方法で境界値を計算する手段である。回転方向判別手段１０は、図５のステップＲ４と共に説明した方法で回転体１の回転方向を判別する手段である。回転数計算手段１１は、図５のステップＲ５と共に説明した方法で回転数ｎを計算する手段である。多回転絶対値計算手段１２は、図５のステップＲ６と共に説明した方法で多回転絶対角度を計算する手段である。   The correction unit 6 is a unit that performs the correction described with reference to FIG. 6 or 7 and includes a correction table 13. The correction table 13 is a table in which the correction data described with reference to FIG. 6 or FIG. 7 is set. The angle conversion means 8 is a means for performing the processing described in step R2 in FIG. The boundary value calculation means 9 is a means for calculating the boundary value by the method described together with step R3 in FIG. The rotation direction discriminating means 10 is a means for discriminating the rotation direction of the rotating body 1 by the method described together with step R4 in FIG. The rotation speed calculation means 11 is a means for calculating the rotation speed n by the method described together with step R5 in FIG. The multi-rotation absolute value calculation means 12 is a means for calculating the multi-turn absolute angle by the method described together with step R6 in FIG.

この構成の多回転絶対角度検出方法を用いることにより、図１ないし図７と共に説明した多回転絶対角度検出方法を実施することができる。   By using the multi-rotation absolute angle detection method having this configuration, the multi-rotation absolute angle detection method described with reference to FIGS. 1 to 7 can be implemented.

この発明の一実施形態にかかる多回転絶対角度検出方法を実施する多回転絶対角度検出装置を示す模式図である。It is a schematic diagram which shows the multi-rotation absolute angle detection apparatus which implements the multi-rotation absolute angle detection method concerning one Embodiment of this invention. 正方向回転および負方向回転にわたり、１回転検出部と多回転検出部の出力信号を示した波形図である。It is the wave form diagram which showed the output signal of 1 rotation detection part and multiple rotation detection part over positive direction rotation and negative direction rotation. 正方向回転および負方向回転の１回転検出部の出力信号を重ねて示し、これに多回転検出部の出力信号を重ねて示す波形図である。It is a wave form diagram which shows the output signal of one rotation detection part of positive direction rotation and negative direction rotation in piles, and shows the output signal of a multiple rotation detection part on this. 境界値の説明図である。It is explanatory drawing of a boundary value. 同多回転絶対角度検出方法のアルゴリズムを示すフローチャートである。It is a flowchart which shows the algorithm of the same multiple rotation absolute angle detection method. 出力波形の補正方法の一例を示す説明図である。It is explanatory drawing which shows an example of the correction method of an output waveform. 出力波形の補正方法の他の例を示す説明図である。It is explanatory drawing which shows the other example of the correction method of an output waveform. この発明の一実施形態にかかる多回転絶対角度検出装置の概念構成を示す説明図およびその処理における波形の説明図である。It is explanatory drawing which shows the conceptual structure of the multi-rotation absolute angle detection apparatus concerning one Embodiment of this invention, and explanatory drawing of the waveform in the process. 従来の多回転絶対角度検出方法の一例を示す説明図である。It is explanatory drawing which shows an example of the conventional multi-rotation absolute angle detection method. 従来の多回転絶対角度検出方法で正負の回転方向の検出を行おうとした場合の不適切例を示す説明図である。It is explanatory drawing which shows the inappropriate example at the time of trying to detect the positive / negative rotation direction with the conventional multi-rotation absolute angle detection method.

符号の説明Explanation of symbols

１…回転体
２…１回転検出部
３…減速機構
３ａ…出力部
４…多回転検出部
７…補正手段
８…角度換算手段
９…境界値計算手段
１０…回転方向判別手段
１１…回転数計算手段
１２…多回転絶対角度計算手段
Ａ…境界値と１回転検出部の出力との差
Ｂ…境界値
ＬＢ…境界値曲線
Ｐ…位相差 DESCRIPTION OF SYMBOLS 1 ... Rotating body 2 ... 1 rotation detection part 3 ... Deceleration mechanism 3a ... Output part 4 ... Multiple rotation detection part 7 ... Correction | amendment means 8 ... Angle conversion means 9 ... Boundary value calculation means 10 ... Rotation direction discrimination means 11 ... Rotation number calculation Means 12 ... Multi-rotation absolute angle calculation means A ... Difference between the boundary value and the output of one rotation detector B ... Boundary value LB ... Boundary value curve P ... Phase difference

Claims (8)

