CN100538574C - Signal processing apparatus, method, pick-up unit and servo control mechanism - Google Patents

Signal processing apparatus, method, pick-up unit and servo control mechanism Download PDF

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Publication number
CN100538574C
CN100538574C CNB2005101338711A CN200510133871A CN100538574C CN 100538574 C CN100538574 C CN 100538574C CN B2005101338711 A CNB2005101338711 A CN B2005101338711A CN 200510133871 A CN200510133871 A CN 200510133871A CN 100538574 C CN100538574 C CN 100538574C
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signal
location information
driving body
signal processing
motor
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CN1831691A (en
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藤田纯
伊东隆充
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Shibaura Machine Co Ltd
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Toshiba Machine Co Ltd
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Abstract

Carry out signal Processing to detect the actuating speed of motor for the location information signal of exporting from sensor corresponding to the activation point of motor (Asin θ, Acos θ).Possess: the location information signal carries out the location information signal handling part (410) of signal Processing with the actuating speed information of calculating motor; The up-to-date actuating speed information (ω that reflection is calculated by location information signal handling part (410) n) be used as the interior location information generating unit (460) of interior location information with the up-to-date estimated position that generates motor.Location information signal handling part (410) basis is from the location information signal (Asin θ, Acos θ) of sensor and interior location information (the Asin θ that is generated by interior location information generating unit (460) n, Acos θ n) difference come the actuating speed information (ω of calculating motor n).

Description

Signal processing apparatus, method, pick-up unit and servo control mechanism
Technical field
The present invention relates to signal processing apparatus, for example, relate to the diphase signal from the scrambler output of the anglec of rotation that detects motor is handled, detect the servo control mechanism of signal processing apparatus, signal processing method, signal handler, recording medium, speed detector and the control direct motor drive speed of the actuating speed (angular velocity of rotation) of motor.
Background technology
In the past, the servo control mechanism of the actuating speed of known control motor (for example rotational speed) (for example, document 1: the spy opens the 2004-5218 communique).
Existing servo control mechanism 1 possesses as shown in figure 12: as the motor 11 of controlling object; Detect the position of rotation (anglec of rotation) of motor 11 and the scrambler 12 of outgoing position data; And according to coming the calculating motor rotational speed from the position data of scrambler 12 time control is applied to the electric current on the motor 11 so that the motor rotational speed is the control part 13 of target velocity.
Scrambler 12 latchs when detecting the position of rotation (anglec of rotation) of motor 11, with the rotary position information of basic code (absolute code) output motor 11.And, connect scrambler 12 and control part 13 by serial communication line 14.
Expression possesses the sequential chart of rotational speed control in the servo control mechanism of said structure, motor 11 in Figure 13.
At first, send the instruction S of position probing to scrambler 12 from control part 13 by serial communication line 14 1Detect instruction S when receiving 1The time, the position of rotation that scrambler 12 detects motor 11 (is expressed as P among Figure 13 0, P 1, P 2) time, this detected value is latched and the position data of motor 11 is outputed to control part 13.
When control part 13 receives the position of rotation data of motor 11 from encoding section 12, according to the speed of motor position of rotation control motor 11.That is, the motor position of rotation that control part 13 receives before with the motor position of rotation that receives and one-period compares the rotational speed that calculates motor 11, and motor rotational speed and the target velocity that calculates compared.So, calculate the dutycycle that is applied to the electric current on the motor 11 according to the difference of electromotor velocity and target velocity, control the speed of motor 11 simultaneously according to the dutycycle that calculates.
By repeating above-mentioned control cycle, the rotational speed control of motor 11 is become target velocity.
Yet, as mentioned above, based on carrying out under the situation of speed control according to detected motor position of rotation data of certain sampling period and according to the electromotor velocity that their Difference Calculation goes out by obtaining, become the speed of current control cycle and the average velocity data of the speed in previous cycle by calculating the speed data that obtains.Like this, in speed control, produce 1/2 the dead time (time delay) of sampling period T.Owing to have such dead time,, consequently can produce the problem of damaging control stiffness so the phase delay of control system increases.
Summary of the invention
Main purpose of the present invention is, provides a kind of basis promptly to obtain the signal processing apparatus, signal processing method, signal handler, speed detector of the actuating speed of controlling object from the signal of scrambler and is stable servo control mechanism with the direct motor drive speed control.
Signal processing apparatus of the present invention is to carrying out signal Processing and detect the signal processing apparatus of the actuating speed of described driving body from the location information signal of sensor output accordingly with the activation point of driving body, it is characterized in that, possess: the location information signal handling part, carry out signal Processing and calculate the actuating speed information of described driving body described location information signal; And interior location information generating unit, the up-to-date described actuating speed information that reflection is calculated by described location information signal handling part, the up-to-date estimated position that generates described driving body is used as interior location information, wherein, described location information signal handling part calculates the actuating speed information of described driving body according to the difference of the described interior location information that generates from the described location information signal of described sensor with by described interior location information generating unit.
In this structure, the positional information of driving body that generates the up-to-date actuating speed information reflected driving body in interior location information generating unit is as interior location information, in case from the location information signal of sensor input driving body, the difference of the location information signal of calculating sensor and described interior location information in the location information signal handling part immediately then.According to this Difference Calculation and export the actuating speed of driving body.This actuating speed for example is input to interior location information generating unit to be used to infer the latest position of driving body when the actuating speed information as driving body outputs to the control assembly that is arranged on the outside.
Here, therefore interior location information generating unit, holds the positional information of the up-to-date driving body of inferring as far as possible owing to generate the positional information of the driving body that has reflected up-to-date actuating speed information usually.Therefore, can dwindle the time slot (Δ t) of interior location information that generates by this interior location information generating unit and the location information signal of importing from sensor, for example, if regard the extremely small time (Δ t → 0) as, then the difference of the interior location information that generates from the location information signal of sensor with by interior location information generating unit promptly becomes the differential value from the location information signal of sensor, does not make just to become the actuating speed of driving body with changing.
Because the estimated position that generates driving body in advance by interior location information generating unit is as interior location information, therefore,, obtain the actuating speed of driving body in case during from sensor input position information signal, then calculate both difference immediately.And the actuating speed information that is obtained is substantially equal to carries out the resulting actuating speed information of differential immediately with the location information signal from the sensor input, can obtain not have with respect to the positional information of input the velocity information of delay.
In the past owing to be to adopt the position data that obtains with certain sampling period to calculate position poor of the control cycle before current period and the one-period, therefore, only obtain the average velocity of 1/2 cycle delay, yet, among the present invention, owing to can obtain the actuating speed in this moment of input sample signal (location information signal), therefore, time delay is extremely small, can bring into play and can stride the such special result of the epoch ground existing time delay of improvement.
Therefore, for example,, then, therefore, can make control system extremely stable owing to there is not phase delay if will carry out drive controlling as feedback signal to driving body by the actuating speed information that this signal conditioning package obtains the time.
In the present invention, preferably, interior location information generating unit generates described interior location information according to the integrated value that will obtain from the described actuating speed information of described location information signal handling part output integration successively.
According to such structure, because from the output of location information signal handling part is driving body actuating speed at every moment, therefore, by this actuating speed being carried out integration successively, can obtain positional information based on the driving body of this velocity information in this interior location information generating unit.And, by to carrying out integration until up-to-date actuating speed information, by estimate from the input position information signal of last time to next constantly till the drive amount that drives of driving body, obtain to infer the interior location information of the position of driving body.
So, because the estimated position that generates driving body in advance by interior location information generating unit is as interior location information, therefore, in case during from sensor input position information signal, the difference that then can calculate both immediately obtains the actuating speed of driving body.
In the present invention, best described location information signal handling part possesses: the Difference Calculation parts, calculate the difference of the interior location information that generates from the described location information signal of described sensor with by described interior location information generating unit; And actuating speed calculating parts, according to described difference, calculate the actuating speed information of described driving body from described Difference Calculation parts.
Here, calculate parts, enumerated gaining and calculate described actuating speed information as example multiply by regulation on the described difference that goes out in described Difference Calculation component computes as actuating speed.
