CN107860404A

CN107860404A - The absolute angular position detection method of rotary encoder and rotary encoder

Info

Publication number: CN107860404A
Application number: CN201710851546.1A
Authority: CN
Inventors: 奥村宏克; 斋藤丰; 上甲均
Original assignee: Sankyo Seiki Manufacturing Co Ltd
Current assignee: Nidec Instruments Corp
Priority date: 2016-09-21
Filing date: 2017-09-19
Publication date: 2018-03-30
Anticipated expiration: 2037-09-19
Also published as: JP6769799B2; KR20180032178A; CN107860404B; KR102328288B1; TW201825871A; JP2018048874A

Abstract

The present invention provides a kind of absolute angular position detection method that can suppress the rotary encoder that the accuracy of detection caused by relative offset between the first detecting means and the second detecting means etc. declines.Pre-corrected as absolute angular position detection operation is handled, the first absolute angle data (abs 1) are obtained using the first detecting means (1a) of rotary encoder (1), incremental angle data (INC) are obtained using the second detecting means (1b), and obtain their phase difference (Δ p).Then, using phase difference, (Δ p) is modified to the phase of the first absolute angle data, calculates the first absolute angle of phase only pupil filter data (abs 1p).Then, based on the difference that incremental angle data are transformed into the increment signal conversion absolute angle data (INC abs) obtained after the absolute angle data that rotate a circle and the first absolute angle of phase only pupil filter data (abs 1p), obtain correction value (Δ q), using correction value, (Δ q) is modified to the first absolute angle of phase only pupil filter data (abs 1p), so as to obtain the first absolute angle of error correction data (abs 1c).

Description

The absolute angular position detection method of rotary encoder and rotary encoder

Technical field

The present invention relates to the rotary encoder of the instantaneous absolute angular position for detecting rotary body and rotary encoder Absolute angular position detection method.

Background technology

Rotary encoder of the detection rotary body relative to the rotation of fixed body has been recorded in patent document 1.The rotation of the document Turn encoder and possess the first detecting means and the second detecting means, the detection of testing result and the second detecting means based on the first detecting means As a result, the instantaneous absolute angular position of rotary body is detected.First detecting means possess：The first magnet that N poles and S poles configure one by one, The first magnetoresistive element with the first magnet relative configuration, with the first Hall element of the first magnet relative configuration and with first Magnet be oppositely disposed and configured on the position for deviateing first 90 ° of mechanical angles of Hall element around Pivot axle second suddenly That element.Second detecting means possess around Pivot axle configuration multipair magnetic pole the second magnet and with the second magnet phase To the second magnetoresistive element.Rotary encoder is rotated a circle as the absolute angle data in a cycle based on what the first detecting means obtained It is the incremental angle data in N number of cycle with rotating a circle of obtaining of the second detecting means, determines the instantaneous angular position of rotary body.

Prior art literature

Patent document

Patent document 1：No. 5666886 publications of Japanese Patent No.

The content of the invention

The technical problems to be solved by the invention

In the rotary encoder for possessing the first detecting means and the second detecting means as patent document 1, the first detecting means It some times happens that relative offset between the second detecting means.If position skew occurs for each detecting means, the first detecting means Phase deviation or error can be produced between absolute angle data and the incremental angle data of the second detecting means, therefore can cause to detect The problem of precision reduces.

In view of the above problems, technical problem of the invention is to provide the absolute of a kind of rotary encoder and rotary encoder Angular position detection method, it detects rotation in the testing result based on the first detecting means and the testing result of the second detecting means In the case of the absolute angular position of body, it can also suppress because of the first detecting means and fold the relative offset between detecting means The accuracy of detection Deng caused by reduces.

Technical scheme used by solution technical problem

In order to solve the above problems, rotary encoder of the invention possesses the first detecting means and the second detecting means, and described One detecting means, which obtain, to be rotated a circle as the first absolute angle data in 1 cycle, and second detecting means are obtained and rotated a circle For the incremental angle data in N number of cycle, wherein, N is more than 2 positive integer, and the rotary encoder is based on the described first sensing First testing result in portion and the second testing result of second detecting means detect absolute angular position, it is characterised in that Including：Obtain the first absolute angle data and the phase difference acquisition unit of the phase difference of the incremental angle data；By N number of week The incremental angle data of phase are transformed into the absolute angle data to rotate a circle and convert absolute angle so as to calculate increment signal The conversion absolute angle data calculating part of degrees of data；The first absolute angle data are modified simultaneously based on the phase difference Generation makes the phase of the first absolute angle data phase consistent with the phase of increment signal conversion absolute angle data The first phase correction portion of the first absolute angle data of position amendment；Based on the increment signal convert absolute angle data with it is described The difference of phase only pupil filter the first absolute angle data obtains the correction value acquisition unit of correction value；Using the correction value to the phase The first absolute angle data are corrected to be modified so as to generate the relative error correction portion of error correction the first absolute angle data； And based on first testing result, second testing result, the phase difference, the absolute angle of the error correction first The absolute angle acquisition unit of data and the incremental angle data acquisition absolute angle.

In the present invention, the first testing result based on the first detecting means (rotates a circle as first absolute angle in 1 cycle Data) and the second testing results (rotating a circle as the incremental angle data in N number of cycle) of the second detecting means detect rotary body Instantaneous absolute angular position.Therefore, it is possible to go out the instantaneous absolute angular position of rotary body with high resolution detection.In addition, this In invention, obtain the phase difference of the first absolute angle data and incremental angle data and calculating is sent as an envoy to the first absolute angle data The phase phase only pupil filter first absolute angle data consistent with the phase of incremental angle data, and be based on incremental angle data It is transformed into the increment signal conversion absolute angle data obtained after the absolute angle data to rotate a circle and phase only pupil filter first is exhausted Correction value is obtained to the difference of angle-data, phase only pupil filter the first absolute angle data are modified using the correction value, from And obtain error correction the first absolute angle data.Here, the first absolute angle of error correction data refer to the first absolute angle Data are accompanied with the relative error of the incremental angle data in the first absolute angle data and N number of cycle and caused data.Cause This, error correction the first absolute angle data and incremental angle data relative error between the two or disappearance or is suppressed.By This, if determining absolute angular position based on error correction the first absolute angle data and incremental angle data, can suppress The accuracy of detection caused by relative offset of the first detecting means and the second detecting means etc. declines.

In the present invention, in order to obtain error correction the first absolute angle data, the correction value acquisition unit is from the increment Signal conversion absolute angle data subtract phase only pupil filter the first absolute angle data so as to obtain the correction value, the phase Phase only pupil filter the first absolute angle data are added by error correction portion with the correction value, so as to obtain the mistake Difference the first absolute angle data of amendment.

In the present invention, in order to obtain error correction the first absolute angle data, the correction value acquisition unit is from the phase Correct the first absolute angle data and subtract the increment signal conversion absolute angle data so as to obtain the correction value, the phase The correction value is subtracted from the first absolute angle of phase only pupil filter data to error correction portion, so as to as the error Correct the first absolute angle data.

In the present invention, storage part is preferably also equipped with, the correction value acquisition unit is obtained and rotated a circle to be more in 1 cycle The correction value corresponding to individual angle position, by each angle position with the correction value acquired in the angle position in association Store and be stored in the storage part, the relative error correction portion is based in 2 adjacent angle position difference institutes The correction value obtained, the middle correction value of the intermediate angular position between this 2 angle positions is calculated, and use work Stored for the correction value and be stored in the correction value in the storage part and the middle correction value, the phase is repaiied Positive first absolute angle data are modified.Thereby, it is possible to using storing and be stored in the correction value in storage part and storing And the middle correction value of the interpolation for the correction value being stored in storage part to carry out the first absolute angle of phase only pupil filter data Amendment, therefore can further suppress the error between error correction the first absolute angle data and incremental angle data.In addition, Because middle correction value can be obtained by computing, therefore the capacity for storing and preserving correction value can be suppressed.