回転体に接続された減速機構と、前記回転体および減速機構の出力部に対してそれぞれ設置された１回転検出部および多回転検出部を有し、前記１回転検出部は、回転体の１回転にｎ山（ｎ：自然数）の正弦波または鋸波を出力して回転体の絶対角度を検出するものとし、前記多回転検出部は、減速機構出力部の１回転に１山の正弦波または鋸波を出力して減速機構出力部の絶対角度を検出するものとした多回転絶対角度検出装置を用いる絶対角度検出方法であって、
前記減速機構の減速比１／ＬにおけるＬの値を非整数とし、
多回転検出部の出力信号の値から所定の計算基準で計算された境界値を用いて回転体の原点位置に対する正負の判別を行う過程と、
前記多回転検出部の出力信号から求められる回転数、前記正負の判別結果、および１回転検出部で検出される出力信号から、前記回転体の原点位置から±Ｌ回転以内の回転絶対角度を算出する過程とを含み、
前記正負の判別を行う過程は、１回転検出部の正側回転時の出力波形と負側回転時の出力波形の間に、これらの波形の位相をずらせた曲線に相当する境界値曲線を設定しておいて、多回転検出部の出力信号の値から前記境界値曲線上の境界値を求め、この境界値と１回転検出部の出力信号の値とを比較して所定の基準で回転方向の正負の判別を行う、
ことを特徴とする多回転絶対角度検出方法。 A speed reducing mechanism connected to the rotating body, and a one-rotation detecting section and a multi-rotation detecting section installed with respect to the rotating body and the output section of the speed reducing mechanism, respectively. It is assumed that the sine wave or sawtooth wave of n peaks (n: natural number) is output for rotation to detect the absolute angle of the rotating body, and the multi-rotation detection unit is one sine wave for one rotation of the speed reduction mechanism output unit. Alternatively, an absolute angle detection method using a multi-turn absolute angle detection device that outputs a sawtooth wave to detect an absolute angle of a reduction mechanism output unit,
The value of L in the reduction ratio 1 / L of the reduction mechanism is a non-integer,
A process of performing positive / negative discrimination for the origin position of the rotating body using a boundary value calculated according to a predetermined calculation standard from the value of the output signal of the multi-rotation detector;
From the rotation speed obtained from the output signal of the multi-rotation detection unit, the positive / negative discrimination result, and the output signal detected by one rotation detection unit, a rotation absolute angle within ± L rotation from the origin position of the rotating body is calculated. Including the process of
In the process of discriminating between positive and negative, a boundary value curve corresponding to a curve obtained by shifting the phases of these waveforms is set between the output waveform at the time of positive side rotation and the output waveform at the time of negative side rotation of one rotation detector. Then, a boundary value on the boundary value curve is obtained from the value of the output signal of the multi-rotation detection unit, and this boundary value is compared with the value of the output signal of the one-rotation detection unit to rotate in the predetermined direction. The positive / negative discrimination of
Multiple rotation absolute angle detecting method comprising the this. 請求項１において、１回転検出部および多回転検出部が鋸波を出力するものであり、前記正負の判別を行う過程では、前記境界値曲線が、１回転検出部の出力波形を、正側回転時の位相と負側回転時の位相の間における中央にずらせた曲線であり、多回転検出部の出力信号から得られる回転角度における前記境界値と１回転検出部の出力信号との差を取り、その差の正負の判別結果と、差の大きさの設定値に対する大小判別結果との組み合わせを、設定された場合分け判別条件と比較して、前記正負の判別を行う多回転絶対角度検出方法。 In Claim 1 , the 1-rotation detection unit and the multi-rotation detection unit output a sawtooth wave, and in the process of performing the positive / negative discrimination, the boundary value curve indicates the output waveform of the 1-rotation detection unit on the positive side. The curve is shifted to the center between the phase during rotation and the phase during negative rotation, and the difference between the boundary value at the rotation angle obtained from the output signal of the multi-rotation detector and the output signal of the one-rotation detector Multi-rotation absolute angle detection that performs the above-described positive / negative discrimination by comparing the combination of the positive / negative discrimination result of the difference and the magnitude discrimination result with respect to the set value of the difference with a set case discrimination criterion Method. 請求項１または請求項２において、１回転検出部が出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、前記減速比１／ＬにおけるＬの小数部分αを、
α≠β／ｎ （０≦β≦ｎ−１、β：整数）
とする多回転絶対角度検出方法。 In Claim 1 or Claim 2 , when the number of peaks of the sine wave or sawtooth wave output by the one rotation detector is n (n: natural number), the decimal fraction α of L in the reduction ratio 1 / L is:
α ≠ β / n (0 ≦ β ≦ n−1, β: integer)
