CN106546273B - The absolute angular position detection method of rotary encoder and rotary encoder - Google Patents
The absolute angular position detection method of rotary encoder and rotary encoder Download PDFInfo
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- CN106546273B CN106546273B CN201610825080.3A CN201610825080A CN106546273B CN 106546273 B CN106546273 B CN 106546273B CN 201610825080 A CN201610825080 A CN 201610825080A CN 106546273 B CN106546273 B CN 106546273B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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Abstract
The present invention provides the absolute angular position detection method of a kind of rotary encoder and rotary encoder, even if detection accuracy caused by being also able to suppress because of relative offset between first sensor portion and second sensor portion etc. reduces in the case where detecting the absolute angular position of rotary body according to the testing result in first sensor portion and the testing result in second sensor portion.In rotary encoder, angle position determination section be interpolated according to the first absolute angle data of a cycle to rotate a circle in first sensor portion be divided into it is N number of after the second absolute angle data and second sensor portion the N number of period to rotate a circle incremental angle data, determine the absolute angular position of rotary body.Also, the phase of the second absolute angle data is compared by phase comparing section with the phase of incremental angle data, in the case where phase offset, implements the consistent correction of phase for making these data by phase correction section.
Description
Technical field
The present invention relates to the absolute angular position detection method of a kind of rotary encoder and rotary encoder, the rotations
The instantaneous absolute angular position of encoder detection rotary body.
Background technique
As the rotary encoder that rotate relative to fixed body of detection rotary body, and propose setting first sensor portion with
Second sensor portion, and according to the testing result of the testing result in first sensor portion and second sensor portion, it detects to rotate
The mode (referring to patent document 1) of the instantaneous absolute angular position of body.For example, being provided with the first magnetic in first sensor portion
Body, first magnet is configured with the pole N and the pole S；First magnetoresistive element, it is opposite with the first magnet；First Hall
Element, it is opposite with the first magnet；And second Hall element, it configures relative to the first Hall element around Pivot axle
The position of 90 degree of mechanical angles of line offset.Also, it is equipped in second sensor portion: multiple the second magnets extremely pair, second magnetic
Body is configured around center of rotation axis；And second magnetoresistive element, it is opposite with the second magnet.Therefore, if according to the first sensing
The increasing in the N number of period of the absolute angle data and second sensor portion of a cycle to rotate a circle in device portion to rotate a circle
Measuring angle data determine the instantaneous angle position of rotary body, then can obtain high-resolution.
Existing technical literature
Patent document
Patent document 1: No. 5666886 bulletins of Japan Patent
Summary of the invention
The technical problems to be solved by the invention
However, structure as described in Patent Document 1 is such, first sensor portion and second sensor portion are being used
In the case of, it is possible to produce the relative offset between first sensor portion and second sensor portion, if generating this position
Offset, then there is a problem in that: in the absolute angle data in first sensor portion and the incremental angle in second sensor portion
Phase offset is generated between data, to reduce detection accuracy.
In view of the above problems, project of the invention provides the absolute angle of following this rotary encoder and rotary encoder
Spend method for detecting position, even if the rotary encoder according to first sensor portion testing result and second sensor portion
Testing result detect the absolute angular position of rotary body in the case where, be also able to suppress and passed because of first sensor portion with second
Detection accuracy caused by relative offset between sensor portion etc. reduces.
Technical teaching for solving the problem was
In order to solve the above problems, rotary encoder of the invention is characterized in that, with first sensor portion and
Two sensor portions, when N to be set as to 2 or more positive integer, the rotary encoder is according to the rotation in the first sensor portion
First absolute angle data of one week a cycle be interpolated be divided into it is N number of after the second absolute angle data and described
The incremental angle data in the N number of period of two sensor portions to rotate a circle, determine the absolute angular position of rotary body, and the rotation
Turn encoder and include phase comparing section, by the phase of the phase of the second absolute angle data and the incremental angle data
Position is compared；And phase correction section, in the comparison result of the phase comparing section, when the second absolute angle data
Phase and the incremental angle data phase offset when, the phase correction section carries out the second absolute angle data
Correction.
Also, the absolute angular position detection method of rotary encoder of the invention is characterized in that the encoder is set
There are first sensor portion and second sensor portion, when N to be set as to 2 or more positive integer, the encoder is according to described first
Second absolute angle data of a cycle of sensor portion to rotate a circle and rotating a circle for the second sensor portion
N number of period incremental angle data, determine the absolute angular position of rotary body, and the absolute angle position of the rotary encoder
It sets detection method implementing phase and compares process and phasing process, in the phase bit comparison process, absolutely by described second
The phase of angle-data is compared with the phase of the incremental angle data, in the phasing process, described
When the phase offset of the phase of two absolute angle data and the incremental angle data, the second absolute angle data are carried out
Correction.
In the present invention, according to the testing result in first sensor portion and the testing result in second sensor portion, detection
The instantaneous absolute angular position of rotary body.It therefore can be with the instantaneous absolute angle position of high resolution detection to rotary body
It sets.Also, by the phase of the absolute angle data in first sensor portion (the second absolute angle data) and second sensor portion
The phase of incremental angle data is compared, in the case where phase offset, implement make incremental angle data phase and absolutely
The consistent correction of phase of angle-data (the second absolute angle data).Therefore, in the testing result according to first sensor portion
And the testing result in second sensor portion detects the rotary encoder of the mode of the instantaneous absolute angular position of rotary body
In, even if leading to absolute angle data (because of the relative offset etc. between first sensor portion and second sensor portion
Two absolute angle data) phase and incremental angle data phase generate offset in the case where, be also able to suppress detection accuracy
It reduces.
In rotary encoder according to the present invention, following this mode can be used: with absolute by described first
When angle-data interpolation is divided into the data after (2 × N) times as third absolute angle data, the phase comparing section is described
The testing result in first sensor portion is in the odd number period of the third absolute angle data, and the second sensor
In the case that the testing result in portion is in the first threshold of the incremental angle data or more, the second absolute angle degree is determined
According to phase it is advanced, the testing result in the first sensor portion be in the third absolute angle data even number week
Phase, and the testing result in the second sensor portion is in the second threshold situation below of the incremental angle data, is sentenced
The phase delay of the fixed second absolute angle data.According to this structure, due to can be according to the detection knot in first sensor portion
The testing result in fruit and second sensor portion monitors the offset of phase, thus can inhibit by comparing simple structure because
Detection accuracy caused by relative offset between first sensor portion and second sensor portion etc. reduces.