In the present invention, preferably described absolute angle acquisition unit includes：By the first absolute angle of error correction data Interpolation is divided into N number of so as to generating the second absolute angle data generating section of the second absolute angle；By second absolute angle Phase comparing section of the phase of data compared with the phase of the incremental angle data；When the comparison of the phase comparing section Result be the second absolute angle data phase and the incremental angle data phase occur deviation when, to described second The phase correction section that absolute angle data are modified；And based on being repaiied with the phase difference to first testing result The testing result of phase only pupil filter first, second testing result, the second absolute angle data and the incremental angular after just Degrees of data determines the angle position determination section of the absolute angular position of rotary body.Thus, in the absolute angle of error correction first Also in the case of including the phase deviation equal error between incremental angle data in data, this can be suppressed by correcting Error.Further, since use the phase difference phase after being modified by phase difference to the first testing result of the first detecting means The first testing result is corrected to determine absolute angular position, therefore can further be suppressed because of the first detecting means and the second detecting means Between relative offset etc. caused by accuracy of detection decline.

In the present invention, first detecting means can possess：It is configured with the of N poles and S poles one by one around Pivot axle One magnet；First magnetoresistive element relative with first magnet on center of rotation axis direction；With the first magnet phase To the first Hall element；It is relative with first magnet and deviateing first Hall element around center of rotation axis The second Hall element configured on the position of 90 ° of mechanical angles, second detecting means possess：Match somebody with somebody around the Pivot axle Put the second magnet of multipair magnetic pole；And second magnetoresistive element relative with second magnet.

The invention further relates to the absolute angular position detection method of rotary encoder, the rotary encoder possesses the first sensing Portion and the second detecting means, first detecting means, which obtain, to rotate a circle as the first absolute angle data in 1 cycle, and described the Two detecting means, which obtain, to rotate a circle as the incremental angle data in N number of cycle, wherein, N is more than 2 positive integer, and the rotation is compiled Second testing result of code first testing result and second detecting means of the device based on first detecting means is absolute to detect Angle position, the absolute angular position detection method be characterised by, including：Obtain the first absolute angle data and institute State the phase difference obtaining step of the phase difference of incremental angle data；The incremental angle data in N number of cycle are transformed into rotation The absolute angle data of one week calculate step so as to calculate the conversion absolute angle data of increment signal conversion absolute angle data Suddenly；The first absolute angle data, which are modified, based on the phase difference and generated makes the first absolute angle data The first of the phase phase only pupil filter first absolute angle data consistent with the phase of increment signal conversion absolute angle data Phase only pupil filter step；Based on the increment signal conversion absolute angle data and the first absolute angle of phase only pupil filter data it Difference obtains the correction value obtaining step of correction value；The first absolute angle of phase only pupil filter data are carried out using the correction value Correct so as to generate the relative error amendment step of error correction the first absolute angle data；And based on the described first detection knot Fruit, second testing result, the phase difference, the error correction the first absolute angle data and the incremental angle data Obtain the absolute angle obtaining step of absolute angle.

In the present invention, the first testing result based on the first detecting means (rotates a circle as first absolute angle in 1 cycle Data) and the second testing results (rotating a circle as the incremental angle data in N number of cycle) of the second detecting means detect rotary body Instantaneous absolute angular position.Therefore, it is possible to go out the instantaneous absolute angular position of rotary body with high resolution detection.In addition, this In invention, obtain the phase difference of the first absolute angle data and incremental angle data and calculating is sent as an envoy to the first absolute angle data The phase phase only pupil filter first absolute angle data consistent with the phase of incremental angle data, and be based on incremental angle data It is transformed into the increment signal conversion absolute angle data obtained after the absolute angle data to rotate a circle and phase only pupil filter first is exhausted Correction value is obtained to the difference of angle-data, phase only pupil filter the first absolute angle data are modified using the correction value, from And obtain error correction the first absolute angle data.Here, the first absolute angle of error correction data refer to the first absolute angle Data are accompanied with the relative error of the incremental angle data in the first absolute angle data and N number of cycle and caused data.Cause This, error correction the first absolute angle data and incremental angle data relative error between the two or disappearance or is suppressed.By This, if determining absolute angular position based on error correction the first absolute angle data and incremental angle data, can suppress The accuracy of detection caused by relative displacement of the first detecting means and the second detecting means etc. declines.

In the present invention, in order to obtain error correction the first absolute angle data, in the correction value obtaining step, from described Increment signal conversion absolute angle data subtract phase only pupil filter the first absolute angle data so as to obtain the correction value, institute State in relative error amendment step, phase only pupil filter the first absolute angle data are added with the correction value, so as to Obtain the first absolute angle of error correction data.

In the present invention, in order to obtain error correction the first absolute angle data, in the correction value obtaining step, from described Phase only pupil filter the first absolute angle data subtract the increment signal conversion absolute angle data so as to obtain the correction value, institute State in relative error amendment step, the correction value is subtracted from the first absolute angle of phase only pupil filter data, so as to To the first absolute angle of error correction data.

In the present invention, preferably in the correction value obtaining step, acquisition rotates a circle as multiple angles in 1 cycle The correction value corresponding to position, by each angle position with being stored in association simultaneously in the correction value acquired in the angle position It is stored in storage part, in the relative error amendment step, based on acquired respectively adjacent 2 angle positions The correction value, calculates the middle correction value of the intermediate angular position between this 2 angle positions, and uses described in conduct Correction value stores and is stored in the correction value in the storage part and the middle correction value, to the phase only pupil filter first Absolute angle data are modified.Thereby, it is possible to using storing and be stored in the correction value in storage part and storing and preserving The middle correction value of the interpolation of correction value in storage part is modified to phase only pupil filter the first absolute angle data, because This can further suppress the error between error correction the first absolute angle data and incremental angle data.In further, since Between correction value can be obtained by computing, therefore the capacity for storing and preserving correction value can be suppressed.

In the present invention, the absolute angle obtaining step includes：By the first absolute angle of error correction interpolation of data It is divided into N number of so as to generating the second absolute angle data generation step of the second absolute angle；By the second absolute angle number of degrees According to phase comparison step of the phase compared with the phase of the incremental angle data；When the ratio of the phase comparison step Relatively result is the phase of the second absolute angle data and when deviation occurs for the phase of the incremental angle data, to described the The second phase amendment step that two absolute angle data are modified；And tied based on being detected with the phase difference to described first Fruit be modified after the testing result of phase only pupil filter first, second testing result, the second absolute angle data and institute Incremental angle data are stated to determine the angle position deciding step of the absolute angular position of rotary body.Thus, in error correction Also in the case of including the phase shift equal error between incremental angle data in one absolute angle data, can by correct come Suppress the error.Further, since use the phase after being modified by phase difference to the first testing result of the first detecting means The poor testing result of phase only pupil filter first determines absolute angular position, therefore can further suppress because of the first detecting means and second Accuracy of detection caused by relative displacement between detecting means etc. declines.

In the present invention, preferably described first detecting means possess：It is configured with N poles and S poles one by one around Pivot axle First magnet；First magnetoresistive element relative with first magnet on center of rotation axis direction；With first magnet The first relative Hall element；It is relative with first magnet and deviateing first Hall element around center of rotation axis The second Hall element configured on the position of 90 ° of mechanical angles, second detecting means possess：Match somebody with somebody around the Pivot axle Put the second magnet of multipair magnetic pole；And second magnetoresistive element relative with second magnet.