Utilize this structure, on the difference of location information signal that goes out by the Difference Calculation component computes and interior location information, for example multiply by suitable gain, calculate actuating speed information corresponding to the characteristic of driving body.
For example, when under the situation of sensor input periodically variable sinusoidal wave shape signal corresponding to the activation point of driving body, location information signal is with the trigonometric function value of phase place as parameter, when wishing to obtain phase changing capacity as actuating speed information, utilize actuating speed to calculate parts and be transformed into phase changing capacity, try to achieve phase changing capacity as actuating speed information from trigonometric function value.
In the present invention, preferably, from the location information signal of described sensor output is periodically variable periodic function signal corresponding to the driving of driving body, described location information signal handling part is exported the actuating speed information of the phase changing capacity of described periodic function signal as described driving body, described interior location information generates parts to be possessed: integrating block, carry out integration and calculate the suitable phase place of positional information with described driving body the described phase changing capacity from described location information signal handling part; And interior location information conversion portion, calculate with the corresponding periodic function value of described phase place that calculates by described integrating block and be used as described interior location information.
In above-mentioned structure,, calculate phase changing capacity with as actuating speed information with respect to location information signal from the periodic function of sensor input.And, be that actuating speed information carries out calculating phase place after the integration to this phase changing capacity, further, calculate periodic function value corresponding to this phase place as interior location information.
Because input is the periodic function value, therefore, for the location information signal of obtaining input and the difference of interior location information, even when also needing to hold functional value as interior location information, according to the phase place that calculates by integrating block, utilize the functional value of interior location information conversion component computes corresponding to this phase place.Thus, calculate the location information signal of input and the difference of interior location information immediately, obtain not have the velocity information of delay with respect to the positional information of input.
In addition, by having the interior location information conversion portion that calculates with the phase place predefined function value that is parameter, even even from the location information signal of sensor input be not phase information itself, it also can be sinusoidal wave shape signal etc., therefore, owing to the scrambler (photo-electric, magnetic, electrostatic capacitive etc.) that generally uses as sensor can be used as sensor to former state, and do not need only to be suitable for the special design alteration of signal processing apparatus of the present invention, therefore, be easy, can avoid cost to rise simultaneously.
In the present invention, preferably, described periodic function signal is the diphase signal that is made of the 1st signal that has the predetermined phase difference mutually and the 2nd signal, described location information signal handling part possesses: the 1st signal processing part, and the phase changing capacity that described the 1st signal is carried out signal Processing and exports described the 1st signal is as described actuating speed information; And the 2nd signal processing part, the phase changing capacity that described the 2nd signal is carried out signal Processing and exports described the 2nd signal is as described actuating speed information, at the rear-stage side signalization switching part of described location information signal handling part, this signal switching part switch select from the output signal of described the 1st signal processing part and from the output signal of described the 2nd signal processing part, based on the output signal of a side's big periodic function signal with respect to the signal value variable quantity of the described periodic function signal of phase changing capacity.
Utilize this structure, owing to select according to changing the phase changing capacity (actuating speed information) that a side's greatly calculated signals goes out with respect to the phase changing capacity signal value in the diphase signal by the signal switching part, therefore, can obtain phase changing capacity accurately as actuating speed information.
If from the location information signal of sensor output is periodic function, the zone that then exists the rate of change with respect to the variation functional value of phase place to diminish, therefore, even from this periodic function value, deduct interior location information, also might try to achieve the variable quantity of phase place accurately, yet,, can in gamut, obtain phase changing capacity accurately if switch diphase signal and adopt the signal (the 1st signal or the 2nd signal) big with respect to the phase-changing signal variable quantity with phase differential.
Here, for example, the periodic function signal is the trigonometric function signal with 90 degree phase differential, can be that the 1st signal is that sine wave signal (Asin θ), the 2nd signal are cosine wave signal (Acos θ), perhaps, also can be that the 1st signal is that tan θ, the 2nd signal are 1/tan θ.
Further, even from the diphase signal of sensor output is under the situation of sine wave signal (Asin θ) and cosine wave signal (Acos θ), also can utilize signal Processing, detect the actuating speed of driving body based on the diphase signal that is transformed into tan θ (=Asin θ/Acos θ) and 1/tan θ (=Acos θ/Asin θ).So, if obtain the ratio of 2 signals, just can obtain can not be subjected to the input signal of signal amplitude influence of change.
In the present invention, preferably, described periodic function signal is the sinusoidal wave shape signal, and described signal switching part possesses: judging part, with the signal value of any one party in described the 1st signal and described the 2nd signal with predetermined threshold compares and carry out size and judge; And switching part, according to the judged result that produces by described judging part, between from the output signal of described the 1st signal processing part and output signal, switch from described the 2nd signal processing part.
For example,, then use this side's signal value to get final product, if the absolute value of a side signal value then uses the opposing party's signal value to get final product than threshold value height if the absolute value of a square signal value is littler than threshold value.
According to such structure, the sinusoidal wave shape signal when absolute value bigger, when then diminishing,, select the signal bigger with respect to the rate of change of phase place according to judging with the size of predetermined threshold with respect to the rate of change of phase place.Thus, in gamut, can obtain phase changing capacity accurately.And, when judging the big side of change amount signal with respect to phase change, do not need complex calculations to handle, as long as a side signal value and threshold value compared and judge big or smallly, therefore, be easy.
In the present invention, preferably, possess sign reversing portion, this sign reversing portion will become the symbol of expression and the corresponding increase and decrease of described driving body moving direction from the sign reversing of the phase changing capacity of described location information signal handling part output.
When the location information signal from sensor is the periodic function of periodically increase and decrease, though at driving body under the situation that positive-displacement, phase place increase, also produce the zone that the signal value as location information signal reduces.If merely deduct interior location information from the signal value of above-mentioned minimizing, then no matter driving body increases to positive-displacement, phase place, and phase changing capacity also can become negative value.This point, in the present invention, owing to possess sign reversing portion, therefore, even suppose phase changing capacity to be calculated to be under the situation of negative value during to positive-displacement at driving body, also the sign reversing of phase changing capacity can be become increase and decrease direction corresponding to the moving direction of driving body, obtain the correct actuating speed (phase changing capacity) of increase and decrease direction, and, generate interior location information according to the correct actuating speed (phase changing capacity) of this increase and decrease direction.
And, usually, in scrambler, export of the output of periodically variable sinuous signal, in signal processing apparatus of the present invention as sensor as sensor, owing to possess sign reversing portion, can not need only to be suitable for the special design alteration of signal processing apparatus of the present invention, therefore by obtaining the actuating speed of controlling object after the sensor signal of general sensor output is done suitably to handle, be easy, can avoid cost to rise simultaneously.
In the present invention, preferably, described interior location information generates parts to be possessed: the 1st integrating block, carry out integration to calculate the suitable phase place of positional information with described driving body to the phase changing capacity from described the 1st signal of described the 1st signal processing part output; The 1st interior location information conversion portion is according to the functional value of described the 1st signal of phase calculation that is calculated by described the 1st integrating block; The 2nd integrating block carries out integration to the phase changing capacity from described the 2nd signal of described the 2nd signal processing part output, calculates the suitable phase place of positional information with described driving body; And the 2nd interior location information conversion portion, according to the phase place that calculates by described the 2nd integrating block, calculate the functional value of described the 2nd signal.
In said structure, export the 1st signal and the 2nd signal from sensor as diphase signal, the 1st signal is handled the phase changing capacity of exporting the 1st signal by the 1st signal processing part, and the 2nd signal is handled the phase changing capacity of output the 2nd signal by the 2nd signal processing part.To calculate the up-to-date phase place of the 1st signal from the phase changing capacity of the 1st signal of the 1st signal processing part output integration successively by the 1st integrating block.To be input to the 1st interior location information conversion portion by the phase place that the 1st integrating block calculates, calculate the up-to-date estimated position of the functional value of the 1st signal as driving body by the 1st interior location information conversion portion.In the 1st signal processing part, calculate the functional value of the 1st signal that calculates by the 1st interior location information conversion portion and from the difference of the 1st signal of sensor input, according to the actuating speed of this Difference Calculation driving body.