Also, in the absolute angular position detection method of rotary encoder according to the present invention, can be used it is following this
Kind of mode: to be divided into the first absolute angle data interpolating the data after (2 × N) times as third absolute angle degree
According to when, in the phase bit comparison process, the testing result in the first sensor portion is in the third absolute angle degree
According to the odd number period, and the testing result in the second sensor portion be in the first threshold of the incremental angle data with
In the case where upper, determine that the phase of the second absolute angle data is advanced, at the testing result in the first sensor portion
In the even number period of the third absolute angle data, and the testing result in the second sensor portion is in the increment
In the second threshold of angle-data situation below, the phase delay of the second absolute angle data is determined.According to this structure,
Due to that can detect the offset of phase according to the testing result in first sensor portion and the testing result in second sensor portion,
Therefore can inhibit by comparing simple structure because of the relative offset between first sensor portion and second sensor portion
The detection accuracy Deng caused by reduces.
In this case, in rotary encoder according to the present invention, following this mode can be used: being set by i
When for odd number, this time testing result of the phase correction section in the first sensor portion is in the third absolute angle degree
According to i-th of period, and this testing result in the second sensor portion is in the first threshold of the incremental angle data
During value is above, the second absolute angle data are implemented to correct, so that it becomes the second absolute angle data
(((i+1)/2) -1) a period, and the third absolute angle is in this testing result in the first sensor portion
(i+1) a period of degree evidence, and this testing result in the second sensor portion is in the incremental angle data
Second threshold period below, to the second absolute angle data implement correct, so that it becomes second absolute angle
(((i+1)/2)+1) a period of degree evidence.
In the present invention, it is preferred to which the phase comparing section implements primary described second absolutely at each preset moment
To the phase of angle-data compared with the phase of the incremental angle data.According to this structure, due to can be when defined
The relative offset monitored between the first sensor portion of rotary encoder and second sensor portion is carved, therefore is able to suppress inspection
Surveying precision reduces.
In the present invention, following this mode can be used: the first sensor portion includes the first magnet, and described first
Magnet is around center of rotation axis configured with the pole N and the pole S；First magnetoresistive element, on center of rotation axis direction
It is opposite with first magnet；First Hall element, it is opposite with first magnet；And second Hall element, it is opposite
It is configured around the center of rotation axis in the position of 90 degree of mechanical angles of offset, the second sensor in first Hall element
Portion includes the second magnet, and the multiple of the second magnet extremely configure to around center of rotation axis；And second magnetoresistive element,
It is opposite with second magnet.
In the present invention, it is preferred to which first magnetoresistive element has the sensor base plate for being set to the first surface side, described
Sensor base plate with the position shape Chong Die with first magnetoresistive element in the second surface side of first face opposite side
At there is the first amplifier, first amplifier passes through the through-hole for penetrating through the sensor base plate, with first magnetoresistive element
Electrical connection.According to this structure, since the signaling path between the first magnetoresistive element and the first amplifier is short, from the first magnetic
The analog signal that resistance element is exported to the first amplifier is not vulnerable to the electromagnetic effect from the first magnet.Therefore, it is not easy to make from
The analog signal that one magnetoresistive element is exported to the first amplifier generates distortion etc..
In the present invention, it is preferred to second magnetoresistive element is set in first surface side of the sensor base plate,
The position Chong Die with second magnetoresistive element of second surface side of the sensor base plate is equipped with the second amplifier, described
Second amplifier is electrically connected by the through-hole of the perforation sensor base plate with second magnetoresistive element.According to this structure, by
Signaling path between the second magnetoresistive element and the second amplifier is short, therefore defeated from the second magnetoresistive element to the second amplifier
Analog signal out is not vulnerable to the electromagnetic effect from the second magnet.Therefore, it is exported from the second magnetoresistive element to the second amplifier
Analog signal do not allow to be also easy to produce distortion etc..
Invention effect
In the present invention, according to the testing result in first sensor portion and the detection rotation of the testing result in second sensor portion
The instantaneous absolute angular position of swivel.Therefore, the instantaneous absolute angular position of rotary body can be gone out with high resolution detection.
Also, phase comparing section senses the phase of the absolute angle data (the second absolute angle data) in first sensor portion with second
The phase of the incremental angle data in device portion is compared, and in the case where phase offset, phase correction section implementation makes incremental angle
The consistent correction of phase of the phase and absolute angle data (the second absolute angle data) of data.Therefore, it is passed according to first
The testing result in sensor portion and the testing result in second sensor portion detect the instantaneous absolute angular position of rotary body
In the rotary encoder of mode, even if causing absolutely because of the relative offset etc. between first sensor portion and second sensor portion
In the case that the phase of phase and incremental angle data to angle-data (the second absolute angle data) generates offset etc., also can
Enough detection accuracy is inhibited to reduce.
Detailed description of the invention
Fig. 1 (a), (b) are the explanatory diagram for showing appearance for applying rotary encoder of the invention etc..
Fig. 2 is the side view for showing a part for eliminating fixed body for applying rotary encoder of the invention.
Fig. 3 is the explanatory diagram for showing the structure of sensor portion for applying rotary encoder of the invention etc..
Fig. 4 (a), (b) are the explanatory diagram for applying the sensor base plate of rotary encoder of the invention.
Fig. 5 (a), (b) are to show the explanatory diagram for applying the testing principle of rotary encoder of the invention.
Fig. 6 (a), (b), (c) are to show the base for applying the determining method of the angle position in rotary encoder of the invention
The explanatory diagram of this structure.
Fig. 7 (a), (b) are to show the specific knot for applying the determining method of the angle position in rotary encoder of the invention
The explanatory diagram of structure.
Fig. 8 (a), (b), (c) are in applying rotary encoder of the invention, and the phase of absolute angle data is advanced
In the case where explanatory diagram.