Invention effect

In the present invention, obtain and be accompanied with first absolute angle in the first absolute angle data from the first detecting means Error correction the first absolute angle data of data and the relative error of the incremental angle data from the second detecting means, and be based on Error correction the first absolute angle data and incremental angle data detect absolute angular position.Here, error correction first is exhausted To between angle-data and incremental angle data, the phase between the first absolute angle data and the incremental angle data in N number of cycle To error or elimination or it is suppressed.Thus, if being obtained based on error correction the first absolute angle data with incremental angle data Absolute angular position, the accuracy of detection caused by relative offset etc. can be suppressed and declined.

Brief description of the drawings

Fig. 1 is the explanation figure for representing to be applicable the outward appearance of rotary encoder of the present invention etc..

Fig. 2 is the side view for representing the part excision of the fixed body of Fig. 1 rotary encoder.

Fig. 3 is the explanation figure of the structure of the detecting means for representing rotary encoder etc..

Fig. 4 is the explanation figure for the angular position detection principle for representing rotary encoder.

Fig. 5 is the explanation figure of the basic structure for the angle position determining method for representing rotary encoder.

Fig. 6 is the first absolute angle data and the phase difference of incremental angle data and saying for phase only pupil filter the first absolute angle data Bright figure.

Fig. 7 is the explanation figure for converting absolute angle data.

Fig. 8 is the explanation figure of correction value.

Fig. 9 is the explanation figure of error correction the first absolute angle data.

Figure 10 is the explanation figure of the concrete structure for the angle position determining method for representing rotary encoder.

Figure 11 is the explanation figure in the case that the phase of the second absolute angle data shifts to an earlier date.

Figure 12 is the explanation figure in the case of the phase delay of the second absolute angle data.

Figure 13 is the flow chart for the absolute angular position detection operation for detecting absolute angular position.

Embodiment

Below, referring to the drawings, the embodiment of the rotary encoder to being applicable the present invention illustrates.In the following description In book, the magneto-electric that rotary encoder is made up of with detecting means magnet and magnetic strength element (magnetoresistive element, Hall element) rotates volume Illustrated centered on code device.In this case, the setting magnet on fixed body can be used and magnetic strength is set on rotary body The structure of element, magnetic strength element is set on fixed body and any of the structure of magnet structure is set on rotary body, but In the following description, said centered on magnetic strength element is set on fixed body and the structure of magnet is set on rotary body It is bright.In addition, referring to accompanying drawing in, the structure of magnet and magnetic strength element etc. is schematically to represent, the magnetic of the second magnet Pole is the reduction of schematically showing after quantity.In addition, the structure of the magnetic resistance pattern of magnetoresistive element (magnetic strength element) is also mutual The schematic illustration of staggered positions.

(overall structure)

Fig. 1 is the explanation figure for representing to be applicable the outward appearance of rotary encoder of the present invention etc..Fig. 1 (a) is from rotation axis direction Side and the stereogram from incline direction during rotary encoder, Fig. 1 (b) are the unilateral observation rotations from rotation axis direction Plan during encoder.Fig. 2 is the side view for representing the part excision for the fixed body for being applicable rotary encoder of the invention Figure.

Rotary encoder 1 is the dress relative to fixed body 1 around the rotation of rotation axis with magnetic means detection rotary body 2 Put.Fixed body 10 is fixed in frame of electronic device etc., and rotary body 2 is connected in rotating output shaft with electronic device etc. In the state of use.As depicted in figs. 1 and 2, fixed body 10 possesses sensor base plate 15 and for supporting sensor substrate 15 Multiple supporting members 11.In this example, supporting member 11 by possess the matrix 12 of the base plate 121 formed with circular open portion 122, Formed with fixed retaining plate of sensor 13 over substrate 12.

Retaining plate of sensor 13 by screw 191,192 etc. it is fixed over substrate 12 from the marginal portion of opening portion 122 to On the substantially cylindric main part 123 that center of rotation axis direction L first direction L1 is protruded.From retaining plate of sensor 13 to Center of rotation axis direction L first direction L1 is arranged in the prominent part of multiple terminals 16.It is located at center of rotation axis side in main part 123 To L first direction L1 end face formed with raised 124, hole 125 etc., using this some holes 125 etc., sensor base plate 15 passes through spiral shell Nail 193 etc. is fixed on main part 123.In this case, sensor base plate 15 is positioned on assigned position by projection 124 etc. In the state of accurately fixed.In sensor base plate 15, on center of rotation axis direction L first direction L1 face Provided with connector 17.Rotary body 2 is disposed on the cylindric component of the inner side of main part 123, passes through the side such as engaging on the inside of it Method is linked with the rotating output shaft (not shown) of motor.So as to which rotary body 2 can surround rotation axis and rotate.

(layout of magnet and magnetic strength element etc. etc.)

Fig. 3 is the explanation figure for representing to be applicable the structure of the detecting means of rotary encoder 1 of the present invention etc..In Fig. 3, data processing division 90 possess CPU being operated based on the program deposited in advance etc..The structure of data processing division 90 is represented with functional block diagram.

First detecting means 1a has the first magnet 20 in the side of rotary body 2.First magnet 20 possesses N poles and S poles circumferentially By extremely magnetized magnetizing surface 21.First direction L1 of the magnetizing surface 21 towards center of rotation axis direction L.First detecting means 1a is solid Determine the side of body 10 to possess：Relative with the magnetizing surface 21 of the first magnet 20 on center of rotation axis direction L first direction L1 One magnetoresistive element 40；Relative with the magnetizing surface 21 of the first magnet 20 on center of rotation axis direction L first direction L1 One Hall element 51；It is and relative with the magnetizing surface 21 of the first magnet 20 on center of rotation axis direction L first direction L1 And the second Hall element 52 configured on the position for deviateing 90 ° of 51 mechanical angle of the first Hall element around rotation axis.

Second detecting means 1b has the second magnet 30 in the side of rotary body 2.Second magnet is in radial outside away from the first magnet Have on 20 position N poles and S poles circumferentially alternating magnetization and form the magnetizing surface 31 of the ring-type of multiple magnetic poles.Magnetizing surface 31 Towards center of rotation axis direction L first direction L1.In this example, on the magnetizing surface 31 of the second magnet 30, N poles and S poles edge Circumferential alternating magnetization have side by side into the teeth groove 310 of multipole along radially it is multiple.In this example, teeth groove 310 forms 2 row.In this example, When N is positive integer, N poles and S extremely form N pairs altogether in the second magnet 30.In this example, N is, for example, 128.In above-mentioned 2 teeth groove Between 310, the position of N poles and S poles is circumferentially staggered, and in this example, between 2 teeth groove 310, N poles and S poles are circumferentially staggered One pole.In addition, the second detecting means 1b possesses on center of rotation axis direction L first direction L1 in the side of fixed body 10 with The second relative magnetoresistive element 60 of the magnetizing surfaces 31 of two magnet 30.

First magnet 20 and the second magnet 30 rotate integrally around rotation axis with rotary body 2.First magnet 20 is by disk The permanent magnet of shape is formed.Second magnet 30 is cylindrical, configures on position of the radial outside away from the first magnet 20.First magnetic The magnet 30 of iron 20 and second is formed by bonded magnet etc..