To calculate the up-to-date phase place of the 2nd signal from the phase changing capacity of the 2nd signal of the 2nd signal processing part output integration successively by the 2nd integrating block.To be input to the 2nd interior location information conversion portion by the phase place that the 2nd integrating block calculates, calculate the up-to-date estimated position of the functional value of the 2nd signal as driving body by the 2nd interior location information conversion portion.In the 2nd signal processing part, calculate the functional value of the 2nd signal that calculates by the 2nd interior location information conversion portion and from the difference of the 2nd signal of sensor input, according to the actuating speed of this Difference Calculation driving body.
And, will be from the output signal of the 1st signal processing part with from the actuating speed output of the signal of selecting by the signal switching part in the output signal of the 2nd signal processing part as driving body.
According to above-mentioned structure, when exporting the diphase signal of the 1st signal and the 2nd signal from sensor, possess the 1st integrating block and the 1st interior location information conversion portion accordingly with the 1st signal processing part of handling the 1st signal, possess the 2nd integrating block and the 2nd interior location information conversion portion accordingly with the 2nd signal processing part of handling the 2nd signal.Thus, when the actuating speed of calculating based on the driving body of the 1st signal, being in the loop that constitutes of the 1st integrating block of feedback information and the 1st interior location information conversion portion with phase changing capacity, only can utilize and calculate actuating speed information based on the calculation process of the 1st signal based on the 1st signal.
Again, similarly, when the actuating speed of calculating based on the driving body of the 2nd signal, being in the loop that constitutes of the 2nd integrating block of feedback information and the 2nd interior location information conversion portion with phase changing capacity, only can utilize and calculate actuating speed information based on the calculation process of the 2nd signal based on the 2nd signal.
Therefore, for example, even under the 1st signal situation different, can not be subjected to the influence of the difference of vibration of the 1st signal and the 2nd signal from each velocity information of each position information process portion (the 1st signal processing part, the 2nd signal processing part) output with the 2nd signal amplitude yet.Thus, suppressed the influence of the difference of vibration of the 1st signal and the 2nd signal, even utilizing the signal switching part to switch output under the situation of the actuating speed information of the 1st signal processing part and the output of the 2nd signal processing part, the actuating speed information of output also is continuous smoothly.
In the present invention, preferably, described driving body is the motor with rotor, from the location information signal of described sensor output is periodically variable periodic function signal corresponding to the rotation driving of described motor, described location information signal handling part output angular velocity of rotation is as the actuating speed information of described motor, integrating block will carry out integration from the described angular velocity of rotation of described location information signal handling part, the rotatable phase angle of calculating motor, the periodic function value based on the rotatable phase angle of described motor is calculated by described interior location information conversion portion.
According to this structure, can drive from the periodic function signal of sensor output according to rotation and obtain the actuating speed of angular velocity of rotation as motor corresponding to motor.
Signal processing method of the present invention is for carrying out signal Processing and detect the signal processing method of the actuating speed of described driving body from the location information signal of sensor output corresponding to the activation point of driving body, it is characterized in that, possess: the location information signal treatment process, described location information signal is carried out signal Processing, calculate the actuating speed information of described driving body; And interior location information generates operation, the up-to-date described actuating speed information that reflection is calculated by described location information signal treatment process, the up-to-date estimated position that generates described driving body is used as interior location information, wherein, described location information signal treatment process is calculated the actuating speed information of described driving body according to generating the difference of the described interior location information that operation generates from the described location information signal of described sensor with by described interior location information.
Utilize above-mentioned structure, can bring into play the action effect identical with foregoing invention.
Signal handler of the present invention is the signal handler of being carried out by the computing machine that is assembled in the signal processing apparatus, described signal processing apparatus carries out signal Processing for the location information signal of exporting from sensor corresponding to the activation point of driving body and detects the actuating speed of described driving body, it is characterized in that, described computing machine is played a role as location information signal handling part and interior location information generating unit, described location information signal handling part carries out signal Processing to described location information signal and calculates the actuating speed information of described driving body, described interior location information generating unit reflects that up-to-date described actuating speed information that is calculated by described location information signal handling part and the up-to-date estimated position that generates described driving body are used as interior location information, simultaneously, described location information signal handling part calculates the actuating speed information of described driving body according to the difference of the described interior location information that generates from the described location information signal of described sensor with by described interior location information generating unit.
Recording medium of the present invention is characterised in that, has write down above-mentioned signal handler.
So, if signal handler is loaded into computing machine and this computing machine is played a role as each function portion, then can easily carry out change of various parameters or the like.
Again, when loading this signal handler, storage card or CD-ROM etc. directly can be inserted in the signal processing apparatus, also these mediums can be connected with signal processing apparatus by external fetch equipment.Further, can use LAN cable, telephone wire etc. to be connected with signal processing apparatus and the also Load Signal handling procedure of supply that passes through to communicate by letter, also can be to supply with also Load Signal handling procedure with wireless mode.
Speed detector of the present invention is characterised in that to possess: sensor, the corresponding location information signal of activation point of output and driving body; And said signal processing device.
Utilize this structure, can make by signal processing means processes from the location information signal of sensor speed detector with the actuating speed of rapid acquisition driving body.
Servo control mechanism of the present invention is characterized in that, possesses: driving body; Sensor, the corresponding location information signal of activation point of output and described driving body; Described signal processing apparatus; And central control part, will by the actuating speed of the detected described driving body of described signal processing apparatus and outside predefined intended target speed compares and simultaneously the actuating speed of described driving body is controlled to described intended target speed.
Utilize above-mentioned structure, the actuating speed information that will be obtained by signal processing apparatus is as feedback signal and carried out the drive controlling of driving body by central control part.Like this, owing to do not have phase delay, so can make control system extremely stable.
Signal processing apparatus of the present invention is for carrying out signal Processing and detect the actuating speed of described driving body from the location information signal of sensor output corresponding to the activation point of driving body, it is characterized in that, possess: the location information signal handling part, described location information signal is carried out signal Processing, calculate the actuating speed information of described driving body; And interior location information generating unit, the up-to-date described actuating speed information that reflection is calculated by described location information signal handling part, the up-to-date estimated position that generates described driving body is used as interior location information, from the location information signal of described sensor output is periodically variable periodic function signal corresponding to the driving of driving body, described location information signal handling part calculates the actuating speed information of the phase changing capacity of described periodic function signal as described driving body, described interior location information generating unit possesses: integrating block, carry out integration and calculate the suitable phase place of positional information with described driving body the described phase changing capacity from described location information signal handling part; And interior location information conversion portion, the corresponding periodic function value of described phase place that calculates and calculated by described integrating block is used as described interior location information, described location information signal handling part calculates the actuating speed information of described driving body according to the difference of the described interior location information that generates from the described location information signal of described sensor with by described interior location information generating unit.
Description of drawings
Fig. 1 is the block diagram of the 1st embodiment of the relevant servo control mechanism of the present invention of expression.
Fig. 2 is from the figure of the example of the diphase signal of scrambler output in above-mentioned the 1st embodiment of expression.
Fig. 3 is the block diagram of the structure of above-mentioned the 1st embodiment medium velocity calculating part of expression.
Fig. 4 is the figure of the relation between the interior location information (Asin θ n) that generates from the sine wave signal (Asin θ) of scrambler input with by interior location information generating unit in above-mentioned the 1st embodiment of expression.
Fig. 5 is the figure of expression as the structure of the speed calculation portion of the signal processing apparatus of the present invention's the 2nd embodiment.
Fig. 6 is the figure that is illustrated in the 2nd embodiment example of the tangent signal (tan θ) that generates according to the ratio from the diphase signal of scrambler and cotangent signal (1/tan θ).
Fig. 7 is the block diagram that is illustrated in the structure of the 3rd embodiment medium velocity calculating part.