Fig. 9 (a), (b), (c) are in applying rotary encoder of the invention, and the phase of absolute angle data is postponing
In the case where explanatory diagram.
Specific embodiment
Referring to attached drawing, the embodiment for applying rotary encoder of the invention is illustrated.In addition, in theory below
In bright, as rotary encoder, the magnetic-type being made of with sensor portion magnet and Magnetosensing element (magnetoresistive element, Hall element)
It is illustrated centered on rotary encoder.In such a case, it is possible to which magnet is arranged using in fixed body, and it is arranged in rotary body
The structure of Magnetosensing element and fixed body be arranged Magnetosensing element, and rotary body setting magnet structure in arbitrary structures,
But in the following description, it Magnetosensing element is arranged in fixed body, and is carried out centered on the structure of rotary body setting magnet
Explanation.Also, referring to attached drawing in, schematically illustrate the structure about magnet and Magnetosensing element etc., and reduce the
The number of magnetic pole in two magnets schematically illustrates.Also, the mutual position that is also staggered schematically illustrates magnetoresistive element (sense magnetic member
Part) in magnetic resistance pattern structure.
(overall structure)
Fig. 1 (a), (b) are the explanatory diagram for showing appearance for applying rotary encoder of the invention etc., and Fig. 1 (a) is from rotation
The perspective view for the rotary encoder that the side in shaft axis direction and tilted direction are observed, Fig. 1 (b) are from the one of rotation axis direction
The plan view for the rotary encoder that side is observed.Fig. 2 be show apply rotary encoder of the invention eliminate fixed body
A part side view.
Fig. 1 (a), (b) and rotary encoder shown in Fig. 21 are that Magnetic testi goes out rotary body 2 relative to fixed body 10 around axis
The device of line (around rotation axis) rotation, fixed body 10 are fixed on the frame etc. of motor apparatus, rotary body 2 with motor apparatus
The state of the connections such as rotating output shaft is used.Fixed body 10 has the more of sensor base plate 15 and supporting sensor substrate 15
A bearing part 11, in the present embodiment, bearing part 11 is formed by substrate body 12 and retaining plate of sensor 13, the substrate
Body 12 has the base plate 121 for being formed with circular opening portion 122, and the retaining plate of sensor 13 is fixed on substrate body 12.It passes
Sensor support plate 13 is fixed on substantially cylindric main part 123 by screw 191,192 etc., and the main part 123 is in substrate
It is prominent from the marginal portion of opening portion 122 to the side L1 of rotation axis direction L in body 12.From retaining plate of sensor 13 to rotation
The side L1 of shaft axis direction L protrudes multiple terminals 16.In the side L1 positioned at rotation axis direction L of main part 123
End face is formed with protrusion 124 and hole 125 etc., and sensor base plate 15 is fixed on main body by screw 193 etc. using the hole 125 etc.
Portion 123.At this point, sensor base plate 15 is accurately fixed with the state for being located in specified position by protrusion 124 etc..It is sensing
The face of the side L1 of the rotation axis direction L of device substrate 15 is equipped with connector 17.Rotary body 2 is configuration in main part 123
The cylindric component of side, rotating output shaft (not shown) of motor etc. are connected to cylindric component by the methods of chimeric
Inside.Therefore, rotary body 2 can rotate about the axis.
(layout etc. of magnet and Magnetosensing element etc.)
Fig. 3 is the explanatory diagram for showing the structure for applying sensor portion of rotary encoder 1 of the invention etc..Fig. 4 (a),
It (b) is the explanatory diagram for applying the sensor base plate 15 of rotary encoder 1 of the invention, Fig. 4 (a) is sensor base plate 15
151 side of the first face explanatory diagram, Fig. 4 (b) be sensor base plate 15 152 side of the second face explanatory diagram.In addition, in Fig. 3,
Since data processing division 90 has the CPU etc. that is acted of program according to the pre-stored data, it is indicated with functional block diagram several
According to the structure of processing unit 90.
It will be in two sensors described below as shown in figure 3, being equipped in the rotary encoder 1 of present embodiment
Portion (first sensor portion 1a and second sensor portion 1b).First sensor portion 1a has the first magnet 20 in 2 side of rotary body,
The magnetizing surface 21 of its make to be magnetized out the in the circumferential pole N and the pole S is towards the side of rotation axis direction L.Also, the
One sensor portion 1a includes the first magnetoresistive element 40 in 10 side of fixed body, the side L1 and the first magnetic of L in rotation axis direction
The magnetizing surface 21 of body 20 is opposite；First Hall element 51, the magnetization of the side L1 of L and the first magnet 20 in rotation axis direction
Face 21 is opposite；And second Hall element 52, relative to the first Hall element 51 around center of rotation axis in 90 degree of machines of offset
The position at tool angle, the side L1 with the magnetizing surface 21 of the first magnet 20 in rotation axis direction L are opposite.
Second sensor portion 1b has the second magnet 30 in the side of rotary body 2, in radial outside far from the first magnet
20 position makes to go out the cricoid magnetizing surface 31 of multiple poles N and the pole S towards rotation axis direction L by alternating magnetization in the circumferential
Side L1.In the present embodiment, in the magnetizing surface 31 of the second magnet 30, multiple poles N and S are gone out by alternating magnetization in the circumferential
The magnetic track 310 of pole arranges multiple radially.In the present embodiment, magnetic track 310 forms two column.In the present embodiment, exist
When N is set as positive integer, in the second magnet 30, the pole N extremely forms N pairs to total with the pole S.In the present embodiment, N is for example
It is 128.
Between the two magnetic tracks 310, the pole N and the position of the pole S are staggered in the circumferential, in the present embodiment, in two magnetic
Between road 310, the pole N and the pole S are staggered a pole in the circumferential.Also, second sensor portion 1b has the in the side of fixed body 10
Two magnetoresistive elements 60, it is opposite in the side L1 in rotation axis direction and the magnetizing surface 31 of the second magnet 30.