First magnetoresistive element 40 is A phases (SIN) magnetic for possessing 90 ° of phase differences of phase phase mutual relative to the first magnet 20 Hinder first magnetoresistive element of pattern and B phases (COS) magnetic resistance pattern.In above-mentioned first magnetoresistive element 40, A phase magnetic resistance patterns include + a phases (SIN+) the magnetic resistance pattern 43 and-a phases (SIN-) magnetic resistance figure of the mobile detection of progress rotary body 2 with 180 ° of phase differences Case 41.B phase magnetic resistance pattern includes+b phases (COS+) magnetic resistance pattern of the mobile detection of the progress rotary body 2 with 180 ° of phase differences 44 and-b phases (COS-) magnetic resistance pattern 42.Here ,+a phases magnetic resistance pattern 43 and-a phase magnetic resistance pattern 41 form bridge circuit ,+b phases Magnetic resistance pattern 44 and-b phase magnetic resistance pattern 42 also form bridge-type electricity in the same manner as+a phase magnetic resistance pattern 43 and-a phase magnetic resistance pattern 41 Road.

Second magnetoresistive element 60 possesses A phases (SIN) magnetic resistance of 90 ° of phase differences of phase phase mutual relative to the second magnet 30 Pattern and B phases (COS) magnetic resistance pattern.In above-mentioned second magnetoresistive element 60, A phase magnetic resistance pattern is included with 180 ° of phase differences Carry out+a phases (SIN+) the magnetic resistance pattern 64 and-a phases (SIN-) magnetic resistance pattern 62 of the mobile detection of rotary body 2.B phase magnetic resistance patterns + b phases (COS+) the magnetic resistance pattern 63 and-b phases (COS-) magnetic of mobile detection including the progress rotary body 2 with 180 ° of phase differences Hinder pattern 61.Here ,+a phases magnetic resistance pattern 64 and-a phase magnetic resistance pattern 62 form bridge-type electricity in the same manner as the first magnetoresistive element 40 Road ,+b phase magnetic resistance pattern 63 and-b phase magnetic resistance pattern 61 are also formed in the same manner as+a phase magnetic resistance pattern 64 and-a phase magnetic resistance pattern 62 Bridge circuit.

In this example, the first magnetoresistive element 40, the first Hall element 51, the second Hall element 52 and the second magnetoresistive element 60 are equal It is arranged on the first face 151 of the second direction L2 positioned at center of rotation axis direction L of sensor base plate 15.Sensor base plate On second face 152 of 15 151 opposite side of the first face, when overlooking on the position overlapping with the first magnetoresistive element 40 provided with via The first amplifier 91 of the first magnetoresistive element 40 is electrically connected to through the through hole (not shown) of sensor base plate 15.Second face 152 During upper vertical view on the position overlapping with the second magnetoresistive element 60, provided with being electrically connected to via the through hole through sensor base plate 15 Second amplifier 92 of two magnetoresistive elements 60.First Hall element 51 and the second Hall element 52 are via through sensor base plate 15 Through hole be electrically connected to the first amplifier 91.

(Cleaning Principle)

Fig. 4 is the explanation figure for representing to be applicable the Cleaning Principle of the rotary encoder 1 of the present invention.Fig. 4 (a) is that magnetoresistive element 4 exports Signal etc. explanation figure, Fig. 4 (b) is to represent the signal shown in Fig. 4 (a) and the pass of the angle position (electrical angle) of rotary body 2 The explanation figure of system.Fig. 5 is the explanation figure of the basic structure for the angle position determining method for representing rotary encoder.

As shown in figure 3, in the rotary encoder 1 of this example, the first magnetoresistive element 40, the first Hall element 51, the second Hall The output of the magnetoresistive element 60 of element 52 and second is via the first amplifier 91, the second amplifier 92, A-D converters 93a, 93b, 94 Export to data processing division 90.Data processing division 90 is based on the first magnetoresistive element 40, the first Hall element 51, the second Hall element 52 and second magnetoresistive element 60 output, obtain absolute angular position of the rotary body 2 relative to fixed body 10.

More specifically, in rotary encoder 1, when rotary body 2 rotates a circle, the first magnet 20 also rotates one Week, therefore export from the first detecting means 1a the first magnetoresistive element 40 sine wave signal in 2 cycles as shown in Fig. 4 (a) sin、cos.So that in data processing division 90, as shown in Fig. 4 (b), if obtaining θ=tan from sine wave signal sin, cos^-1 (sin/cos) angular position of rotary body 2 can, then be obtained.In this example, the first detecting means 1a is from the center of the first magnet 20 Deviate during observation and be configured with the first Hall element 51 and the second Hall element 52 on 90 ° of position.Work as therefore, because being able to know that Front position is located at sine wave signal sin, cos which section, therefore can learn the absolute angular position of rotary body 2.

In addition, in the rotary encoder 1 of this example, the second detecting means 1b uses the second magnet 30, and second magnet 30 has N Pole and S poles circumferentially alternating magnetization formed multipair magnetic pole ring-type magnetizing surface 31, whenever rotary body 2 rotates through the second magnet During a cycle of 30 magnetic pole, the sine wave in 2 cycles is exported from the second magnetoresistive element 60 relative with second magnet 30 Signal sin, cos.Therefore, from sine wave signal sin, cos of the output of the second magnetic resistance 60 also as shown in Fig. 4 (b), as long as from Sine wave signal sin, cos obtain θ=tan^-1(sin/cos) rotary body 2 can, then be obtained in the magnetic pole equivalent to the second magnet 30 1 cycle angle in angular position.

Therefore, it is to rotate a circle as the of 1 cycle based on the first testing result from the first detecting means 1a in this example One absolute angle data abs-1 (reference picture 5 (a)), the second testing result from the second detecting means 1b rotate a circle to be N number of The incremental angle data INC (reference picture 5 (b)) in cycle detects the instantaneous angular position of rotary body 2.So as to even in first In the case that absolute angle data abs-1 resolution ratio is relatively low, high-resolution absolute angle data can be also obtained.

When using above-mentioned detection mode, in the rotary encoder 1 of this example, due to the first detecting means 1a and the second detecting means 1b relative offset, the elements characteristic error for forming the first detecting means 1a and the second detecting means 1b, the first detecting means 1a and The influence of second detecting means 1b sampling time difference etc., the first absolute angle data abs-1 (references from the first detecting means 1a Fig. 5 (a)) and rotating a circle between the incremental angle data INC (reference picture 5 (b)) in N number of cycle from the second detecting means 1b Phase deviation can be produced.In addition, the first detecting means 1a deviates rotary shaft, the second detecting means 1b deviates rotary shaft, the first detecting means 1a characteristic, the second detecting means 1b characteristic can also be such that each detecting means 1a, 1b output is produced relative to actual value (angle position) Raw error.Herein, when between the first absolute angle data abs-1 and incremental angle data INC produce contain phase deviation During relative error, accuracy of detection can decline.

Therefore, in this example, in order to detect absolute angular position, following pre-corrected step is carried out first：It is exhausted to obtain first To angle-data abs-1 and incremental angle data INC phase difference p, and obtain the first absolute angle data abs-1 with increasing Caused phase difference relative error and phase difference p or the error correction first of suppression or elimination between angulation degrees of data INC Absolute angle data abs-1c.

Following absolute angle obtaining step is carried out afterwards：Instantaneous first absolute angle based on the first detecting means 1a outputs Data abs-1 be the first testing result, the second detecting means 1b output instantaneous delta angle-data INC i.e. the second testing result, Phase difference p, error correction the first absolute angle data abs-1c and the incremental angle data obtained by pre-corrected step INC, to obtain absolute angular position.