Fig. 8 is illustrated in the structure of the 1st embodiment, and sine wave signal and cosine wave signal amplitude have the motor rotation of exporting under the 5% different situation figure with the example of speed omega.
Fig. 9 is illustrated in the structure of the 3rd embodiment, and sine wave signal and cosine wave signal amplitude have the figure of the example of the motor angular velocity of rotation ω that exports under the 5% different situation.
Figure 10 is the figure of the structure of expression the 4th embodiment.
Figure 11 is the figure of expression modified example of the present invention.
Figure 12 is the figure of the structure of the existing servo control mechanism of expression.
Figure 13 is the sequential chart of the rotational speed control of the motor in the existing servo control mechanism of expression.
Embodiment
Below, in the diagram embodiments of the present invention, the symbol of each several part describes among the figure with reference to giving.
(the 1st embodiment)
The 1st embodiment for servo control mechanism of the present invention describes.
The block diagram of expression servo control mechanism in Fig. 1.
This servo control mechanism 100 possesses: as the motor (driving body) 110 of controlling object; Scrambler 120 as the sensor of the location information signal (periodic function signal) that drives sine wave output (Asin θ) and cosine wave (CW) (Acos θ) corresponding to the rotation of motor 110; And according to the control part 300 of controlling the motor rotational speed from the target velocity of outside input from the location information signal calculating motor rotational speed (actuating speed information) and the while basis of scrambler 120.
Scrambler 120 is existing known rotary encoders 120, its details omits explanation, it has the rotor that rotates with the rotor one of motor 110, and output position information signal (Asin θ, Acos θ), wherein, above-mentioned location information signal (Asin θ, Acos θ) is periodically variable periodic function along with the rotation of this rotor.This location information signal is to have the sine wave (Asin θ) of 90 degree phase differential and the diphase signal of cosine wave (CW) (Acos θ) mutually as shown in Figure 2.As such rotary encoder 120, can use optical-electricity encoder, electrostatic capacitive scrambler, magnetic encoder etc.
Control part 300 possesses: as the speed calculation portion 400 that the location information signal from scrambler 120 is carried out the signal processing apparatus of signal Processing and calculating motor rotational speed; And compare the motor rotational speed is controlled to the CPU310 of the central control part of target velocity as motor rotational speed that speed calculation portion 400 is calculated and target velocity from outside input.
Structure for speed calculation portion 400 describes.
Fig. 3 is the block diagram of the structure of expression speed calculation portion 400.
Speed calculation portion 400 possesses: the diphase signal (Asin θ, Acos θ) from scrambler 120 outputs is carried out signal Processing with calculating motor rotational speed (ω n) location information signal handling part 410; Compare with predetermined condition and switch to select signal switching part 450 based on the motor rotating speed data of any one party signal in the diphase signal; According to motor rotational speed (ω from location information signal handling part 410 n) generate the direct motor drive positional information (θ reflected up-to-date motor rotational speed n) as the interior location information generating unit 460 of interior location information; And the rotating speed data (ω of output motor 110 n) and direct motor drive positional information (θ n) efferent 470.
Location information signal handling part 410 possesses: rotation change amount (the Δ θ that carries out signal Processing and calculating motor 110 for the sine wave signal (Asin θ) from the diphase signal of scrambler 120 outputs 1) sinusoidal signal handling part (the 1st signal processing part) 420; Cosine wave signal (Acos θ) from the diphase signal of scrambler 120 outputs is carried out rotation change amount (the Δ θ of signal Processing and calculating motor 110 2) cosine signal handling part (the 2nd signal processing part) 430; Will be from rotation change amount (the Δ θ of sinusoidal signal handling part 420 and cosine signal handling part 430 1, Δ θ 2) cooperate the turn direction to make the angular velocity of rotation (ω of motor 110 1, ω 2(rad/s)) symbol transition portion 440.
Sinusoidal signal handling part 420 possesses: deduct interior location information (the Asin θ that is generated by interior location information generating unit 460 from the sine wave signal (Asin θ) of scrambler 120 inputs n) and export the 1st subtraction parts (Difference Calculation parts) 421 of differential signal; On the differential signal of the 1st subtraction parts 421 outputs, multiply by predetermined gain (K) calculating motor rotation change amount (Δ θ afterwards 1) the 1st gain multiplied portion (actuating speed calculating parts) 422.
The 1st subtraction parts 421 are to deduct direct motor drive positional information (the interior location information A sin θ that is generated by interior location information generating unit 460 from the sine wave signal (Asin θ) of scrambler 120 inputs n).
And the difference that calculates when the 1st subtraction parts 421 becomes poor (the Asin θ-Asin θ of functional value n) time, in the 1st gain multiplied portion 422, on the differential signal of the 1st subtraction parts 421 outputs, multiply by predetermined gain (K) rotation change amount (the Δ θ of output motor 110 afterwards 1).
Cosine signal handling part 430 possesses: from interior location information (the Acos θ that is generated by interior location information generating unit 460 n) in deduct by the cosine wave signal (Acos θ) of scrambler 120 input and the 2nd subtraction parts (Difference Calculation parts) 431 of output differential signal; On the differential signal of the 2nd subtraction parts 431 outputs, multiply by predetermined gain (K) calculating motor rotation change amount (Δ θ afterwards 2) the 2nd gain multiplied portion (actuating speed calculating parts) 432.
Sign reversing portion 440 possesses: the symbol according to cosine wave signal (Acos θ) comes motor rotation change amount (the Δ θ of conversion from 420 outputs of sinusoidal signal handling part 1) the 1st sign reversing portion 441; Symbol according to sine wave signal (Asin θ) comes motor rotation change amount (the Δ θ of conversion from 430 outputs of cosine signal handling part 2) the 2nd sign reversing portion 442.
The 1st sign reversing portion 441 is under the situation of cosine wave signal (Acos θ) for negative (negative value), at motor rotation change amount (the Δ θ from the 1st gain multiplied portion 422 1) on multiply by-1 (negative 1), be just under the situation of (positive value), at cosine wave signal (Acos θ) at motor rotation change amount (Δ θ from the 1st gain multiplied portion 422 1) on multiply by+1 (positive 1).
Similarly, the 2nd sign reversing portion 442 is under the situation of sine wave signal (Asin θ) for negative (negative value), at motor rotation change amount (the Δ θ from the 2nd gain multiplied portion 2) on multiply by-1 (negative 1), be just under the situation of (positive value), at sine wave signal (Asin θ) at motor rotation change amount (Δ θ from the 2nd gain multiplied portion 2) on multiply by+1 (positive 1).
When the sine wave signal (Asin θ) of scrambler 120 input increases and decreases repeatedly along with the swing circle ground of motor 110 as shown in Figure 2, even make under the situation of rotatable phase angle increase in motor 110 rotations, the zone that also exists sine wave signal (Asin θ) to reduce, therefore, if from the sine wave signal (Asin θ) of input, merely deduct interior location information (the Asin θ that generates by interior location information generating unit 460 n), although then sometimes motor 110 just changeing phase place increased, and the rotation change amount of motor 110 also can become negative value.Therefore, in the 1st sign reversing portion 441, according to another phase signal from scrambler 120 input is the symbol of cosine wave signal (Acos θ), will become rotation change amount (the Δ θ of motor 110 from the sign reversing of the output signal of the 1st gain multiplied portion 422 1) direction that increases.Thus, will be from motor rotation change amount (the Δ θ of the 1st gain multiplied portion 422 outputs 1) usually to increasing direction transformation, can obtain the angular velocity of rotation (ω of motor 110 1).
Similarly, in the 2nd sign reversing portion 442, according to another phase signal from scrambler 120 input is the symbol of sine wave signal (Asin θ), will become rotation change amount (the Δ θ of motor 110 from the sign reversing of the output signal of the 2nd gain multiplied portion 432 2) direction that increases.Thus, will be from motor rotation change amount (the Δ θ of the 2nd gain multiplied portion 432 outputs 2) usually to increasing direction transformation, can obtain the angular velocity of rotation (ω of motor 110 2).