First magnet 20 and the second magnet 30 are rotated with 2 one of rotary body around rotation axis.First magnet 20 is by disk
The permanent magnet of shape is formed.Second magnet 30 is cylindrical, and configures in radial outside in the position for leaving the first magnet 20.First
Magnet 20 is formed with the second magnet 30 by bonded magnet etc..
First magnetoresistive element 40 is the first magnetoresistive element with A phase (SIN) magnetic resistance pattern and B phase (COS) magnetic resistance pattern,
The A phase (SIN) has 90 degree of phase difference with the B phase (COS) each other relative to the phase of the first magnet 20.This first
In magnetoresistive element 40, A phase magnetic resistance pattern has+a phase (SIN+) magnetic resistance pattern 43 and-a phase (SIN-) magnetic resistance pattern 41, they
With the phase difference of 180 degree, implement the mobile detection of rotary body 2.B phase magnetic resistance pattern have+b phase (COS+) magnetic resistance pattern 44 with
And-b phase (COS-) magnetic resistance pattern 42, they implement the mobile detection of rotary body 2 with the phase difference of 180 degree.Here,+a phase magnetic resistance
Pattern 43 and-a phase magnetic resistance pattern 41 constitute bridgt circuit ,+b phase magnetic resistance pattern 44 and-b phase magnetic resistance pattern 42 and+a phase magnetic
It hinders pattern 43 and-a phase magnetic resistance pattern 41 is identical, also constitute bridgt circuit.
Second magnetoresistive element 60 has A phase (SIN) magnetic resistance pattern and B phase (COS) magnetic resistance pattern, the A phase (SIN) and institute
State the phase difference that B phase (COS) has 90 degree relative to the phase of the second magnet 30 each other.In second magnetoresistive element 60, A phase
Magnetic resistance pattern has+a phase (SIN+) magnetic resistance pattern 64 and-a phase (SIN-) magnetic resistance pattern 62, they are with the phase difference of 180 degree
Implement the mobile detection of rotary body 2.B phase magnetic resistance pattern has+b phase (COS+) magnetic resistance pattern 63 and-b phase (COS-) magnetic resistance figure
Case 61, they implement the mobile detection of rotary body 2 with the phase difference of 180 degree.Therefore+a phase magnetic resistance pattern 64 and-a phase magnetic resistance
Pattern 62 is identical as the first magnetoresistive element 40, constitutes bridgt circuit ,+b phase magnetic resistance pattern 63 and-b phase magnetic resistance pattern 61 and+a
Phase magnetic resistance pattern 64 and-a phase magnetic resistance pattern 62 are identical, constitute bridgt circuit.
In the present embodiment, as shown in Fig. 4 (a), the first magnetoresistive element 40, the first Hall element 51, the second Hall member
Part 52 and the second magnetoresistive element 60 are all set in the first of the other side L2 positioned at rotation axis direction L of sensor base plate 15
Face 151.Also, as shown in Fig. 4 (b), in sensor base plate 15, on the second face 152 with 151 opposite side of the first face
, the position Chong Die with the first magnetoresistive element 40 equipped with the first amplifier 91, first amplifier 91 passes through perforation when overlooking
The through-hole (not shown) of sensor base plate 15, is electrically connected with the first magnetoresistive element 40.It is on the second face 152, overlook when with the
The position of two magnetoresistive elements 60 overlapping is equipped with the second amplifier 92, and second amplifier 92 passes through perforation sensor base plate 15
Through-hole (not shown) is electrically connected with the second magnetoresistive element 60.In addition, the first Hall element 51 and the second Hall element 52 pass through
The through-hole (not shown) for penetrating through sensor base plate 15, is electrically connected with the first amplifier 91.
According to this structure, since the signaling path of the first magnetoresistive element 40 and the first amplifier 91 is short, from
The analog signal that one magnetoresistive element 40 is exported to the first amplifier 91 is not vulnerable to the electromagnetic effect from the first magnet 20.Therefore,
Do not allow to be also easy to produce distortion etc. from the first magnetoresistive element 40 to the analog signal that the first amplifier 91 exports.Also, due to the second magnetic
Resistance element 60 and the signaling path of the second amplifier 92 are short, therefore export from the second magnetoresistive element 60 to the second amplifier 92
Analog signal not vulnerable to the electromagnetic effect from the second magnet 30.Therefore, it is not easy to make to put from the second magnetoresistive element 60 to second
The analog signal that big device 92 exports generates distortion etc..
Here, the first magnetoresistive element 40 and the second magnetoresistive element 60 are respectively to be formed with the device substrate quilt of magnetic resistance pattern
The state for being contained in the magnetic machine of specified packaging part is assemblied in sensor base plate 15.In the present embodiment, for encapsulating
Cover formed by transparent members such as glass.It therefore, can be by saturating when magnetic machine is assemblied in sensor base plate 15
The cover of photosensitiveness directly confirms the position of the first magnetoresistive element 40 and the second magnetoresistive element 60, and can be assemblied in equipment
First magnetoresistive element 40 and the second magnetoresistive element 60 are contained in packaging part by sensor base plate 15, the magnetic machine.
Also, it is about the bonding agent used when device substrate is contained in packaging part, it is preferable to use elastic viscous
Connect agent.According to this structure, even if in the case where generating temperature change etc., the first magnetoresistive element 40 and the second magnetoresistive element 60
Position be also not easy to deviate.
(testing principle)
Fig. 5 (a), (b) are the explanatory diagram for showing the testing principle for applying rotary encoder 1 of the invention, and Fig. 5 (a) is
The explanatory diagram of the signal exported from magnetoresistive element 4 etc., Fig. 5 (b) is the angle position (electrical angle) for showing the signal Yu rotary body 2
Relationship explanatory diagram.Fig. 6 (a), (b), (c) are the decision for showing the angle position for applying rotary encoder 1 of the invention
The explanatory diagram of the basic structure of method.Fig. 7 (a), (b) are to show the angle position for applying rotary encoder 1 of the invention
The explanatory diagram of the specific structure of determining method.In addition, in Fig. 7 (a), (b), by each week of the second absolute angle data abs-2
Symbol 1,2n-1, n, n+1N mark to true angle position in the interim period for showing some position, will
Symbol 1,2m-1, m, m+1N mark in the period for showing a certain position in each period of incremental angle data INC
To true angle position.