(control system)

Fig. 6 is the first absolute angle data abs-1 and incremental angle data INC phase difference and the absolute angle of phase only pupil filter first Data abs-1p explanation figure.Fig. 7 is the explanation figure for converting absolute angle data.Fig. 8 is the explanation figure of correction value.Fig. 9 is to miss The first absolute angle data abs-1c of difference amendment explanation figure.Figure 10 is the angle position determining method for representing rotary encoder The explanation figure of basic structure.In Figure 10, the second absolute angle data abs-2 each cycle, which is labelled with, represents it relative to actual corners Degree position be which position cycle label 1,2 ..., n-1, n, n+1 ..., N, incremental angle data INC each cycle Then be labelled with the label 1 for representing its cycle for relative to actual angle position being which position, 2 ..., m-1, m, m+ 1、……、N.Figure 11 is the explanation figure of the amendment in the case that the phase of the second absolute angle data in rotary encoder shifts to an earlier date. Figure 12 is the explanation figure of the amendment in the case of the phase delay of the second absolute angle data in rotary encoder.

As shown in figure 3, data processing division 90 possesses the pre-corrected processing unit 100 for carrying out pre-corrected step and carries out absolute angle Spend the absolute angle acquisition unit 101 of obtaining step.

(pre-corrected processing unit)

Pre-corrected processing unit 100 possesses memory (storage part) 102, phase difference acquisition unit 103, conversion absolute angle data and calculated Portion 104, first phase correction portion 105, correction value acquisition unit 106 and relative error correction portion 107.

Phase difference acquisition unit 103 obtains the first absolute angle data abs-1 from the first detecting means 1a with coming from second Detecting means 1b incremental angle data INC phase difference p.That is, such as Fig. 6 (a), 6 (b) of phase difference acquisition unit 103 is shown, since From rotating a circle for the first absolute angle data abs-1 in 1 cycle and from the second detecting means 1b's for the first detecting means 1a Rotate a circle premised on producing phase deviation between the incremental angle data INC in N number of cycle, acquisition comes from the first detecting means 1a The first absolute angle data abs-1 0 ° of angle position point and the incremental angle data INC nearest from the point angle position The differential seat angle of the point set to 0 ° is as phase difference p.Preferable first absolute angle data abs-1 is the straight line as shown in Fig. 5 (a) Formula data.But, can be because of the error included shown in first absolute angle data abs-1 such as Fig. 6 (a) from the first detecting means 1a And it is correspondingly offset from preferable data.Preferable incremental angle data INC is the linear data as shown in Fig. 5 (b).But come from Shown in second detecting means 1b incremental angle data INC such as Fig. 6 (b), it can be correspondingly offset from because of the error included preferably Data.

Absolute angle data calculating part 104 is converted as illustrated in fig. 7 by the increment in N number of cycle from the second detecting means 1b Angle-data INC (reference picture 6 (b) and Fig. 7 (a)) is transformed into rotate a circle converts absolute angle for the increment signal in 1 cycle Data INC-abs (reference picture 7 (b)).That is, absolute angle data calculating part 104 is converted from from the first absolute angle data abs-1 The nearest incremental angle data INC of the point point of 0 ° of angle position of 0 ° of angle position start, sigma-delta angle number successively According to INC, the incremental angle data INC in final cumulative N cycles, so as to calculate the rotation corresponding with the first absolute angle data Circle as the absolute angle data (increment signal converts absolute angle data INC-abs) in 1 cycle.

First phase correction portion 105 is based on the phase difference p that phase difference acquisition unit 103 obtains to the first absolute angle data It is modified, generation makes the phase and increment signal conversion absolute angle data INC-abs phase of the first absolute angle data Consistent phase only pupil filter the first absolute angle data abs-1p.That is, first phase correction portion 105 is raw as shown in Fig. 6 (c) Phase difference p phase only pupil filter the first absolute angle data abs-1p into the phase compensation for making the first absolute angle data.From And 0 ° of phase only pupil filter the first absolute angle data abs-1p angle position converts absolute angle data INC- with increment signal Abs 0 ° of angle position is consistent.

Correction value acquisition unit 106 is based on increment signal conversion absolute angle data INC-abs and phase only pupil filter first is absolute Angle-data abs-1p difference obtains correction value Δ q.In this example, correction value acquisition unit 106 is believed from the increment shown in Fig. 8 (a) Number conversion absolute angle data INC-abs subtracts phase only pupil filter the first absolute angle data abs-1p shown in Fig. 8 (b), so as to Obtain correction value Δ q1.Correction value Δ q1 shown in Fig. 8 (c) is increment signal conversion absolute angle data INC-abs and phase Correct the first absolute angle data abs-1p relative error component.

Here, correction value acquisition unit 106 is obtained and rotated a circle as the first correction value of multiple angle positions in 1 cycle Δ q1 is as correction value Δ q1.Then, correction value acquisition unit 106 associates angle position with table with the first correction value Δ q1 The form of lattice is stored and preserved in the memory 102, and in this example, the multiple angle positions for obtaining correction value Δ q1 are to utilize second Each angle position that the magnetic pole logarithm N of magnet 30 will be obtained after the equally spaced segmentation that rotates a circle.Obtain the more of correction value Δ q1 Individual angle position can be using 2 times of number of the magnetic pole logarithm of the second magnet 30 will rotate a circle equally spaced segmentation after obtain Each angle position.

Relative error correction portion 107 is with reference to memory 102, based on the correction value obtained respectively in adjacent 2 angle positions Δ q1, calculate the middle correction value Δ q2 of the intermediate angular position between this 2 angle positions.In this example, intermediate angle position It is the central angle position in adjacent 2 angle positions to put, and correction value acquisition unit 106 passes through the amendment to adjacent 2 angle positions It is worth Δ q1 and carries out linear interpolation, calculates the middle correction value Δ q2 of intermediate angular position.

Relative error correction portion 107 is also as shown in figure 9, generation is using recording and preserve correction value in the memory 102 Δ q1 and middle correction value Δ q2 phase only pupil filter the first absolute angle data abs-1p is corrected after error correction One absolute angle data abs-1c.In this example, relative error correction portion 107 is by the absolute angle of phase only pupil filter first shown in Fig. 9 (a) Correction value Δ q1 and middle correction value Δ q2 shown in degrees of data abs-1p and Fig. 9 (b) are added.So as to relative error correction portion 107 obtain error correction the first absolute angle data abs-1c shown in Fig. 9 (c).

Here, correction value Δ q1 is increment signal conversion absolute angle data INC-abs (the incremental angular number of degrees in N number of cycle According to INC) relative to error correction the first absolute angle data abs-1p error component, utilize correction value Δ q1 and middle amendment Value Δ q2 phase only pupil filter the first absolute angle data abs-1p is corrected after error correction the first absolute angle data Abs-1c possesses the error component roughly the same with increment signal conversion absolute angle data INC-abs (reference picture 7 (b)).Change Yan Zhi, error correction the first absolute angle data abs-1c possess the incremental angle data INC (reference picture 7 (a)) with N number of cycle Roughly the same error component.Thus, both error correction the first absolute angle data abs-1c and incremental angle data INC it Between relative error disappearance or be suppressed.Thus, if being based on error correction the first absolute angle data abs-1c and incremental angular Degrees of data INC obtains absolute angular position, then can suppress because relative between the first detecting means 1a and the second detecting means 1b Accuracy of detection caused by position skew etc. declines.

Correction value acquisition unit 106 can also subtract increment signal conversion from phase only pupil filter the first absolute angle data abs-1p Absolute angle data INC-abs obtains correction value.In this case, relative error correction portion 107 is exhausted from phase only pupil filter first Correction value is subtracted to angle-data abs-1p and obtains error correction the first absolute angle data abs-1c.

(absolute angle acquisition unit)

Next, absolute angle acquisition unit 101 possesses the storage of the second absolute angle data generating section 110, first as illustrated in fig. 3 Device 111, second memory 112 and angle position determination section 113.Absolute angle acquisition unit 101 is also equipped with the He of phase comparing section 114 Second phase correction portion 115.