Multi-rotation absolute angle detection method. 請求項１または請求項２において、検出する回転数の範囲を±ｒ（ｒ：整数）、1 回転検出部が１回転中に出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、前記減速比１／ＬにおけるＬの値を、
Ｌ＝ｒ＋１／（２ｎ）
とする多回転絶対角度検出方法。 3. The range of the number of rotations to be detected is ± r (r: integer), and the number of sine waves or sawtooth peaks output by one rotation detection unit during one rotation is n (n: natural number). The value of L at the reduction ratio 1 / L is
L = r + 1 / (2n)
Multi-rotation absolute angle detection method. 請求項１または請求項２において、検出する回転数の範囲を±ｒ（ｒ：整数）、１回転検出部が出力する正弦波または鋸波の山数をｎ（ｎ：自然数）とした場合に、減速比１／ＬにおけるＬの小数部分を、
ａ／ｎ＋１／（２ｎ）
０≦ａ＜ｎ、（ａ：整数）
とする多回転絶対角度検出方法。 In claim 1 or claim 2 , when the range of rotation speed to be detected is ± r (r: integer), and the number of sine waves or sawtooth peaks output by the one-rotation detection unit is n (n: natural number). , The decimal part of L at the reduction ratio 1 / L,
a / n + 1 / (2n)
0 ≦ a <n (a: integer)
Multi-rotation absolute angle detection method. 請求項１ないし請求項５のいずれか１項において、多回転検出部および１回転検出部から出力される少なくとも一方の信号を理想波形に補正する多回転絶対角度検出方法。 6. The multi-rotation absolute angle detection method according to claim 1, wherein at least one of the signals output from the multi-rotation detection unit and the single rotation detection unit is corrected to an ideal waveform. 請求項６において、検出する正負の回転角度の全範囲にわたり、１回転検出部から出力される正弦波または鋸波に対して補正値を設定した補正テーブルを持つ、多回転絶対角度検出方法。 7. The multi-rotation absolute angle detection method according to claim 6 , further comprising a correction table in which correction values are set for the sine wave or sawtooth wave output from the one-rotation detection unit over the entire range of positive and negative rotation angles to be detected. 回転体に接続された減速機構と、前記回転体および減速機構の出力部に対してそれぞれ設置された１回転検出部および多回転検出部を有し、前記１回転検出部は、回転体の１回転にｎ山（ｎ：自然数）の正弦波または鋸波を出力して回転体の絶対角度を検出するものとし、前記多回転検出部は、減速機出力部の１回転に１山の正弦波または鋸波を出力して減速機構出力部の絶対角度を検出するものとした多回転絶対角度検出装置であって、
前記減速機構の減速比１／ＬにおけるＬの値を非整数とし、
１回転検出部の正側回転時の出力波形と負側回転時の出力波形の間に、これらの波形の位相をずらせた曲線に相当する境界値曲線が設定され、多回転検出部の出力信号の値から前記境界値曲線上の境界値を求め、この境界値と１回転検出部の出力信号の値とを比較して所定の基準で回転方向の正負の判別を行う回転方向判別手段と、
前記多回転検出部の検出値から求められる回転数、および前記回転方向判別手段による回転方向の正負の判別結果から回転数の絶対値を計算する回転数計算手段と、
この回転数計算手段の計算した回転数の絶対値と前記１回転検出部の出力信号の値とから、前記回転体の原点位置から±Ｌ回転以内の回転絶対角度を算出する多回転絶対角度計算手段とを備える、
ことを特徴とする多回転絶対角度検出装置。 A speed reducing mechanism connected to the rotating body, and a one-rotation detecting section and a multi-rotation detecting section installed with respect to the rotating body and the output section of the speed reducing mechanism, respectively. It is assumed that the sine wave or sawtooth wave of n peaks (n: natural number) is output for rotation to detect the absolute angle of the rotating body, and the multi-rotation detection unit is one sine wave for one rotation of the reduction gear output unit. Or a multi-turn absolute angle detection device that detects the absolute angle of the output mechanism of the deceleration mechanism by outputting a saw wave,
The value of L in the reduction ratio 1 / L of the reduction mechanism is a non-integer,
A boundary value curve corresponding to a curve in which the phases of these waveforms are shifted is set between the output waveform at the time of positive side rotation and the output waveform at the time of negative side rotation of the one-rotation detection unit. A rotation direction discriminating means that obtains a boundary value on the boundary value curve from the value of the rotation angle, compares the boundary value with the value of the output signal of the one rotation detection unit, and determines whether the rotation direction is positive or negative based on a predetermined reference;
Rotational speed calculation means for calculating the absolute value of the rotational speed from the rotational speed obtained from the detection value of the multi-rotation detection section and the positive / negative determination result of the rotational direction by the rotational direction determination means;
Multi-rotation absolute angle calculation for calculating a rotation absolute angle within ± L rotations from the origin position of the rotating body from the absolute value of the rotation speed calculated by the rotation speed calculation means and the value of the output signal of the one-rotation detection unit Means,
A multi-rotation absolute angle detection device characterized by that.
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