As shown in figure 3, in the rotary encoder 1 of present embodiment, the first magnetoresistive element 40, the first Hall element 51,
The output of second Hall element 52 and the second magnetoresistive element 60 passes through the first amplifier 91, the second amplifier 92, A/D converter
93a, 93b, 94 are output to data processing division 90, and the data processing division 90, which has, implements interpolation processing and various calculation process
CPU etc..Data processing division 90 according to from the first magnetoresistive element 40, the first Hall element 51, the second Hall element 52 and
Absolute angular position of the rotary body 2 relative to fixed body 10 is sought in the output of second magnetoresistive element 60.
More specifically, in rotary encoder 1, if rotary body 2 rotates a circle, the first magnet 20 rotation one
Week, thus from the first magnetoresistive element 40 of first sensor portion 1a export two periods Fig. 5 (a) shown in sine wave signal sin,
cos.Therefore, as shown in Fig. 5 (b), if seeking θ=t α n- according to sine wave signal sin, cos in data processing division 901
(sin/cos), then the angular position of rotary body 2 is learnt.Also, in the present embodiment, in first sensor portion, 1a is configured with
First Hall element 51 and the second Hall element 52, from the center of the first magnet 20, they are located at 90 degree of the position of being staggered
It sets.It follows that current location is located at the section which of sine wave signal sin, cos, therefore learn the absolute of rotary body 2
Angle position.
Also, in the rotary encoder of present embodiment 1, in second sensor portion, 1b, which has been used, has cricoid magnetization
Second magnet 30 in face 31, the pole N and the pole S of the magnetizing surface 31 are multiple out by alternating magnetization in the circumferential, whenever rotary body 2 revolves
Turn a cycle of the magnetic pole of the second magnet 30, just exports sine wave from the second opposite magnetoresistive element 60 of second magnet 30
Signal sin, cos.Accordingly, with respect to sine wave signal sin, the cos exported from the second magnetoresistive element 60, as shown in Fig. 5 (b), such as
Fruit seeks θ=t α n- according to sine wave signal sin, cos1(sin/cos), then learn that rotary body 2 is being equivalent to the second magnet 30
Magnetic pole a period angle in angular position.
Therefore, in the present embodiment, absolutely according to the first of a cycle of first sensor portion 1a to rotate a circle
The incremental angle data INC in the N number of period of angle-data abs-1 (referring to Fig. 6 (a)) and second sensor portion 1b to rotate a circle
(referring to Fig. 6 (b)), detects the instantaneous angle position of rotary body 2.Therefore, even if dividing in the first absolute angle data abs-1
In the case that resolution is low, as shown in Fig. 6 (c), the absolute angle data of high resolution can be also obtained.
When using this detection mode, as shown in Fig. 7 (a), pre-establish the first absolute angle shown in Fig. 6 (a)
Data abs-1 interpolation is divided into the second absolute angle degree of the number (positive integer of N:2 or more) of the pole pair of the second magnet 30
According to abs-2, and the output that instantaneously detected from first sensor portion 1a is located at the second absolute angle data shown in Fig. 7 (a)
Which of period 1 of abs-2,2n-1, n, n+1 period.Also, it instantaneously detected from second sensor portion
Which in the period 1 of incremental angle data INC, 2m-1, m, m+1N shown in Fig. 7 (b) output of 1b be equivalent to
A position.Also, the instantaneous output of first sensor portion 1a is in the second absolute angle data abs-2 shown in Fig. 7 (a)
Which of upper data of the period as numerical data, the output from second sensor portion 1b is equivalent to Fig. 7 (b) institute
The next data of the position which of the incremental angle data INC shown as numerical data, detection rotary body 2 it is instantaneous exhausted
To angle position.
Therefore, data processing division 90 shown in Fig. 3 is equipped with: first sensor portion is stored in advance in first memory 96
The second absolute angle data abs-2 of 1a；The incremental angle data of first sensor portion 1a are stored in advance in second memory 97
INC；And angle position determination section 95, according to the instantaneous output from first sensor portion 1a, instantaneous come from second
The output of sensor portion 1b, the second absolute angle data abs-2 for being stored in first memory 96 and it is stored in the second storage
The incremental angle data INC of device 97, determines the absolute angular position of instantaneous rotary body 2.
(correction of phase offset)
Fig. 8 (a), (b), (c) are in applying rotary encoder 1 of the invention, and the phase of absolute angle data is super
Before in the case where explanatory diagram.Fig. 9 (a), (b), (c) are the absolute angle data in applying rotary encoder 1 of the invention
Explanatory diagram of phase in the case where delay.In addition, in Fig. 8 (a), (b), (c) and Fig. 9 (a), (b), (c), by increment
Symbol 1,2m-1, m, m+1N mark in the period for showing some position in each period of angle-data INC arrive
True angle position, by the symbol in the period for showing some position in each period of the second absolute angle data abs-2
1,2n-1, n, n+1N mark, will be in each periods of third absolute angle data abs-3 to true angle position
Symbol 1,2i-1, i, i+12N mark to true angle position in the period of some position are shown.Here, i is
Odd number.
In the rotary encoder 1 of present embodiment, detection accuracy is reduced when there is the fact that following: the first sensing
The relative offset of device portion 1a and second sensor portion 1b, the portion for constituting first sensor portion 1a and second sensor portion 1b
The error of the characteristic of part leads to second because of the influence of the sample time difference of first sensor portion 1a and second sensor portion 1b etc.
The phase of absolute angle data abs-2 and the phase offset of incremental angle data INC.