Error of the second absolute angle data generating section 110 as shown in Figure 10 (a) to being obtained by pre-treatment step The first absolute angle data abs-1c is corrected to carry out interpolation and be divided into the magnetic pole logarithm (N of the second magnet 30：More than 2 it is just whole Number) it is individual, so as to generate the second absolute angle data abs-2.Then, the second absolute angle data generating section 110 is absolute by second Angle-data abs-2 is stored and is stored in first memory 111.Herein, storage and in store increment in second memory 112 Angle-data INC.

The instantaneous first absolute angle number of degrees that angle position determination section 113 is exported based on phase difference p, from the first detecting means 1a According to i.e. the first testing result, the instantaneous delta angle-data from the second detecting means 1b is the second testing result, is stored in first The second absolute angle data abs-2 in the memory 111 and incremental angle data INC being stored in second memory 112, certainly Determine the instantaneous absolute angular position of rotary body 2.

More specifically, it is (instantaneous to get the first testing result from the first detecting means 1a for angle position determination section 113 First absolute angle data abs-1) when, calculate the phase only pupil filter after being modified with phase difference p to the first testing result First testing result (the first absolute angle of instantaneous phase amendment data abs-1p).Then, angle position determination section 113 is by the phase Position the first testing result of amendment is which week for the second absolute angle data abs-2 for storing and preserving in first memory 111 Upper data of the phase as numerical data, by the second testing result (instantaneous delta angle-data from the second detecting means 1b INC) which position equivalent to the incremental angle data INC for storing and preserving in second memory 112 is as numerical data The next data, thus determine the instantaneous absolute angular position of rotary body 2.

Here, phase comparing section 114 at the time of regulation by the second absolute angle data abs-2 phase and incremental angle Data INC phase is compared.Second phase correction portion 115 is judged as the second absolute angle data in phase comparing section 114 When deviation occurs for abs-2 and incremental angle data INC phase, the second absolute angle data abs-2 is modified, makes second Absolute angle data abs-2 phase is consistent with incremental angle data INC phase, and by revised second absolute angle Data abs-2 is stored and is preserved (rewriting) in first memory 111.E.g. refer to rotary encoder 1 at the time of regulation to connect The time point of power supply.

More specifically, phase comparing section 114 possesses the 3rd absolute angle data generating section 116, as shown in Figure 3 One determination unit 117, the second determination unit 118 and the 3rd memory 119.

3rd absolute angle data generating section 116 is generated equivalent to by error correction as shown in Figure 11 (b) and Figure 12 (b) First absolute angle data abs-1c interpolations are divided into the 3rd individual absolute angle data abs-3 of (2 × N), and are stored guarantor In the presence of in the 3rd memory 119.

First determination unit 117 is based on the 3rd absolute angle data abs-3, judges that the second absolute angle data abs-2 is relative Shift to an earlier date in incremental angle data INC either with or without phase.Specifically, as shown in Figure 11 (a), 11 (b), the first determination unit 117 exists The testing result of phase only pupil filter first is the 3rd absolute angle data abs-3 odd number (such as i-th) cycle and second passes Sense portion 1b the second testing result is determined as that second is absolute in the case of incremental angle data INC more than first threshold TH1 Angle-data abs-2 phase shifts to an earlier date than incremental angle data INC phase.That is, in the second absolute angle data abs-2 phase In the case that position is consistent with incremental angle data INC phase, when the testing result of phase only pupil filter first is the 3rd absolute angle number of degrees According to abs-3 the odd number cycle when, the second detecting means 1b the second testing result is less than incremental angle data INC the first threshold Value TH1, therefore by above-mentioned processing, it is capable of detecting when the second absolute angle data abs-2 phase than incremental angle data INC Phase shift to an earlier date.In the manner, first threshold TH1 is 270deg electrical angle.

Second determination unit 118 is based on the 3rd absolute angle data abs-3, judges that the second absolute angle data abs-2 is relative In incremental angle data INC either with or without phase delay.Specifically, as shown in Figure 12 (a), 12 (b), the second determination unit 118 exists The testing result of phase only pupil filter first after being corrected using phase difference p to the first detecting means 1a the first testing result (the first absolute angle of instantaneous phase amendment data abs-1p) is the 3rd absolute angle data abs-3 even number (such as (i+1) it is individual) cycle and the second detecting means 1b the second testing result incremental angle data INC below Second Threshold TH2 In the case of, it is determined as the second absolute angle data abs-2 phase delay of the phase than incremental angle data INC.That is, second In the case that absolute angle data abs-2 phase is consistent with incremental angle data INC phase, when phase only pupil filter first detects When result is the 3rd absolute angle data abs-3 even number cycle, the second detecting means 1b the second testing result, which is more than, to be increased Angulation degrees of data INC Second Threshold TH2, therefore by above-mentioned processing, it is capable of detecting when the second absolute angle data abs-2's Phase delay of the phase than incremental angle data INC.In the manner, Second Threshold TH2 is 90deg electrical angle.

Second phase correction portion 115 is the i-th of the 3rd absolute angle data abs-3 for the testing result of phase only pupil filter first Individual (odd number) cycle and the second detecting means 1b the second testing result incremental angle data INC first threshold TH1 with During upper, as shown in Figure 11 (c), the second absolute angle data abs-2 is modified, to become the second absolute angle Data abs-2 (((i+1)/2) -1) individual cycle ((n-1)th cycle).So as to, incremental angle data INC with it is revised Second absolute angle data abs-2 phase is consistent.Then, second phase correction portion 115 is by revised second absolute angle Degrees of data abs-2 is stored and is stored in first memory 111.

Second phase correction portion 115 is the of the 3rd absolute angle data abs-3 for the testing result of phase only pupil filter first (i+1) Second Threshold of individual (even number) cycle and the second detecting means 1b the second testing result in incremental angle data INC During below TH2, as shown in Figure 12 (c), the second absolute angle data abs-2 is modified, it is exhausted to become second To angle-data abs-2 (((i+1)/2)+1) individual cycle ((n+1)th cycle).So as to which INC is with repairing for incremental angle data The phase of the second absolute angle data abs-2 after just is consistent.Then, second phase correction portion 115 by this revised second Absolute angle data abs-2 is stored and is stored in first memory 111

Angle position determination section 113 with reference to storage and is stored in first memory 111 when determining absolute angular position The second absolute angle data abs-2.So as to which second phase correction portion is modified to the second absolute angle data abs-2, is repaiied The second absolute angle data abs-2c after just is stored and is stored in first memory 111, afterwards, angle position determination section 113 determine absolute angular position based on revised second absolute angle data abs-2c.

(absolute angular position acquisition action)

Then, reference picture 13, absolute angular position acquisition action is illustrated.Absolute angular position acquisition action includes repairing in advance Positive step (step ST1) and absolute angular position obtaining step (step ST2).

In pre-corrected step (step ST1), rotate rotary body 2, the output based on the first detecting means 1a obtains rotation one Week is the first absolute angle data abs-1 in 1 cycle, and is rotated a circle based on the second detecting means 1b output, acquisition as N The incremental angle data INC (step ST11) in individual cycle.

Then, phase difference acquisition unit 103 obtains the first absolute angle data abs-1 and incremental angle data INC phase Poor Δ p (step ST12：Phase difference obtaining step).After getting phase difference p, conversion absolute angle data calculating part 104 is counted Calculate the increment signal change that the incremental angle data INC in N number of cycle is transformed into and obtained after the absolute angle data to rotate a circle Absolute angle data INC-abs is changed, and first phase correction portion 105 is based on phase difference p to the first absolute angle data abs-1 It is modified, generation makes the first absolute angle data abs-1 convert absolute angle data INC-abs phase matcheds with increment signal Phase only pupil filter the first absolute angle data abs-1p (step ST13：Conversion absolute angle data calculation procedure, first phase are repaiied Positive step).