Signal switching part 450 possesses: judging part 451 will compare to judge the size of sine wave signal and threshold value with predetermined threshold from the sine wave signal (Asin θ) of scrambler 120 inputs; And, switching part 452, the size of carrying out according to judging part 451 judges, uses from the output signal of sinusoidal signal handling part 420 with from the output signal of cosine signal handling part 430 to switch input to efferent and interior location information generating unit 460.
When the location information signal (Asin θ, Acos θ) of scrambler 120 input increases and decreases with the swing circle ground of motor 110, for example, as shown in Figure 2, in sine wave signal (Asin θ), near phase place 90 ° (pi/2s) and 270 ° (3 pi/2s), exist variable quantity with respect to the signal value of the variable quantity of phase place (θ) to diminish to wait, no matter be sine wave signal (Asin θ) or cosine wave signal (Acos θ) the less zone of signal value variation with respect to phase changing capacity.
Therefore, in order to utilize the zone bigger with respect to the variation of phase changing capacity signal value, signal switching part 450 switches sine wave signal (Asin θ) and cosine wave signal (Acos θ).
Judging part 451 is with the absolute value of sine wave signal | Asin θ | and compare with 0.7A, judge both sizes as predetermined threshold.Here, ± 0.7 is equivalent to ± √ 2/2 approximately, is example with the sine wave signal, is equivalent to the phase place of 45 ° (π/4), 135 ° (3 π/4), 225 ° (5 π/4), 315 ° (9 π/4).
Switching part 452 has the sinusoidal side terminal 453 and input cosine side terminal 454 from the signal of cosine signal handling part 430 of input from the signal of sinusoidal signal handling part 420, constitute the input that this switch block switches to interior location information generating unit 460 and efferent 470 with sinusoidal side terminal 453 and cosine side terminal 454 by switch block.
And signal switching part 450 judges according to the size of judging part 451 and exists | Asin θ | less than 0.7A (| Asin θ |＜select sinusoidal side terminal 453 0.7A) time, at | Asin θ | for 0.7A or above (| Asin θ | 〉=select cosine terminal 454 0.7A) time.
Thus, as shown in Figure 2, in sine wave signal (Asin θ) and cosine wave signal (Acos θ), switch successively and utilize signal value variation zone greatly.
Interior location information generating unit 460 possesses: to the motor anglec of rotation (ω from location information signal handling part 410 1, ω 2) carry out the rotatable phase (θ of integration and calculating motor 110 n) integrating block 461; Be transformed into the rotatable phase (θ of the motor 110 that calculates with integrating block 461 n) be the trigonometric function value and calculating interior location information (the Asin θ of parameter n, Acos θ n) interior location information conversion portion 462.
461 pairs of output signals of being selected by switching part 452 of integrating block are motor angular velocity of rotation (ω 1Or ω 2) carry out the rotatable phase (θ of integration and calculating motor 110 n).That is, calculating has reflected up-to-date motor angular velocity of rotation (ω 1, ω 2) motor rotatable phase (θ n).Then, with the motor rotatable phase (θ that calculates n) output to interior location information conversion portion 462.
Interior location information conversion portion 462 possesses: to the 1st subtraction parts 421 output interior location information (the Asin θ of sinusoidal signal handling part 420 n) the 1st interior location information conversion portion 463; And to the 2nd subtraction parts 431 output interior location information (the Acos θ of cosine signal handling part 430 n) the 2nd interior location information conversion portion 464.
The 1st interior location information conversion portion 463 is sine wave signal (Asin θ) corresponding to the location information signal from scrambler 120 inputs, calculates the phase place (θ that is calculated by integrating block 461 n) be sine function (the Asin θ of parameter n) and as interior location information.
Again, the 2nd interior location information conversion portion 464 is cosine wave signal (Acos θ corresponding to the location information signal from scrambler 120 inputs n), calculate the phase place (θ that calculates by integrating block 461 n) be cosine function value (the Acos θ of parameter n) and as interior location information.
Here, 461 couples of motor angular velocity of rotation (ω of integrating block from 410 outputs of location information signal handling part 1, ω 2) carry out the rotatable phase (θ of integration and calculating motor 110 n) time, by up-to-date motor angular velocity of rotation (ω to exporting until location information signal handling part 410 1, ω 2) carry out integration successively, calculate the up-to-date motor rotatable phase (θ that can infer as far as possible n).
And, owing to calculate the up-to-date motor rotatable phase (θ that integrating block 461 calculates n) trigonometric function value (Asin θ n, Acos θ n), the 1st and the 2nd interior location information conversion portion 463,464 holds the relevant up-to-date motor rotatable phase (θ that infers as far as possible shown in Figure 4 n) trigonometric function value (Asin θ n, Acos θ n).
Fig. 4 is that expression is from the sine wave signal (Asin θ) of scrambler input and interior location information (the Asin θ that is generated by interior location information generating unit n) the figure of relation.
To be the motor angular velocity of rotation output to CPU310 as central control part by wave filter 471 to the output signal that efferent 470 will be selected by switching part 452.Again, such wave filter 471 can be enumerated low-pass filter etc. as example.
Moreover, the motor rotatable phase (θ that efferent 470 outputs are calculated by integrating block 461 n) as the direct motor drive positional information.
CPU310 as central control part will compare with the target velocity of importing from the outside from the motor angular velocity of rotation of speed calculation portion 400, and in order to make motor angular velocity of rotation (ω) for target velocity, when calculating is applied to the dutycycle of the electric current (i) on the motor 110, motor 110 is carried out PWM control as the CPU310 of central control part.
Action for the servo control mechanism with said structure describes.
When motor 110 is rotated driving, by the rotation of scrambler 120 these motor 110 of detection, from the diphase signal (Asin θ, Acos θ) of scrambler 120 outputs with the swing circle variation of motor 110.
Diphase signal (Asin θ, Acos θ) from scrambler 120 is input to sinusoidal signal handling part 420 and cosine signal handling part 430 respectively.Because the processing of processing of sine wave signal (Asin θ) after this and cosine wave signal (Acos θ) is roughly the same, therefore, after this action is described with the example that is treated to of sine wave signal (Asin θ).
In the 1st subtraction parts 421, will be input to the sine wave signal (Asin θ) and interior location information (the Asin θ that generates by the 1st interior location information conversion portion 463 of sinusoidal signal handling part 420 n) compare, both difference is outputed to the 1st gain multiplied portion 422 from the 1st subtraction parts 421.
In the 1st gain multiplied portion 422, on differential signal, multiply by predetermined gain (K), output motor rotation change amount (Δ θ from the 1st subtraction parts 421 1).
And, be the symbol of cosine wave signal (Acos θ) according to another signal in the diphase signal, utilize the 1st sign reversing portion 441 at motor rotation change amount (Δ θ from the 1st gain multiplied portion 422 1) on multiply by+1 or-1, be transformed into motor rotation change amount (Δ θ 1) direction that increases, generate motor angular velocity of rotation (ω 1).
Similarly, generation is based on the motor angular velocity of rotation (ω of the cosine wave signal that is input to cosine signal handling part 430 (Acos θ) 2).
And, at the motor angular velocity of rotation (ω that generates from sinusoidal signal handling part 420 1) and from the motor angular velocity of rotation (ω of cosine signal handling part 430 2) time, judge according to the size of sinusoidal wave (Asin θ) and predetermined threshold 0.7A in the judging part 451, switch by switching part 452, in sine wave signal and cosine wave signal, select to change the motor angular velocity of rotation (ω in zone greatly based on signal value 1Or ω 2).
And, the motor angular velocity of rotation (ω of adaptive switched parts 452 in the future n) be divided into two, a side is input to integrating block 461, the integration that utilizes integrating block 461 to carry out, calculating motor rotatable phase (θ n), reflect up-to-date motor angular velocity of rotation (ω n), the rotatable phase (θ of renewal motor 110 n).Motor rotatable phase (the θ that will calculate by integrating block 461 n) output to the 1st and the 2nd interior location information conversion portion 463,464 of sinusoidal signal handling part 420 and cosine signal handling part 430, utilize interior location information conversion portion 462 to generate respectively with motor rotatable phase (θ n) be sine function (the Asin θ of parameter n) or cosine function value (Acos θ n).