Therefore, in the rotary encoder of present embodiment 1, as shown in figure 3, being equipped in data processing division 90: phase ratio
Compared with portion 98, to the phase of the phase of the second absolute angle data abs-2 and incremental angle data INC at the time of presetting
It is compared；And phase correction section 99, in the comparison result of phase comparing section, the second absolute angle data abs-2 with
When phase offset between incremental angle data INC, the phase correction section 99 implements the phase for making the second absolute angle data abs-2
The consistent correction of phase of position and incremental angle data INC.Therefore, implementing phase compares process and phase in rotary encoder 1
Bit correction process, in the phase bit comparison process, by the phase of the second absolute angle data abs-2 and incremental angle data
The phase of INC is compared, in the phasing process, when the phase and incremental angular of the second absolute angle data abs-2
Degree according to INC phase offset when, the second absolute angle data abs-2 is corrected.Here, by the second absolute angle data
Second is exhausted compared with the phase of abs-2 not is directly with the phase comparing section 98 that the phase of incremental angle data INC is compared
The phase of phase and incremental angle data INC to angle-data abs-2, but as described later, by by absolute from first
Third absolute angle data abs-3 and incremental angle data INC implementation after the segmentation of angle-data abs-1 interpolation is compared.
In the present embodiment, be equipped in phase comparing section 98: third absolute angle data generating section 985 generates phase
When the third absolute angle data abs-3 (ginseng for being interpolated data after being divided into (2 × N) in the first absolute angle data abs-1
According to Fig. 8 (b), Fig. 9 (b)), and store and arrive third memory 986；First determination unit 981, according to third absolute angle data
Abs-3 determines the second absolute angle data abs-2, and relative to the phase of incremental angle data INC, whether there is or not advanced；And second sentence
Determine portion 982, determines the second absolute angle data abs-2 relative to incremental angular degree according to third absolute angle data abs-3
Have according to the phase of INC non-delay.
In the present embodiment, when implementing phase compares process and phasing process at the time of presetting,
Rotary body 2 is rotated, and obtains the data of its instantaneous first sensor portion 1a and second sensor portion 1b.
Next, as shown in Fig. 8 (a), Fig. 8 (b), the first determination unit 981 is in first sensor portion in phase bit comparison process
The testing result of 1a is in odd number (for example, i-th) period of third absolute angle data abs-3, and second sensor
In the case that the testing result of portion 1b is in the first threshold TH1 or more of incremental angle data INC, the second absolute angle degree is determined
It is more advanced than the phase of incremental angle data INC according to the phase of abs-2.That is, in the phase of the second absolute angle data abs-2
Position under the phase unanimous circumstances of incremental angle data INC, when to be in third absolute for the testing result of first sensor portion 1a
When the odd number period of angle-data abs-3, the of the testing result of second sensor portion 1b less than incremental angle data INC
One threshold value TH1, therefore according to above-mentioned processing, it is capable of detecting when that the phase of the second absolute angle data abs-2 compares incremental angle
The phase of data INC is advanced.In the present embodiment, first threshold TH1 is in 270deg electrical angle.
Also, in phase bit comparison process, as shown in Fig. 9 (a), (b), the second determination unit 982 is in first sensor portion 1a
Testing result be in even number (such as (i+1)) period of third absolute angle data abs-3, and second sensor portion 1b
Testing result be in the second threshold TH2 situation below of incremental angle data INC, determine the second absolute angle data
Phase delay of the phase of abs-2 than incremental angle data INC.That is, in the phase and increment of the second absolute angle data abs-2
Under the phase unanimous circumstances of angle-data INC, when the testing result of first sensor portion 1a is in third absolute angle data
When the even number period of abs-3, the testing result of second sensor portion 1b is more than the second threshold of incremental angle data INC
TH2, therefore according to above-mentioned processing, it is capable of detecting when the phase of the second absolute angle data abs-2 than incremental angle data INC's
Phase delay.In the present embodiment, second threshold TH2 is in 90deg electrical angle.
Next, in phasing process, phase correction section 99 is in the in the testing result of first sensor portion 1a
I-th of (odd number) period of three absolute angle data abs-3, and the testing result of second sensor portion 1b is in incremental angular
During first threshold TH1 or more of the degree according to INC, as shown in Fig. 8 (c), school is carried out to the second absolute angle data abs-2
Just, with so that it becomes the second absolute angle data abs-2 (((i+1)/2) -1) a period ((n-1)th period).Specifically
It says, in (odd number) period i-th of period for being in third absolute angle data abs-3, and the inspection of second sensor portion 1b
During surveying the first threshold TH1 or more that result is in incremental angle data INC, by subtracting second absolutely from nth data
The difference of n-th angle-data and (n-1) a angle-data of angle-data abs-2, to the second absolute angle data abs-2
It is corrected.As a result, during being in first threshold TH1 or more, n-th of period of the second absolute angle data abs-2
Angle-data and the angle-data in (((i+1)/2) -1) a period ((n-1)th period) are formed as identical.Therefore, in increment
Angle-data INC is consistent with the phase of the second absolute angle data abs-2 after correction.The second absolute angle degree after the correction
First memory 96 is stored according to abs-2.
In view of this, in phasing process, phase correction section 99 is in the in the testing result of first sensor portion 1a
(i+1) a (even number) period of three absolute angle data abs-3, and the testing result of second sensor portion 1b is in and increases
The second threshold TH2 period below of measuring angle data INC carries out the second absolute angle data abs-2 as shown in Fig. 9 (c)
Correction, with so that it becomes the second absolute angle data abs-2 (((i+1)/2)+1) a period ((n+1)th period).Specifically
Ground says, in (i+1) a (even number) period for being in third absolute angle data abs-3, and second sensor portion 1b
Testing result is in the second threshold TH2 period below of incremental angle data INC, by by the second absolute angle data abs-
2 (n+1) a angle-data and the difference of n-th of angle-data are added to nth data, to the second absolute angle data abs-
2 are corrected.It is being in second threshold TH2 period below as a result, n-th of period of the second absolute angle data abs-2
Angle-data and the angle-data in (((i+1)/2)+1) a period ((n+1)th period) are formed as identical.Therefore, in increment
Angle-data INC is consistent with phase in the second absolute angle data abs-2 after correction.The second absolute angle degree after the correction
First memory 96 is stored according to abs-2.
Therefore, after this, angle position determination section 95 is according to second after the correction for being stored in first memory 96
The absolute angle data abs-2 and incremental angle data INC for being stored in second memory 97 detects the instantaneous of rotary body 2
Absolute angular position.