Then, correction value acquisition unit 106 is based on increment signal conversion absolute angle data INC-abs and phase only pupil filter first Absolute angle data abs-1p difference obtains correction value Δ q1.Correction value acquisition unit 106 is by the correction value Δ q1 and angle position Put to be mapped and store and preserved in the memory 102 in table form.(step ST14：Correction value obtaining step)

After getting correction value Δ q1, relative error correction portion 107 utilizes correction value Δ q1 and middle q2 pairs of correction value Δ Phase only pupil filter the first absolute angle data abs-1p is modified, generation error correction the first absolute angle data abs-1c (steps Rapid ST15：Relative error amendment step).

Here, correction value Δ q1 is the incremental angle data INC in N number of cycle relative to error correction the first absolute angle number of degrees According to abs-1p error component, using correction value Δ q1 and middle correction value Δ q2 to phase only pupil filter the first absolute angle data Error correction the first absolute angle data abs-1c after abs-1p is corrected possesses and increment signal conversion absolute angle Error component roughly the same data INC-abs (the incremental angle data INC in N number of cycle).So as to which error correction first is absolute Angle-data abs-1c and incremental angle data INC relative error between the two or disappearance are suppressed.Thus, following Absolute angle obtaining step in, if determining absolute angle based on error correction the first absolute angle data and incremental angle data Position is spent, then can suppress the accuracy of detection caused by relative offset of the first detecting means and the second detecting means etc. and decline. It is not the output that 2 detecting means 1a, 1b are corrected relative to actual absolute angle, but be used in pre-corrected step Make the consistent amendment of 2 detecting means 1a, 1b output.

(absolute angle obtaining step)

In absolute angle obtaining step (step ST2), the second absolute angle data generating section 110 is by the absolute angle of error correction first Degrees of data abs-1c interpolations are divided into the magnetic pole logarithm (N of the second magnet 30：More than 2 positive integer) it is individual, generate the second absolute angle Degrees of data abs-2, and the second absolute angle data abs-2 is stored and is stored in first memory 111 (step ST21： Second absolute angle data generation step).Afterwards, rotate rotary body 2, obtain the first detecting means 1a the first testing result (from the instantaneous first absolute angle data of the first detecting means 1a outputs) and the second detecting means 1b the second testing result are (from second The instantaneous delta angle-data of detecting means 1b outputs).Angle position determination section 113 is using phase difference p to the first testing result It is modified (from the instantaneous first absolute angle data of the first detecting means 1a outputs), is detected so as to calculate phase only pupil filter first As a result (the first absolute angle of instantaneous phase amendment data).

Here, it is not determined as the second absolute angle data abs-2's in the first determination unit 117 and the second determination unit 118 Phase and incremental angle data INC phase there occurs deviation in the case of (the second absolute angle data abs-2 phase and increasing In the case that angulation degrees of data INC phase is consistent) (step ST22：Phase comparison step-be), angle position determination section 113 It is the second absolute angle data abs-2 for storing and being stored in first memory 111 by the testing result of phase only pupil filter first Which upper data of the cycle as numerical data, by the second testing result equivalent to storing and be stored in first memory The next data of which position of incremental angle data INC in 111 as numerical data, determine the instantaneous absolute of rotary body 2 Angle position (step ST23：Angle position deciding step).

On the other hand, when the first determination unit 117 is determined as the second absolute angle data abs-2 phase than the incremental angular number of degrees When shifting to an earlier date according to INC phase or fold and be determined as that the second absolute angle data abs-2 phase compares incremental angular into determination unit 118 (step ST22 during degrees of data INC phase delay：Phase comparison step-no), second phase correction portion 115 is to the second absolute angle Degrees of data abs-2 is modified, so that the second absolute angle data abs-2 phase and incremental angle data INC phase one Cause.Then, revised second absolute angle data abs-2 as the second new absolute angle data abs-2 and is stored into guarantor In the presence of removing in 111 (step ST24 for the first time：Second phase amendment step).

Then, the testing result of phase only pupil filter first is to store and be stored in first memory by angle position determination section 113 Which upper data of the cycle as numerical data of the second absolute angle data abs-2 in 111, by the second testing result Which position equivalent to the incremental angle data INC for storing and being stored in first memory 111 is as numerical data The next data, so as to determine instantaneous absolute angular position (the step ST23 of rotary body 2：Angle position deciding step).

(variation)

After absolute angle obtaining step, the absolute angle position to being detected by absolute angle obtaining step can also be set Put the rear amendment step further corrected.In this case, obtain what is detected via absolute angle obtaining step in advance The error of absolute angular position and the benchmark absolute angular position got via reference encoders, and as site error Data storage simultaneously preserves in memory, using position error data to the absolute angle that is detected via absolute angle obtaining step Degree position is modified, and makes it consistent with the benchmark absolute angular position got via reference encoders.Carry out it is above-mentioned after repair The rear correction portion of positive step can possess：Memory (storage part)；Acquisition detects absolute via absolute angle obtaining step Angle position and the error of benchmark absolute angular position got via reference encoders and as position error data The position error data storage part for storing and being stored in memory (storage part)；And using position error data to via exhausted The absolute angular position detected to angle obtaining step is modified so that itself and the benchmark got via reference encoders The consistent absolute angular position correction portion of absolute angular position.

(other embodiment)

In the magneto-electric rotary encoder of above-mentioned embodiment, the first detecting means 1a and the second detecting means 1b the second testing result Magnet and magnetoresistive element are used, the one side or both sides in the first detecting means 1a and the second detecting means 1b the second testing result Situation about being made up of rotary transformer is also applied for the present invention.

The rotary transformer of above-mentioned embodiment uses magneto-electric, and the rotary transformer of optical profile type is also suitable the present invention.

Label declaration

1 rotary encoder

The detecting means of 1a first

The detecting means of 1b second

20 first magnet

30 second magnet

40 first magnetoresistive elements

51 first Hall elements

52 second Hall elements

60 second magnetoresistive elements

101 absolute angle acquisition units

102 memories (storage part)

103 phase difference acquisition units

104 conversion absolute angle data calculating parts

105 first phase correction portions

106 correction value acquisition units

107 relative error correction portions

110 second absolute angle data generating sections

113 angle position determination sections

114 phase comparing sections

115 phase correction sections

Abs-1 the first absolute angle data

INC incremental angle data

INC-abs increment signals convert absolute angle data

L pivot direction of principal axis

Δ p phase differences

Δ q1 correction values

Correction value among Δ q2

Claims

1. a kind of rotary encoder, possesses the first detecting means and the second detecting means, first detecting means are obtained and rotated a circle as 1 The first absolute angle data in individual cycle, and second detecting means are obtained and rotated a circle as the incremental angle data in N number of cycle, Wherein, N is more than 2 positive integer, first testing result of the rotary encoder based on first detecting means and described the Second testing result of two detecting means detects absolute angular position, it is characterised in that including：

Obtain the first absolute angle data and the phase difference acquisition unit of the phase difference of the incremental angle data；

The incremental angle data in N number of cycle are transformed into the absolute angle data that rotate a circle so as to calculate increment signal Convert the conversion absolute angle data calculating part of absolute angle data；

The first absolute angle data, which are modified, based on the phase difference and generated makes the first absolute angle data Phase and the increment signal conversion absolute angle data consistent phase only pupil filter the first absolute angle data of phase the One phase correction section；

The difference acquisition that absolute angle data and the phase only pupil filter the first absolute angle data are converted based on the increment signal is repaiied On the occasion of correction value acquisition unit；

The first absolute angle of phase only pupil filter data are modified so as to generate error correction first using the correction value The relative error correction portion of absolute angle data；And

Based on first testing result, second testing result, the phase difference, the absolute angle of the error correction first Data and the incremental angle data obtain the absolute angle acquisition unit of absolute angle.