Again, the opposing party's that branch is come out motor angular velocity of rotation (ω n) output to CPU310 from efferent 470 by wave filter 471.
Will be in CPU310 from the motor angular velocity of rotation (ω of speed calculation portion 400 n) compare with target velocity, in order to make motor angular velocity of rotation (ω) be desired value, calculate the dutycycle that is applied to the electric current (i) on the motor 110.Then, motor 110 is carried out PWM control, motor 110 is rotated drive controlling with intended target speed according to this dutycycle.
According to the 1st embodiment, can bring into play following effect with said structure.
(1) interior location information generating unit 460 is because generation has reflected up-to-date electromotor velocity information (ω usually n) positional information (the Asin θ of motor 110 n, Acos θ n), therefore, hold the positional information of the up-to-date motor 110 of inferring as far as possible.Therefore, from the location information signal (Asin θ, Acos θ) of scrambler 120 and interior location information (the Asin θ of interior location information generating unit 460 generations n, Acos θ n) difference promptly become the differential value of location information signal (Asin θ, Acos θ) from scrambler 120, become the actuating speed (ω) of motor 110 with regard to this former state ground.Thus, when from scrambler 120 input position information signals (Asin θ, Acos θ), calculate both difference immediately, obtain the actuating speed (ω) of motor, can bring into play and to stride such special result that epoch ground improves existing time delay.
(2) owing to utilize speed calculation portion 400 to obtain the direct motor drive speed (ω of non-time delay n), therefore, by with this direct motor drive velocity information (ω n) carry out drive controlling as feedback signal by 310 pairs of motor of central control part (CPU) 110, thus, can make does not have control system phase delay, extremely stable.
(3) owing to have the 1st and the 2nd interior location information conversion portion 463,464 that calculating is the functional value of parameter with the phase place, even from the location information signal of scrambler 120 inputs is not phase information itself, it also can be sinusoidal wave shape signal etc., therefore, the scrambler (photo-electric, magnetic, electrostatic capacitive etc.) 120 that generally is used as sensor can not done directly to use as sensor with changing, owing to do not need only to be suitable for the special design alteration of the servo control mechanism 100 of present embodiment, therefore, not only easy but also avoided the cost rising.
(4) owing to select according to from changing the phase changing capacity (actuating speed information) that a side's greatly calculated signals goes out with respect to the phase changing capacity signal value in the diphase signal (Asin θ, Acos θ) of scrambler 120 by signal switching part 450, therefore, in whole scope, can obtain phase changing capacity (ω) accurately as electromotor velocity information.And, when judging a side's big signal, do not need complex calculations to handle, as long as compare to judge size with threshold value (0.7A) by signal value (sine wave signal) with a side with respect to the change amount signal of phase change, therefore, be easy.
(5) owing to possess sign reversing portion 440, therefore, even supposing motor 110 is calculated to be phase changing capacity under the situation of negative value under the situation that positive dirction changes, also the sign reversing of phase changing capacity (Δ θ) is become increase and decrease direction, can obtain to increase and decrease the correct actuating speed (phase changing capacity ω) of direction according to the sense of rotation of motor.
(the 2nd embodiment)
Then, describe for the 2nd embodiment of servo control mechanism of the present invention with reference to Fig. 5.
The basic structure of the 2nd embodiment is identical with the 1st embodiment, and the 2nd embodiment has following characteristics, that is, the likening to of diphase signal that scrambler 120 is exported is input signal.
Fig. 5 is the figure of structure of the speed calculation portion (signal processing part) of expression the 2nd embodiment.
In Fig. 5, speed calculation portion 500 possesses sensor signal transformation component 600, and it is the diphase signal (with reference to Fig. 6) of the ratio of sine wave signal (Asin θ) and cosine wave signal (Acos θ) that this sensor signal transformation component 600 generates based on the diphase signal from scrambler 120.
Sensor signal transformation component 600 possesses: calculate Asin θ/Acos θ and output the 1st signal transformation portion 610 as the tangent signal (tan θ) of the 1st signal; Calculate Acos θ/Asin θ and output the 2nd signal transformation portion 620 as the cotangent signal (1/tan θ) of the 2nd signal.
Location information signal handling part 510 possesses: the 1st signal (tan θ) is carried out 1st signal processing part 520 of signal Processing with the calculating motor angular velocity of rotation; The 2nd signal (1/tan θ) is carried out 2nd signal processing part 530 of signal Processing with the calculating motor angular velocity of rotation.
And, in the 1st signal processing part 520, the interior location information and the output differential signal that utilize the 1st subtraction parts 521 to deduct from the 1st signal (tan θ) to be generated by interior location information generating unit 550 utilize the 1st gain multiplied parts 522 to multiply by predetermined gain and output motor angular velocity of rotation (ω on this differential signal 1).
Again, in the 2nd signal processing part 530, utilize the 2nd subtraction parts 531 from the interior location information that generates by interior location information generating unit 550, to deduct the 2nd signal (1/tan θ) and output differential signal, utilize the 2nd gain multiplied parts 532 on this differential signal, to multiply by predetermined gain and output motor angular velocity of rotation (ω 2).
In signal switching part 540, judging part 541 compares the size of the 1st signal (tan θ) and 1, the size that signal switching part 540 carries out according to judging part 541 judges, when the 1st signal (tan θ) be or 1 selection when following based on the motor angular velocity of rotation (ω of the 1st signal 1), select motor angular velocity of rotation (ω greater than 1 the time when the 1st signal (tan θ) based on the 2nd signal 2).
That is, as shown in Figure 6, the 1st signal (tan θ) and the 2nd signal (1/tan θ) have discontinuous when zone, alternately utilize the continuum of the 1st signal (tan θ) and the 2nd signal (1/tan θ) with switching.
In interior location information generating unit 550, at 551 couples of motor angular velocity of rotation (ω of integrating block from location information signal handling part 510 1, ω 2) carry out integration and calculating motor rotatable phase (θ n), in interior location information conversion portion 552 with this motor rotatable phase (θ n) be transformed into motor rotatable phase (θ n) be the trigonometric function value of parameter.
Here, the 1st interior location information conversion portion 553 calculates with motor rotatable phase (θ n) be tan value (the tan θ of parameter n) and output to the 1st subtraction parts 521.
Again, the 2nd interior location information conversion portion 554 calculates with motor rotatable phase (θ n) be cotangent functional value (the 1/tan θ of parameter n) and output to the 2nd subtraction parts 531.
Again, in the 1st embodiment, sign reversing portion 440 is set, and the direction that cooperates motor to rotate will be from the 1st gain multiplied portion 422,432 output signal is to increasing direction transformation, and in the 2nd embodiment, because as long as motor 110 changes to positive veer, the utilization part (tan θ≤1) of the 1st signal (tan θ) is dull increasing, the utilization part of the 2nd signal (1/tan θ) (tan θ〉1) be dull the minimizing, therefore, if for example in the 2nd subtraction parts 531, deduct the 2nd signal (1/tan θ) etc. in the positional information internally, be predetermined the direction of subtraction, then can obtain the motor angular velocity of rotation of the suitable increase and decrease direction of ordinary representation.Thus, in the 2nd embodiment, do not need sign reversing portion.
According to the 2nd embodiment, can bring into play the action effect identical with the 1st embodiment with said structure.
Moreover, because utilizing sensor signal transformation component 600 to generate based on the diphase signal from scrambler 120 is the diphase signal (tan θ, 1/tan θ) of the ratio of sine wave signal (Asin θ) and cosine wave signal (Acos θ), therefore, can remove the change of the amplitude A of diphase signal (Asin θ, Acos θ) from scrambler 120.Thus, can carry out speed based on stable location information signal (tan θ, 1/tan θ) detects.
(the 3rd embodiment)
Then, with reference to Fig. 7～Fig. 9 the 3rd embodiment of the present invention is described.