(main effect of present embodiment)
As described above, in the rotary encoder of present embodiment 1, according to the testing result of first sensor portion 1a with
And the testing result of second sensor portion 1b, detect the instantaneous absolute angular position of rotary body 2.It therefore, can be with high-resolution
Rate detects the instantaneous angle position of rotary body 2.
Also, phase comparing section 98 is by absolute angle data (the second absolute angle data abs- of first sensor portion 1a
2) phase is compared with the phase of the incremental angle data INC of second sensor portion 1b, in the case where phase offset, phase
Bit correction portion 99 is corrected the phase of absolute angle data (the second absolute angle data abs-2), to make absolute angle
The phase of data (the second absolute angle data abs-2) is consistent with the phase of incremental angle data INC.Therefore, according to first
The instantaneous absolute angle position of the testing result detection rotary body 2 of the testing result and second sensor portion 1b of sensor portion 1a
In the rotary encoder 1 for the mode set, though because the relative position between first sensor portion 1a and second sensor portion 1b it is inclined
Shifting etc. causes the phase of absolute angle data (the second absolute angle data abs-2) and the phase of incremental angle data INC to generate
In the case where offset, can also detection accuracy be inhibited to reduce.
Also, in phase bit comparison process, since phase comparing section 98 is according to the testing result of first sensor portion 1a,
Three absolute angle data abs-3, the testing result of second sensor portion 1b and incremental angle data INC, by the second absolute angle
Degree is compared according to the phase of abs-2 and the phase of incremental angle data INC, therefore is able to suppress because of first sensor portion 1a
Detection accuracy caused by relative offset between second sensor portion 1b etc. reduces.
Also, in phasing process, phase correction section 99 exists according to the testing result for determining first sensor portion 1a
Which period of third absolute angle data abs-3 is in the comparison result of phase bit comparison process (phase comparing section 98)
As a result, to determine the content to be corrected.Therefore, easily the second absolute angle data abs-2 can be implemented to correct.
(other embodiments)
In the magnetic-type rotary encoder of above embodiment, in first sensor portion 1a and second sensor portion 1b
Magnet and magnetoresistive element have been used, but can also have been constituted in first sensor portion 1a and second sensor portion 1b becoming device by rotation
Using the present invention in the case where one or both.
The rotary encoder of above embodiment is magnetic-type rotary encoder, but can also be answered in optical rotary coder
With the present invention.
Label declaration
1 rotary encoder, 1a first sensor portion, 1b second sensor portion, 2 rotary bodies, 4 magnetoresistive elements, 10 fixed bodies,
15 sensor base plates, 20 first magnets, 21 magnetizing surfaces, 30 second magnets, 40 first magnetoresistive elements, 51 first Hall elements, 52
Second Hall element, 60 second magnetoresistive elements, 90 data processing divisions, 91 first amplifiers, 92 second amplifiers, 95 angle positions
Determination section, 98 phase comparing sections, 99 phase correction sections, 151 first faces, 152 second faces, 981 first determination units, 982 second sentence
Determine portion, 985 third absolute angle data generating sections, abs-1 the first absolute angle data, abs-2 the second absolute angle data,
Abs-3 third absolute angle data, INC incremental angle data, L rotation axis direction.
Claims (10)
1. a kind of rotary encoder characterized by comprising
First sensor portion；And
Second sensor portion,
When N to be set as to 2 or more positive integer,
The rotary encoder is according to the first absolute angle data of a cycle to rotate a circle in the first sensor portion
Be interpolated be divided into it is N number of after the second absolute angle data and the second sensor portion N number of period for rotating a circle
Incremental angle data determine the absolute angular position of rotary body,
The rotary encoder includes
Phase comparing section compares the phase of the phase of the second absolute angle data and the incremental angle data
Compared with；And
Phase correction section, phase and institute in the comparison result of the phase comparing section, in the second absolute angle data
When stating the phase offset of incremental angle data, the phase correction section is corrected the second absolute angle data.
2. rotary encoder according to claim 1, which is characterized in that
The first absolute angle data interpolating to be divided into the data after (2 × N) times as third absolute angle data
When,
Testing result of the phase comparing section in the first sensor portion is in the third absolute angle data
The odd number period, and the testing result in the second sensor portion is in the feelings of the first threshold of the incremental angle data or more
Under condition, determine that the phase of the second absolute angle data is advanced, the testing result in the first sensor portion is in described
The even number period of third absolute angle data, and the testing result in the second sensor portion is in the incremental angular degree
According to second threshold situation below under, determine the phase delay of the second absolute angle data.
3. rotary encoder according to claim 2, which is characterized in that
When i is set as odd number,
Testing result of the phase correction section in the first sensor portion is in i-th of the third absolute angle data
Period, and during the testing result in the second sensor portion is in the first threshold of the incremental angle data or more, it is right
The second absolute angle data are corrected, with so that it becomes the second absolute angle data (((i+1)/2) -1)
A period, the testing result in the first sensor portion are in (i+1) a period of the third absolute angle data, and
The testing result in the second sensor portion is in the second threshold period below of the incremental angle data, to described second
Absolute angle data are corrected, with so that it becomes the second absolute angle data (((i+1)/2)+1) a period.
4. rotary encoder according to claim 3, which is characterized in that
In the phase comparing section, implement phase and the institute of the second absolute angle data at each preset moment
State the comparison of the phase of incremental angle data.
5. rotary encoder according to any one of claims 1 to 4, which is characterized in that
The first sensor portion includes
First magnet, first magnet are each configured with the pole N and the pole S around center of rotation axis；
First magnetoresistive element, it is opposite with first magnet on the direction of center of rotation axis；
First Hall element, it is opposite with first magnet；And
Second Hall element is configured around the center of rotation axis in 90 degree of machinery of offset relative to first Hall element
The position at angle,
The second sensor portion includes
Second magnet, the multiple of the second magnet extremely configure to around center of rotation axis；And
Second magnetoresistive element, it is opposite with second magnet.
6. rotary encoder according to claim 5, which is characterized in that
First magnetoresistive element has the sensor base plate for being set to the first surface side,
On the second surface side with first face opposite side of the sensor base plate and the first magnetoresistive element weight
Folded position is equipped with the first amplifier, and first amplifier passes through the through-hole for penetrating through the sensor base plate, with described first
Magnetoresistive element electrical connection.