2. rotary encoder as claimed in claim 1, it is characterised in that

The correction value acquisition unit subtracts the absolute angle of phase only pupil filter first from increment signal conversion absolute angle data Degrees of data, so as to obtain the correction value,

Phase only pupil filter the first absolute angle data are added by the relative error correction portion with the correction value, so as to obtain The first absolute angle of error correction data.

3. rotary encoder as claimed in claim 1, it is characterised in that

The correction value acquisition unit subtracts the increment signal conversion absolute angle from the first absolute angle of phase only pupil filter data Degrees of data, so as to obtain the correction value,

The relative error correction portion subtracts the correction value from the first absolute angle of phase only pupil filter data, so as to obtain State error correction the first absolute angle data.

4. rotary encoder as claimed in claim 2, it is characterised in that

It is also equipped with storage part,

The correction value acquisition unit, which obtains, to rotate a circle as the correction value of multiple angle positions in 1 cycle, and will be each Angle position stores and is stored in the storage part with being associated in the correction value acquired in the angle position,

The relative error correction portion based in the adjacent 2 angle positions acquired correction value respectively, calculate this 2 The middle correction value of intermediate angular position between individual angle position, and using being stored as the correction value and be stored in institute The correction value in storage part and the middle correction value are stated, to be repaiied to the first absolute angle of phase only pupil filter data Just.

5. rotary encoder as claimed in claim 4, it is characterised in that

The absolute angle acquisition unit includes：

Generation by the first absolute angle of error correction interpolation of data be divided into it is N number of obtained from the second absolute angle data Second absolute angle data generating section；

By phase comparing section of the phase of the second absolute angle data compared with the phase of the incremental angle data；

It is the phase of the second absolute angle data and the incremental angle data in the comparative result of the phase comparing section Phase the phase correction section that is modified to the second absolute angle data during deviation occurs；And

Based on the testing result of phase only pupil filter first after being modified with the phase difference to first testing result, described Two testing results, the second absolute angle data and the incremental angle data determine the absolute angular position of rotary body Angle position determination section.

6. rotary encoder as claimed in claim 1, it is characterised in that

It is also equipped with storage part,

7. rotary encoder as claimed in claim 1, it is characterised in that

The absolute angle acquisition unit includes：

Based on the testing result of phase only pupil filter first after being modified with the phase difference to first testing result, described Two testing results, the second absolute angle data and the incremental angle data, determine the absolute angular position of rotary body Angle position determination section.

8. the rotary encoder as described in any one of claim 1 to 7, it is characterised in that

First detecting means possess：It is configured with the first magnet of N poles and S poles one by one around Pivot axle；With described first Magnet the first magnetoresistive element relative on center of rotation axis direction；First Hall element relative with first magnet； It is and relative with first magnet and deviateing described first Hall element, 90 ° of mechanical angles around the center of rotation axis Position on the second Hall element for configuring,

Second detecting means possess：The second magnet of multipair magnetic pole is configured with around the Pivot axle；And with it is described The second relative magnetoresistive element of second magnet.

9. rotary encoder as claimed in claim 3, it is characterised in that

It is also equipped with storage part,

10. rotary encoder as claimed in claim 9, it is characterised in that

The absolute angle acquisition unit includes：

11. the rotary encoder as described in claim 9 or 10, it is characterised in that

12. a kind of absolute angular position detection method of rotary encoder, the rotary encoder possess the first detecting means and second Detecting means, first detecting means, which obtain, to rotate a circle as the first absolute angle data in 1 cycle, and second detecting means Acquisition rotates a circle as the incremental angle data in N number of cycle, wherein, N is more than 2 positive integer, the rotary encoder it is exhausted The second detection to first testing result of the angle method for detecting position based on first detecting means and second detecting means As a result absolute angular position is detected, it is characterised in that including：

Obtain the first absolute angle data and the phase difference obtaining step of the phase difference of the incremental angle data；

The incremental angle data in N number of cycle are transformed into the absolute angle data that rotate a circle so as to calculate increment signal Convert the conversion absolute angle data calculation procedure of absolute angle data；

The first absolute angle data, which are modified, based on the phase difference and generated makes the first absolute angle data Phase and the increment signal conversion absolute angle data consistent phase only pupil filter the first absolute angle data of phase the One phase only pupil filter step；

The difference acquisition that absolute angle data and the phase only pupil filter the first absolute angle data are converted based on the increment signal is repaiied On the occasion of correction value obtaining step；

The first absolute angle of phase only pupil filter data are modified so as to generate error correction first using the correction value The relative error amendment step of absolute angle data；And

Based on first testing result, second testing result, the phase difference, the absolute angle of the error correction first Data and the incremental angle data obtain the absolute angle obtaining step of absolute angle.

13. the absolute angular position detection method of rotary encoder as claimed in claim 12, it is characterised in that

In the correction value obtaining step, it is exhausted to subtract the phase only pupil filter first from increment signal conversion absolute angle data To angle-data, so as to obtain the correction value,

In the relative error amendment step, phase only pupil filter the first absolute angle data are added with the correction value, from And obtain the first absolute angle of error correction data.

14. the absolute angular position detection method of rotary encoder as claimed in claim 12, it is characterised in that

In the correction value obtaining step, it is exhausted to subtract the increment signal conversion from the first absolute angle of phase only pupil filter data To angle-data, so as to obtain the correction value,

In the relative error amendment step, the correction value is subtracted from the first absolute angle of phase only pupil filter data, so as to Obtain the first absolute angle of error correction data.

15. the absolute angular position detection method of rotary encoder as claimed in claim 13, it is characterised in that

In the correction value obtaining step, acquisition rotates a circle as the correction value of multiple angle positions in 1 cycle, and Each angle position is stored and is stored in storage part with being associated in the correction value acquired in the angle position,

In the relative error amendment step, based in the acquired correction value of the adjacent 2 angle positions difference, meter The middle correction value of the intermediate angular position between 2 angle positions is calculated, and stores and protects using as the correction value The correction value in the storage part and the middle correction value be present, to the first absolute angle of phase only pupil filter data It is modified.

16. the absolute angular position detection method of rotary encoder as claimed in claim 15, it is characterised in that

The absolute angle obtaining step includes：

Generation by the first absolute angle of error correction interpolation of data be divided into it is N number of obtained from the second absolute angle data Second absolute angle data generation step；

Phase bit comparison of the phase of the second absolute angle data compared with the phase of the incremental angle data is walked Suddenly；

It is the phase of the second absolute angle data and the incremental angular number of degrees in the comparative result of the phase comparison step According to phase occur deviation when second phase amendment step that the second absolute angle data are modified；And

Based on the testing result of phase only pupil filter first after being modified with the phase difference to first testing result, described Two testing results, the second absolute angle data and the incremental angle data, determine the absolute angular position of rotary body Angle position deciding step.

17. the absolute angular position detection method of rotary encoder as claimed in claim 12, it is characterised in that

18. the absolute angular position detection method of rotary encoder as claimed in claim 12, it is characterised in that

The absolute angle obtaining step includes：

19. the absolute angular position detection method of the rotary encoder as described in any one of claim 12 to 18, its feature It is,

20. the absolute angular position detection method of rotary encoder as claimed in claim 14, it is characterised in that

21. the absolute angular position detection method of rotary encoder as claimed in claim 20, it is characterised in that

The absolute angle obtaining step includes：

22. the absolute angular position detection method of the rotary encoder as described in any one of claim 20 to 21, its feature It is,