The basic structure of the 3rd embodiment is identical with the 1st embodiment, and in the 3rd embodiment, has characteristics in the configuration aspects of interior location information generating unit.
Fig. 7 is the block diagram of the structure of expression the 3rd embodiment medium velocity calculating part.
In Fig. 7, following aspect is identical with the 1st embodiment, that is, interior location information generating unit 460 has the 1st interior location information conversion portion 463, has the 2nd interior location information conversion portion 464 corresponding to cosine signal handling part 430 corresponding to sinusoidal signal handling part 420.
Here, in the 1st embodiment (Fig. 3), has 1 integrating block 461.And, when distinguishing output motor angular velocity of rotation (ω from sinusoidal signal handling part 420 and cosine signal handling part 430 1, ω 2) time, with the motor angular velocity of rotation (ω of signal switching part 450 selections 1Or ω 2) be input to integrating block 461,461 pairs of these motor angular velocity of rotations of integrating block (ω 1Or ω 2) carry out integration and calculate the motor rotatable phase.Motor rotatable phase (the θ that this integrating block 461 is calculated n) output to the 1st interior location information conversion portion 463 and the 2nd interior location information conversion portion 464, calculate interior location information (Asin θ by each interior location information conversion portion n, Acos θ n).
This point in the 3rd embodiment, as integrating block, is provided with the 1st integrating block 461A and the 2nd integrating block 461B.That is, in Fig. 7, be provided with according to sine wave signal motor rotation change amount (Δ θ from 420 outputs of sinusoidal signal handling part 1) carry out integration to calculate motor rotatable phase (θ based on sine wave signal 1) the 1st integrating block 461A, and according to cosine wave signal to motor rotation change amount (Δ θ from cosine signal handling part 430 output 2) carry out integration to calculate motor rotatable phase (θ based on cosine wave signal 2) the 2nd integrating block 461B.
The 1st integrating block 461A is to rotation change amount (the Δ θ from the motor 110 of the 1st gain multiplied portion 422 output 1) carry out integrating meter and calculate motor rotatable phase (θ 1).And the 1st integrating block 461A is with the motor rotatable phase (θ that calculates 1) output to the 1st interior location information conversion portion 463.
The 2nd integrating block 461B is to rotation change amount (the Δ θ from the motor 110 of the 2nd gain multiplied portion 432 output 2) carry out integrating meter and calculate motor rotatable phase (θ 2).And the 2nd integrating block 461B is with the motor rotatable phase (θ that calculates 2) output to the 2nd interior location information conversion portion 464.
Though signal switching part 450 possess on this point that judging part 451 and switching part 452 and switching part 452 usefulness switch blocks switch sinusoidal side terminal 453 and cosine side terminal 454 identical with the 1st embodiment, yet, here, as switching part, possess the 1st switching part 452A of velocity information output usefulness and the 2nd switching part 452B of positional information output usefulness.
The structure of the switching part that illustrates in the structure of the 1st switching part 452A and the 1st embodiment is identical, is to switch sinusoidal side terminal 453 and cosine side terminal 454 and output motor angular velocity of rotation ω according to the judgement of judging part 451 nWith this motor angular velocity of rotation ω n(ω 1Or ω 2) output to CPU310 by wave filter 471 as central control part.
Again, in the 1st embodiment, the output signal ω of adaptive switched parts 452 in the future n(motor angular velocity of rotation ω 1, ω 2) be input in the integrating block 461, yet, in the 3rd embodiment, will be from the output signal ω of the 1st switching part 452A nBe input in the integrating block (461A, 461B).
The 2nd switching part 452B switches sinusoidal side terminal 453 and cosine side terminal 454 according to the judgement in the judging part 451 with switch block.
Here, 441 couples of motor rotatable phase (θ that calculate by the 1st integrating block 461A of the 1st sign reversing portion will be utilized 1) signal that carries out after the sign reversing is input to sinusoidal side terminal 453.442 couples of motor rotatable phase (θ that calculate by the 2nd integrating block 461B of the 2nd sign reversing portion will be utilized again, 2) signal that carries out after the sign reversing is input to cosine side terminal 454.And, will be from the output of the 2nd switching part 452B by wave filter as positional information θ n (θ 1Or θ 2) output.
According to the 3rd embodiment, on the effect of the 1st embodiment, can bring into play following effect with said structure.
During from the diphase signal of scrambler 12 sine wave output signals and cosine wave signal, in the speed calculation portion 400 of the 3rd embodiment, possess the 1st integrating block 461A and the 1st interior location information conversion portion 463 accordingly with the sinusoidal signal handling part 420 of handling sine wave signal, possess the 2nd integrating block 461B and the 2nd interior location information conversion portion 464 accordingly with the cosine signal handling part 430 of handling cosine wave signal.Thus, at the motor angular velocity of rotation ω that calculates based on sine wave signal 1In, with motor rotation change amount Δ θ based on sine wave signal 1In the loop that constitutes for the 1st integrating block 461A of feedback information and the 1st interior location information conversion portion 463, only can utilize calculation process calculating motor angular velocity of rotation ω based on sine wave signal 1Similarly, at the motor angular velocity of rotation ω that calculates based on cosine wave signal 2In, with motor rotation change amount Δ θ based on cosine wave signal 2In the loop that constitutes for the 2nd integrating block 461B of feedback information and the 2nd interior location information conversion portion 464, only can utilize calculation process calculating motor angular velocity of rotation ω based on cosine wave signal 2
Here, also for example the 1st embodiment is such, by 450 couples of motor angular velocity of rotation (ω from sinusoidal signal handling part 420 and cosine signal handling part 430 of signal switching part 1, ω 2) switch and select to be input to integrating block 461, and by the rotatable phase (θ of integrating block 461 calculating motors n).
Yet, under the sine wave of the scrambler 120 outputs situation different, at motor angular velocity of rotation ω from sinusoidal signal handling part 420 with the cosine wave (CW) amplitude 1With motor angular velocity of rotation ω from cosine signal handling part 430 2Between can produce poor.That is, owing in sinusoidal signal handling part 420 and cosine signal handling part 430 subtraction parts 421,431 separately, calculate A (sin θ-sin θ respectively 1) and A ' (cos θ-cos θ 2) and according to its Difference Calculation motor angular velocity of rotation ω 1, ω 2, therefore, in case sinusoidal wave different with cosine wave amplitude (A, A '), angular velocity of rotation ω then 1, ω 2Also just dissimilate.Further, in signal switching part 450, select motor angular velocity of rotation (ω based on a side big in sine wave signal and the cosine wave signal with respect to the variation of phase change functional value 1And ω 2), therefore, the different of the amplitude of sine wave signal and cosine wave signal become significantly easily, switch significantly different motor angular velocity of rotation ω if so 1, ω 2And when carrying out integration by integrating block 461 successively, then on the integration of the phase place when switching, error generates greatlyyer easily.
For example, Fig. 8 is the example that sine wave signal Asin θ and cosine wave signal A ' cos θ amplitude have the motor angular velocity of rotation ω that exports under the 5% different situation in the 1st embodiment.In Fig. 8, in the moment that signal switches, produce bigger error as can be known.
This point is in the 3rd embodiment, owing to the motor rotation change amount Δ θ that calculates according to sinusoidal signal handling part 420 1Calculate interior location information by the 1st integrating block 461A and the 1st interior location information conversion portion 463 about sine wave signal, and the motor rotation change amount Δ θ that calculates according to cosine signal handling part 430 2Calculate interior location information by the 2nd integrating block 461B and the 2nd interior location information conversion portion 464 about cosine wave signal, therefore, from the motor angular velocity of rotation ω of each position information process portion (sinusoidal signal handling part 420, cosine signal handling part 430) 1, ω 2Can not be subjected to the influence of the difference of vibration of sine wave signal and cosine wave signal.
Here, Fig. 9 is the example that sine wave signal Asin θ and cosine wave signal A ' cos θ amplitude have the motor angular velocity of rotation ω that exports under the 5% different situation in the structure of the 3rd embodiment.As shown in Figure 9, utilize the 3rd embodiment, compare the influence that (Fig. 8) suppressed the difference of vibration of sine wave signal and cosine wave signal with the 1st embodiment, motor angular velocity of rotation ω is more continuous.