7. rotary encoder according to claim 6, which is characterized in that
It is equipped with second magnetoresistive element in first surface side of the sensor base plate,
Position on second surface side of the sensor base plate, Chong Die with second magnetoresistive element is equipped with second and puts
Big device, second amplifier are electrically connected by the through-hole of the perforation sensor base plate with second magnetoresistive element.
8. rotary encoder according to claim 2, which is characterized in that
In the phase comparing section, the phase comparing section implements second absolute angle at each preset moment
The phase of degree evidence is compared with the phase of the incremental angle data.
9. a kind of absolute angular position detection method of rotary encoder, which is characterized in that
The rotary encoder is equipped with first sensor portion and second sensor portion,
When N to be set as to 2 or more positive integer, the rotary encoder is according to one to rotate a circle in the first sensor portion
The first absolute angle data in a period, which are interpolated, is divided into the second N number of absolute angle data and the second sensor portion
The N number of period to rotate a circle incremental angle data, determine the absolute angular position of rotary body,
And the absolute angular position detection method of the rotary encoder implements following two process:
Phase bit comparison process, the phase of the second absolute angle data and the increment in the phase bit comparison process
The phase of angle-data；And
Phasing process, in the phase offset of the phase and the incremental angle data of the second absolute angle data,
The second absolute angle data are corrected in the phasing process.
10. the absolute angular position detection method of rotary encoder according to claim 9, which is characterized in that
The first absolute angle data interpolating to be divided into the data after (2 × N) times as third absolute angle data
When,
In the phase bit comparison process, the testing result in the first sensor portion is in the third absolute angle data
The odd number period, and the testing result in the second sensor portion is in the first threshold of the incremental angle data or more
In the case where, determine that the phase of the second absolute angle data is advanced, the testing result in the first sensor portion is in
The even number period of the third absolute angle data, and the testing result in the second sensor portion is in the incremental angular
In the second threshold of degree evidence situation below, the phase delay of the second absolute angle data is determined.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2015183280A JP6649018B2 (en) | 2015-09-16 | 2015-09-16 | Rotary encoder and method for detecting absolute angular position of rotary encoder |
| JP2015-183280 | 2015-09-16 |
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| CN106546273A CN106546273A (en) | 2017-03-29 |
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| CN201610825080.3A Active CN106546273B (en) | 2015-09-16 | 2016-09-14 | The absolute angular position detection method of rotary encoder and rotary encoder |
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| JP (1) | JP6649018B2 (en) |
| KR (1) | KR20170033244A (en) |
| CN (1) | CN106546273B (en) |
| TW (1) | TWI678517B (en) |
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| EP3611476A4 (en) * | 2017-04-13 | 2020-07-29 | Sony Corporation | Position detection device and position detection method |
| JP6904803B2 (en) * | 2017-06-23 | 2021-07-21 | 日本電産サンキョー株式会社 | motor |
| CN107340003B (en) * | 2017-07-03 | 2019-11-19 | 珠海格力电器股份有限公司 | A kind of correction system of absolute signal bearing calibration and absolute signal |
| JP7173010B2 (en) * | 2017-07-27 | 2022-11-16 | 株式会社ニコン | Calibration device, encoder device, drive device, stage device, robot device, manufacturing method of encoder device, and calibration program |
| CN110537322B (en) * | 2017-10-26 | 2020-11-06 | 日本精工株式会社 | Motor control device, motor control method, and electric power steering device |
| JP7085851B2 (en) * | 2018-02-07 | 2022-06-17 | 日本電産サンキョー株式会社 | Position detection device and position detection method |
| JP7085852B2 (en) * | 2018-02-07 | 2022-06-17 | 日本電産サンキョー株式会社 | Position detection device and position detection method |
| JP7114315B2 (en) * | 2018-04-19 | 2022-08-08 | 日本電産サンキョー株式会社 | encoder |
| CN108731707B (en) * | 2018-06-04 | 2021-01-01 | 大族激光科技产业集团股份有限公司 | Method and device for measuring absolute position by double-increment type encoder |
| JP6781226B2 (en) * | 2018-09-25 | 2020-11-04 | ファナック株式会社 | Encoder and control system |
| TWI687039B (en) * | 2018-10-05 | 2020-03-01 | 大銀微系統股份有限公司 | Deviation sense mechanism for rotating shaft |
| JP7171380B2 (en) * | 2018-11-20 | 2022-11-15 | 日本電産サンキョー株式会社 | motor |
| DE102019132278A1 (en) * | 2019-11-28 | 2021-06-02 | Infineon Technologies Ag | Sensor device, controller and method for communication between a sensor device and a controller |
| DE102020101363A1 (en) * | 2020-01-21 | 2021-07-22 | Infineon Technologies Ag | Sensor, control unit and method for determining the direction of a magnetic field |
| CN112268570B (en) * | 2020-09-08 | 2021-11-09 | 珠海格力电器股份有限公司 | Phase compensation device and method of sensor and magnetic suspension system |
| CN112880712A (en) * | 2021-01-18 | 2021-06-01 | 珠海格力电器股份有限公司 | Magneto-optical absolute encoder, and method and device for determining position of moving equipment |
| US20220373318A1 (en) * | 2021-05-24 | 2022-11-24 | Infineon Technologies Ag | Angle sensor with diverse measurement paths and a safety path |
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| CN1877262A (en) * | 2005-06-07 | 2006-12-13 | 阿尔卑斯电气株式会社 | Absolute angle detecting device |
| CN101652636A (en) * | 2007-04-24 | 2010-02-17 | 谐波传动系统有限公司 | Magnetic encoder and method of detecting absolute rotational position |
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| JP5666886B2 (en) * | 2010-11-22 | 2015-02-12 | 日本電産サンキョー株式会社 | Rotary encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20170033244A (en) | 2017-03-24 |
| CN106546273A (en) | 2017-03-29 |
| JP2017058256A (en) | 2017-03-23 |
| TWI678517B (en) | 2019-12-01 |
| TW201721103A (en) | 2017-06-16 |
| JP6649018B2 (en) | 2020-02-19 |
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