(the 4th embodiment)
Then, with reference to Figure 10 the 4th embodiment of the present invention is described.
The basic structure of the 4th embodiment is identical with the 1st embodiment, yet the 4th embodiment has following characteristics, that is, according to utilize the A/D transducer in the future the signal of own coding device 120 carry out digital signal after the conversion, obtain the motor rotational speed.
That is, in Figure 10, the sine wave signal of own coding device 120 in the future is set carries out the 1A/D transducer 710 of A/D conversion and the cosine wave signal of the own coding device 120 2A/D transducer 720 that carries out the A/D conversion in the future.
And speed calculation portion (signal processing part) 400 possesses the function of location information signal handling part, signal switching part, interior location information generating unit etc., and above-mentioned functions utilizes the prearranged signal handling procedure to realize.
Again, the present invention is not limited to above-mentioned embodiment, and the distortion in the scope that can realize the object of the invention, improvement etc. are contained among the present invention.
For example, in the 1st embodiment, to possess diphase signal (Asin θ to scrambler 120 outputs, Acos θ) sinusoidal signal handling part of handling respectively 420 and cosine signal handling part 430, and switch and to be used to from the output signal of sinusoidal signal handling part 420 and to be that example is illustrated from the situation of the output signal of cosine signal handling part 430, yet, also can be as shown in figure 11, only possess the sinusoidal signal handling part 420 that offset of sinusoidal ripple signal (Asin θ) carries out signal Processing as location information signal handling part 410, and output is only based on the motor rotational speed (ω of sine wave signal (Asin θ) 1).When sine wave signal (Asin θ) periodically increases and decreases, need do the sign reversing portion 440 of conversion to the symbol of the phase changing capacity of motor 110 according to the sense of rotation of motor 110 again.
With drive controlling to as if to have the motor 110 of rotor and speed calculation portion (signal processing part) 400 be that example is illustrated according to the situation from the rotational speed (rotatable phase) of the diphase signal calculating motor 110 of scrambler 120, yet, as driving body, be not limited to have the motor of rotor, for example, also can be linear motor (Linear Motor) etc.Especially, in the control of linear motor, when time delay influences control performance significantly, if utilize signal processing apparatus of the present invention (speed calculation portion) promptly to calculate actuating speed, and carry out speed control based on this actuating speed that calculates, then can not have phase delay and make control stabilization.

Claims (9)

1. signal processing apparatus for carrying out signal Processing and detect the actuating speed of described driving body from the location information signal of sensor output corresponding to the activation point of driving body, is characterized in that,
Possess:
The location information signal handling part carries out signal Processing to described location information signal, calculates the actuating speed information of described driving body; And
Interior location information generating unit, the up-to-date described actuating speed information that reflection is calculated by described location information signal handling part, the up-to-date estimated position that generates described driving body is used as interior location information,
From the location information signal of described sensor output is periodically variable periodic function signal corresponding to the driving of driving body,
Described location information signal handling part calculates the actuating speed information of the phase changing capacity of described periodic function signal as described driving body,
Described interior location information generating unit possesses: integrating block, carry out integration and calculate the suitable phase place of positional information with described driving body the described phase changing capacity from described location information signal handling part; And interior location information conversion portion, calculate with the corresponding periodic function value of described phase place that calculates by described integrating block and be used as described interior location information,
Described location information signal handling part calculates the actuating speed information of described driving body according to the difference of the described interior location information that generates from the described location information signal of described sensor with by described interior location information generating unit.
2. signal processing apparatus as claimed in claim 1 is characterized in that,
Described periodic function signal is the diphase signal that is made of the 1st signal that has the predetermined phase difference mutually and the 2nd signal,
Described location information signal handling part possesses:
The 1st signal processing part, the phase changing capacity that described the 1st signal is carried out signal Processing and exports described the 1st signal is as described actuating speed information; And
The 2nd signal processing part, the phase changing capacity that described the 2nd signal is carried out signal Processing and exports described the 2nd signal be as described actuating speed information,
At the rear-stage side signalization switching part of described location information signal handling part, this signal switching part switch select from the output signal of described the 1st signal processing part and from the output signal of described the 2nd signal processing part, based on output signal for the big side's of the signal value variable quantity of the described periodic function signal of phase changing capacity periodic function signal.
3. signal processing apparatus as claimed in claim 2 is characterized in that,
Described periodic function signal is the sinusoidal wave shape signal,
Described signal switching part possesses:
Judging part is with the signal value of any one party in described the 1st signal and described the 2nd signal with predetermined threshold compares and carry out size and judge; And
Switching part according to the judged result that is produced by described judging part, switches between from the output signal of described the 1st signal processing part and the output signal from described the 2nd signal processing part.
4. signal processing apparatus as claimed in claim 1 is characterized in that,
Possess sign reversing portion, this sign reversing portion will become the symbol of expression and the corresponding increase and decrease of described driving body moving direction from the sign reversing of the phase changing capacity of described location information signal handling part output.
5. signal processing apparatus as claimed in claim 2 is characterized in that,
Described interior location information generating unit possesses:
The 1st integrating block carries out integration to the phase changing capacity from described the 1st signal of described the 1st signal processing part output, calculates the suitable phase place of positional information with described driving body;
The functional value of described the 1st signal according to the phase place that is calculated by described the 1st integrating block, calculates in the 1st interior location information conversion portion;
The 2nd integrating block carries out integration to the phase changing capacity from described the 2nd signal of described the 2nd signal processing part output, calculates the suitable phase place of positional information with described driving body; And
The functional value of described the 2nd signal according to the phase place that is calculated by described the 2nd integrating block, calculates in the 2nd interior location information conversion portion.
6. signal processing apparatus as claimed in claim 1 is characterized in that,
Described driving body is the motor with rotor, and the location information signal of exporting from described sensor is periodically variable periodic function signal corresponding to the rotation driving of described motor,
Described location information signal handling part is exported the actuating speed information of angular velocity of rotation as described motor,
Described integrating block will carry out integration from the described angular velocity of rotation of described location information signal handling part, the rotatable phase angle of calculating motor,
The periodic function value based on the rotatable phase angle of described motor is calculated by described interior location information conversion portion.
7. signal processing method for carrying out signal Processing and detect the actuating speed of described driving body from the location information signal of sensor output corresponding to the activation point of driving body, is characterized in that possessing:
The location information signal treatment process, to according to the driving of described driving body and periodically variable periodic function signal, promptly described location information signal carries out signal Processing, and calculates the phase changing capacity of described periodic function signal; And
Interior location information generates operation, the up-to-date described phase changing capacity that is calculated by described location information signal treatment process is carried out integration, and the suitable phase place of up-to-date estimated position of calculating and described driving body, generate simultaneously with the corresponding periodic function value of described phase place that is calculated and be used as described interior location information
Described location information signal treatment process is calculated the actuating speed information of described driving body according to generating the difference of the described interior location information that operation generates from the described location information signal of described sensor with by described interior location information.
8. speed detector is characterized in that possessing:
Sensor, the corresponding location information signal of activation point of output and driving body; And
Claim 1 is to any described signal processing apparatus of claim 6.
9. servo control mechanism is characterized in that possessing:
Driving body;
Sensor, the corresponding location information signal of activation point of output and driving body;
Claim 1 is to any described signal processing apparatus of claim 6; And
Central authorities' control part will predefined intended target speed compares and the actuating speed of described driving body is controlled to described intended target speed by the actuating speed of the detected described driving body of described signal processing apparatus with from the outside.
CNB2005101338711A 2004-12-22 2005-12-22 Signal processing apparatus, method, pick-up unit and servo control mechanism Expired - Fee Related CN100538574C (en)

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JP2004371725 2004-12-22
JP2005155918 2005-05-27

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JP4880763B2 (en) * 2010-01-19 2012-02-22 山洋電気株式会社 Motor control method and apparatus
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